diff --git "a/2024-11-15-10-16-35/splats/90083269/transforms.json" "b/2024-11-15-10-16-35/splats/90083269/transforms.json" new file mode 100644--- /dev/null +++ "b/2024-11-15-10-16-35/splats/90083269/transforms.json" @@ -0,0 +1,35664 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_00475.png", + "transform_matrix": [ + [ + -0.8374897241592407, + -0.017778942361474037, + 0.54616379737854, + -5.181262969970703 + ], + [ + -0.5463595390319824, + 0.008753216825425625, + -0.8375051021575928, + 9.032164573669434 + ], + [ + 0.010109261609613895, + -0.9998036623001099, + -0.017044425010681152, + -0.5059144496917725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 475, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662247_621544837", + "mask_path": "../../mask/hdr_front_00475.png" + }, + { + "file_path": "../../rgb/hdr_front_00476.png", + "transform_matrix": [ + [ + -0.8307996392250061, + -0.007077652961015701, + 0.5565267205238342, + -5.227024078369141 + ], + [ + -0.5565681457519531, + 0.00700236763805151, + -0.8307724595069885, + 9.085387229919434 + ], + [ + 0.0019829159136861563, + -0.9999504685401917, + -0.00975676067173481, + -0.505069375038147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 476, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662247_721544265", + "mask_path": "../../mask/hdr_front_00476.png" + }, + { + "file_path": "../../rgb/hdr_front_00477.png", + "transform_matrix": [ + [ + -0.8207441568374634, + 1.5790095858392306e-05, + 0.5712958574295044, + -5.262661933898926 + ], + [ + -0.5712780952453613, + 0.00787351280450821, + -0.8207188844680786, + 9.123212814331055 + ], + [ + -0.004511064384132624, + -0.9999690055847168, + -0.0064531187526881695, + -0.5133337378501892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 477, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662247_821544885", + "mask_path": "../../mask/hdr_front_00477.png" + }, + { + "file_path": "../../rgb/hdr_front_00478.png", + "transform_matrix": [ + [ + -0.8086063265800476, + 1.5588443602609914e-06, + 0.5883501768112183, + -5.3001627922058105 + ], + [ + -0.5883439779281616, + 0.004519330337643623, + -0.8085980415344238, + 9.167115211486816 + ], + [ + -0.002660207450389862, + -0.9999898076057434, + -0.0036534424871206284, + -0.5220958590507507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 478, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662247_921545743", + "mask_path": "../../mask/hdr_front_00478.png" + }, + { + "file_path": "../../rgb/hdr_front_00479.png", + "transform_matrix": [ + [ + -0.797968327999115, + -0.0034815354738384485, + 0.6026893854141235, + -5.349678993225098 + ], + [ + -0.6026798486709595, + -0.003449443494901061, + -0.7979756593704224, + 9.220077514648438 + ], + [ + 0.0048571242950856686, + -0.9999880194664001, + 0.0006542952614836395, + -0.5216713547706604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 479, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_21545171", + "mask_path": "../../mask/hdr_front_00479.png" + }, + { + "file_path": "../../rgb/hdr_front_00480.png", + "transform_matrix": [ + [ + -0.7903319597244263, + -0.0025819623842835426, + 0.6126734018325806, + -5.391417503356934 + ], + [ + -0.6126677989959717, + -0.0026763055939227343, + -0.790336012840271, + 9.264452934265137 + ], + [ + 0.0036803197581321, + -0.9999932050704956, + 0.0005332843284122646, + -0.5104064345359802 + ], + [ + 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": "1731662248_121544837", + "mask_path": "../../mask/hdr_front_00480.png" + }, + { + "file_path": "../../rgb/hdr_front_00482.png", + "transform_matrix": [ + [ + -0.7771617770195007, + -0.014398125000298023, + 0.6291361451148987, + -5.456545829772949 + ], + [ + -0.6292222142219543, + 0.0019814344123005867, + -0.7772229313850403, + 9.346275329589844 + ], + [ + 0.009943961165845394, + -0.9998944401741028, + -0.010599515400826931, + -0.5162225365638733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 482, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_321544885", + "mask_path": "../../mask/hdr_front_00482.png" + }, + { + "file_path": "../../rgb/hdr_front_00483.png", + "transform_matrix": [ + [ + -0.7669907212257385, + -0.013734995387494564, + 0.6415111422538757, + -5.515486240386963 + ], + [ + -0.6416130661964417, + 0.004561055451631546, + -0.7670150399208069, + 9.39665699005127 + ], + [ + 0.0076089780777692795, + -0.9998952746391296, + -0.01231084018945694, + -0.5171735882759094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 483, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_421544790", + "mask_path": "../../mask/hdr_front_00483.png" + }, + { + "file_path": "../../rgb/hdr_front_00484.png", + "transform_matrix": [ + [ + -0.7480390667915344, + -0.005162449553608894, + 0.6636345386505127, + -5.582572937011719 + ], + [ + -0.6636545062065125, + 0.006428770255297422, + -0.7480116486549377, + 9.441001892089844 + ], + [ + -0.0004047818947583437, + -0.999966025352478, + -0.008235053159296513, + -0.5155298709869385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 484, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_521546125", + "mask_path": "../../mask/hdr_front_00484.png" + }, + { + "file_path": "../../rgb/hdr_front_00486.png", + "transform_matrix": [ + [ + -0.7097256779670715, + -0.005507717374712229, + 0.7044566869735718, + -5.6835856437683105 + ], + [ + -0.7044737339019775, + 0.0020159853156656027, + -0.7097272276878357, + 9.506171226501465 + ], + [ + 0.0024888040497899055, + -0.9999828338623047, + -0.005310839042067528, + -0.5263699889183044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 486, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_721544265", + "mask_path": "../../mask/hdr_front_00486.png" + }, + { + "file_path": "../../rgb/hdr_front_00487.png", + "transform_matrix": [ + [ + -0.6947564482688904, + -0.004147026222199202, + 0.7192330956459045, + -5.735148906707764 + ], + [ + -0.7191964983940125, + -0.007612690329551697, + -0.694765031337738, + 9.547706604003906 + ], + [ + 0.008356508798897266, + -0.9999624490737915, + 0.0023064385168254375, + -0.5219436287879944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 487, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_821545362", + "mask_path": "../../mask/hdr_front_00487.png" + }, + { + "file_path": "../../rgb/hdr_front_00490.png", + "transform_matrix": [ + [ + -0.652919590473175, + -0.02439935877919197, + 0.757034182548523, + -5.881438255310059 + ], + [ + -0.757172703742981, + -0.0048803589306771755, + -0.6531964540481567, + 9.642743110656738 + ], + [ + 0.01963217370212078, + -0.9996904134750366, + -0.01528804562985897, + -0.5193887948989868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 490, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_121544837", + "mask_path": "../../mask/hdr_front_00490.png" + }, + { + "file_path": "../../rgb/hdr_front_00491.png", + "transform_matrix": [ + [ + -0.6316748261451721, + -0.015746237710118294, + 0.7750734686851501, + -5.946863651275635 + ], + [ + -0.775144100189209, + -0.0023517559748142958, + -0.631780207157135, + 9.682461738586426 + ], + [ + 0.01177094504237175, + -0.9998733401298523, + -0.010720057412981987, + -0.5222287178039551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 491, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_221544265", + "mask_path": "../../mask/hdr_front_00491.png" + }, + { + "file_path": "../../rgb/hdr_front_00492.png", + "transform_matrix": [ + [ + -0.6101674437522888, + -0.01059303805232048, + 0.7922016382217407, + -5.999322414398193 + ], + [ + -0.7922489047050476, + 0.00044323582551442087, + -0.6101980209350586, + 9.70325756072998 + ], + [ + 0.00611271895468235, + -0.9999437928199768, + -0.008662771433591843, + -0.5288152098655701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 492, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_321544170", + "mask_path": "../../mask/hdr_front_00492.png" + }, + { + "file_path": "../../rgb/hdr_front_00493.png", + "transform_matrix": [ + [ + -0.5921525359153748, + -0.008402581326663494, + 0.8057820796966553, + -6.053166389465332 + ], + [ + -0.8057821393013, + -0.0042383065447211266, + -0.5921968817710876, + 9.727378845214844 + ], + [ + 0.008391134440898895, + -0.9999557137489319, + -0.0042609260417521, + -0.531213104724884 + ], + [ + 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": "1731662249_421543598", + "mask_path": "../../mask/hdr_front_00493.png" + }, + { + "file_path": "../../rgb/hdr_front_00494.png", + "transform_matrix": [ + [ + -0.5793628692626953, + -0.0031459906604140997, + 0.8150635957717896, + -6.106441020965576 + ], + [ + -0.814949095249176, + -0.014970555901527405, + -0.579339325428009, + 9.752523422241211 + ], + [ + 0.014024552889168262, + -0.9998829960823059, + 0.006109562236815691, + -0.530073344707489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 494, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_521543979", + "mask_path": "../../mask/hdr_front_00494.png" + }, + { + "file_path": "../../rgb/hdr_front_00495.png", + "transform_matrix": [ + [ + -0.5742601156234741, + -0.0022633897606283426, + 0.8186697959899902, + -6.151376724243164 + ], + [ + -0.8185813426971436, + -0.013359700329601765, + -0.5742351412773132, + 9.782718658447266 + ], + [ + 0.012236901558935642, + -0.9999082088470459, + 0.0058191753923892975, + -0.5238725543022156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 495, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_621545076", + "mask_path": "../../mask/hdr_front_00495.png" + }, + { + "file_path": "../../rgb/hdr_front_00497.png", + "transform_matrix": [ + [ + -0.5663862824440002, + -0.013311282731592655, + 0.8240324258804321, + -6.254079818725586 + ], + [ + -0.8239926695823669, + -0.009751520119607449, + -0.5665165781974792, + 9.845495223999023 + ], + [ + 0.015576629899442196, + -0.999863862991333, + -0.0054452731274068356, + -0.5244272947311401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 497, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_821544647", + "mask_path": "../../mask/hdr_front_00497.png" + }, + { + "file_path": "../../rgb/hdr_front_00498.png", + "transform_matrix": [ + [ + -0.556667149066925, + -0.0005698453751392663, + 0.830735445022583, + -6.317191123962402 + ], + [ + -0.8307090401649475, + -0.007614653091877699, + -0.5566547513008118, + 9.877739906311035 + ], + [ + 0.006642971187829971, + -0.9999709129333496, + 0.0037654517218470573, + -0.526980459690094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 498, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_921544075", + "mask_path": "../../mask/hdr_front_00498.png" + }, + { + "file_path": "../../rgb/hdr_front_00499.png", + "transform_matrix": [ + [ + -0.547026515007019, + 0.0016986053669825196, + 0.8371135592460632, + -6.364110469818115 + ], + [ + -0.8371091485023499, + -0.004960840102285147, + -0.5470134615898132, + 9.900620460510254 + ], + [ + 0.0032236268743872643, + -0.9999862909317017, + 0.004135628696531057, + -0.5351191759109497 + ], + [ + 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": "1731662250_21544933", + "mask_path": "../../mask/hdr_front_00499.png" + }, + { + "file_path": "../../rgb/hdr_front_00500.png", + "transform_matrix": [ + [ + -0.5418410897254944, + 0.0036533635575324297, + 0.8404731154441833, + -6.414581298828125 + ], + [ + -0.8404650092124939, + -0.008515494875609875, + -0.5417988300323486, + 9.928176879882812 + ], + [ + 0.005177655722945929, + -0.9999572038650513, + 0.007684568874537945, + -0.5401418805122375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 500, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_121544361", + "mask_path": "../../mask/hdr_front_00500.png" + }, + { + "file_path": "../../rgb/hdr_front_00501.png", + "transform_matrix": [ + [ + -0.5458062887191772, + 0.012040898203849792, + 0.8378248810768127, + -6.4670820236206055 + ], + [ + -0.8378939032554626, + -0.014308695681393147, + -0.5456456542015076, + 9.963940620422363 + ], + [ + 0.005418117623776197, + -0.999825119972229, + 0.017898770049214363, + -0.5414278507232666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 501, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_221544504", + "mask_path": "../../mask/hdr_front_00501.png" + }, + { + "file_path": "../../rgb/hdr_front_00502.png", + "transform_matrix": [ + [ + -0.5541485548019409, + 0.01284598559141159, + 0.8323186635971069, + -6.513500213623047 + ], + [ + -0.8324165344238281, + -0.01027920562773943, + -0.5540550947189331, + 9.998854637145996 + ], + [ + 0.0014381916262209415, + -0.9998646974563599, + 0.01638941839337349, + -0.5351161956787109 + ], + [ + 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": "1731662250_321544170", + "mask_path": "../../mask/hdr_front_00502.png" + }, + { + "file_path": "../../rgb/hdr_front_00503.png", + "transform_matrix": [ + [ + -0.5628780126571655, + 0.00657428614795208, + 0.826513946056366, + -6.557626247406006 + ], + [ + -0.8265381455421448, + -0.006632789969444275, + -0.5628418326377869, + 10.032588958740234 + ], + [ + 0.0017818098422139883, + -0.9999564290046692, + 0.00916734803467989, + -0.5317102670669556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 503, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_421544075", + "mask_path": "../../mask/hdr_front_00503.png" + }, + { + "file_path": "../../rgb/hdr_front_00504.png", + "transform_matrix": [ + [ + -0.5698530077934265, + 0.0030253329314291477, + 0.8217411041259766, + -6.614224910736084 + ], + [ + -0.821746289730072, + -0.0012791601475328207, + -0.5698521137237549, + 10.081016540527344 + ], + [ + -0.0006728521548211575, + -0.9999945759773254, + 0.0032149902544915676, + -0.5371949672698975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 504, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_521543979", + "mask_path": "../../mask/hdr_front_00504.png" + }, + { + "file_path": "../../rgb/hdr_front_00505.png", + "transform_matrix": [ + [ + -0.5672739744186401, + 0.012774813920259476, + 0.8234301209449768, + -6.690482139587402 + ], + [ + -0.823481559753418, + 0.0019560158252716064, + -0.5673397779464722, + 10.128873825073242 + ], + [ + -0.008858300745487213, + -0.9999164938926697, + 0.00941022764891386, + -0.5421066880226135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 505, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_621540784", + "mask_path": "../../mask/hdr_front_00505.png" + }, + { + "file_path": "../../rgb/hdr_front_00506.png", + "transform_matrix": [ + [ + -0.5650972723960876, + 0.015329151414334774, + 0.824881911277771, + -6.74748420715332 + ], + [ + -0.8249534368515015, + 0.002610047347843647, + -0.5651946663856506, + 10.16037654876709 + ], + [ + -0.010816933587193489, + -0.9998791217803955, + 0.011170905083417892, + -0.5523900985717773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 506, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_721544742", + "mask_path": "../../mask/hdr_front_00506.png" + }, + { + "file_path": "../../rgb/hdr_front_00507.png", + "transform_matrix": [ + [ + -0.5624918937683105, + 0.015979981049895287, + 0.826648473739624, + -6.809363842010498 + ], + [ + -0.826744794845581, + 0.000965014798566699, + -0.5625762343406677, + 10.1983642578125 + ], + [ + -0.009787684306502342, + -0.9998718500137329, + 0.012668553739786148, + -0.5564895272254944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 507, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_821544885", + "mask_path": "../../mask/hdr_front_00507.png" + }, + { + "file_path": "../../rgb/hdr_front_00508.png", + "transform_matrix": [ + [ + -0.5652759075164795, + 0.02126617357134819, + 0.8246278166770935, + -6.866547107696533 + ], + [ + -0.8248677253723145, + -0.0054751974530518055, + -0.5652992129325867, + 10.245423316955566 + ], + [ + -0.0075067514553666115, + -0.9997588992118835, + 0.020636778324842453, + -0.5535492300987244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 508, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_921544313", + "mask_path": "../../mask/hdr_front_00508.png" + }, + { + "file_path": "../../rgb/hdr_front_00509.png", + "transform_matrix": [ + [ + -0.5717298984527588, + 0.01927199400961399, + 0.8202155232429504, + -6.911856651306152 + ], + [ + -0.8204066753387451, + -0.004151964094489813, + -0.5717655420303345, + 10.282692909240723 + ], + [ + -0.007613555062562227, + -0.9998056888580322, + 0.01818467117846012, + -0.5485090017318726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 509, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_21544456", + "mask_path": "../../mask/hdr_front_00509.png" + }, + { + "file_path": "../../rgb/hdr_front_00510.png", + "transform_matrix": [ + [ + -0.5779463648796082, + 0.013470042496919632, + 0.815963625907898, + -6.963106155395508 + ], + [ + -0.8160528540611267, + -0.0022123109083622694, + -0.5779730081558228, + 10.3215913772583 + ], + [ + -0.005980153102427721, + -0.9999068975448608, + 0.012270864099264145, + -0.5474871397018433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 510, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_121544599", + "mask_path": "../../mask/hdr_front_00510.png" + }, + { + "file_path": "../../rgb/hdr_front_00511.png", + "transform_matrix": [ + [ + -0.5756116509437561, + 0.013879885897040367, + 0.8176053762435913, + -7.038406848907471 + ], + [ + -0.8177100419998169, + -0.0040960595943033695, + -0.5756157636642456, + 10.367506980895996 + ], + [ + -0.004640519618988037, + -0.9998953342437744, + 0.013707460835576057, + -0.5517217516899109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 511, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_221544265", + "mask_path": "../../mask/hdr_front_00511.png" + }, + { + "file_path": "../../rgb/hdr_front_00512.png", + "transform_matrix": [ + [ + -0.5671166181564331, + 0.01635441929101944, + 0.8234751224517822, + -7.099769592285156 + ], + [ + -0.8236076235771179, + -0.0027547175996005535, + -0.5671532154083252, + 10.395502090454102 + ], + [ + -0.007007019594311714, + -0.9998624920845032, + 0.015031871385872364, + -0.5609989166259766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 512, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_321543693", + "mask_path": "../../mask/hdr_front_00512.png" + }, + { + "file_path": "../../rgb/hdr_front_00513.png", + "transform_matrix": [ + [ + -0.561048150062561, + 0.017732003703713417, + 0.827593207359314, + -7.1512837409973145 + ], + [ + -0.8277620077133179, + -0.00488063832744956, + -0.5610581636428833, + 10.423013687133789 + ], + [ + -0.005909501109272242, + -0.999830961227417, + 0.017416151240468025, + -0.5660175085067749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 513, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_421543598", + "mask_path": "../../mask/hdr_front_00513.png" + }, + { + "file_path": "../../rgb/hdr_front_00514.png", + "transform_matrix": [ + [ + -0.5561304092407227, + 0.02209942601621151, + 0.830801248550415, + -7.212557792663574 + ], + [ + -0.8310903310775757, + -0.011442245915532112, + -0.55601966381073, + 10.463422775268555 + ], + [ + -0.002781484043225646, + -0.9996902942657471, + 0.024730002507567406, + -0.5673735737800598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 514, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_521543979", + "mask_path": "../../mask/hdr_front_00514.png" + }, + { + "file_path": "../../rgb/hdr_front_00515.png", + "transform_matrix": [ + [ + -0.552363932132721, + 0.02199609950184822, + 0.8333128690719604, + -7.268946647644043 + ], + [ + -0.8335970640182495, + -0.01075014565140009, + -0.5522685050964355, + 10.498940467834473 + ], + [ + -0.003189516020938754, + -0.9997002482414246, + 0.02427387796342373, + -0.5631998777389526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 515, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_621543884", + "mask_path": "../../mask/hdr_front_00515.png" + }, + { + "file_path": "../../rgb/hdr_front_00516.png", + "transform_matrix": [ + [ + -0.5487273931503296, + 0.0151221239939332, + 0.8358645439147949, + -7.321006774902344 + ], + [ + -0.8360005021095276, + -0.00853695534169674, + -0.5486621260643005, + 10.527636528015137 + ], + [ + -0.0011611990630626678, + -0.9998492002487183, + 0.017326567322015762, + -0.5600847005844116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 516, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_721543550", + "mask_path": "../../mask/hdr_front_00516.png" + }, + { + "file_path": "../../rgb/hdr_front_00517.png", + "transform_matrix": [ + [ + -0.5398775339126587, + 0.013376494869589806, + 0.841637372970581, + -7.396188735961914 + ], + [ + -0.841743528842926, + -0.007987838238477707, + -0.5398186445236206, + 10.56721019744873 + ], + [ + -0.000498018809594214, + -0.9998786449432373, + 0.01557203195989132, + -0.5638735890388489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 517, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_821545124", + "mask_path": "../../mask/hdr_front_00517.png" + }, + { + "file_path": "../../rgb/hdr_front_00518.png", + "transform_matrix": [ + [ + -0.5236311554908752, + 0.014250555075705051, + 0.8518259525299072, + -7.477146625518799 + ], + [ + -0.8519451022148132, + -0.008935954421758652, + -0.5235548615455627, + 10.596731185913086 + ], + [ + 0.00015092971443664283, + -0.9998584985733032, + 0.01681983657181263, + -0.5709215402603149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 518, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_921544075", + "mask_path": "../../mask/hdr_front_00518.png" + }, + { + "file_path": "../../rgb/hdr_front_00519.png", + "transform_matrix": [ + [ + -0.5087779760360718, + 0.013113541528582573, + 0.8607978820800781, + -7.535038948059082 + ], + [ + -0.8608955144882202, + -0.009998314082622528, + -0.5086835026741028, + 10.62368106842041 + ], + [ + 0.0019358866848051548, + -0.9998640418052673, + 0.0163763128221035, + -0.5773066878318787 + ], + [ + 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": "1731662252_21544456", + "mask_path": "../../mask/hdr_front_00519.png" + }, + { + "file_path": "../../rgb/hdr_front_00520.png", + "transform_matrix": [ + [ + -0.4996194839477539, + 0.014625695534050465, + 0.8661215305328369, + -7.601608753204346 + ], + [ + -0.866243839263916, + -0.010045494884252548, + -0.49952051043510437, + 10.660487174987793 + ], + [ + 0.0013947838451713324, + -0.999842643737793, + 0.017688343301415443, + -0.5753036141395569 + ], + [ + 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": "1731662252_121543645", + "mask_path": "../../mask/hdr_front_00520.png" + }, + { + "file_path": "../../rgb/hdr_front_00521.png", + "transform_matrix": [ + [ + -0.49649423360824585, + 0.01290811412036419, + 0.8679440021514893, + -7.658136367797852 + ], + [ + -0.868039608001709, + -0.006509569473564625, + -0.4964521527290344, + 10.700454711914062 + ], + [ + -0.0007583184633404016, + -0.9998955726623535, + 0.014436719939112663, + -0.564613401889801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 521, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662252_221543788", + "mask_path": "../../mask/hdr_front_00521.png" + }, + { + "file_path": "../../rgb/hdr_front_00522.png", + "transform_matrix": [ + [ + -0.49274682998657227, + 0.005099625792354345, + 0.870157778263092, + -7.715214729309082 + ], + [ + -0.8701629638671875, + -0.0076042464934289455, + -0.49270525574684143, + 10.729019165039062 + ], + [ + 0.00410428224131465, + -0.9999580979347229, + 0.00818447396159172, + -0.5620095729827881 + ], + [ + 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": "1731662252_321544408", + "mask_path": "../../mask/hdr_front_00522.png" + }, + { + "file_path": "../../rgb/hdr_front_00523.png", + "transform_matrix": [ + [ + -0.48406943678855896, + 0.0015994319692254066, + 0.8750281929969788, + -7.795547008514404 + ], + [ + -0.8749968409538269, + -0.009534608572721481, + -0.4840347468852997, + 10.764705657958984 + ], + [ + 0.007568871136754751, + -0.9999532699584961, + 0.006014910060912371, + -0.5671723484992981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 523, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662252_421545505", + "mask_path": "../../mask/hdr_front_00523.png" + }, + { + "file_path": "../../rgb/hdr_front_00524.png", + "transform_matrix": [ + [ + -0.46941038966178894, + 0.006034906953573227, + 0.8829594850540161, + -7.882537841796875 + ], + [ + -0.8829702734947205, + -0.007930879481136799, + -0.46936190128326416, + 10.793476104736328 + ], + [ + 0.004170089494436979, + -0.9999503493309021, + 0.009051479399204254, + -0.577070415019989 + ], + [ + 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": "1731662252_521543979", + "mask_path": "../../mask/hdr_front_00524.png" + }, + { + "file_path": "../../rgb/hdr_front_00525.png", + "transform_matrix": [ + [ + -0.45901960134506226, + 0.006897100247442722, + 0.8883993625640869, + -7.948369026184082 + ], + [ + -0.888424813747406, + -0.005310778971761465, + -0.45899152755737305, + 10.823199272155762 + ], + [ + 0.00155238329898566, + -0.9999621510505676, + 0.008565306663513184, + -0.5817400813102722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 525, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662252_621544122", + "mask_path": "../../mask/hdr_front_00525.png" + }, + { + "file_path": "../../rgb/hdr_front_00526.png", + "transform_matrix": [ + [ + -0.4559711813926697, + 0.00979359820485115, + 0.8899406790733337, + -8.024604797363281 + ], + [ + -0.8899942636489868, + -0.0042907376773655415, + -0.455951452255249, + 10.868119239807129 + ], + [ + -0.0006469022482633591, + -0.9999428987503052, + 0.010672698728740215, + -0.579131543636322 + ], + [ + 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": "1731662252_721545219", + "mask_path": "../../mask/hdr_front_00526.png" + }, + { + "file_path": "../../rgb/hdr_front_00527.png", + "transform_matrix": [ + [ + -0.4620012938976288, + 0.00751260481774807, + 0.8868475556373596, + -8.088275909423828 + ], + [ + -0.8868762254714966, + -0.0012787503655999899, + -0.4620054066181183, + 10.907360076904297 + ], + [ + -0.002336808480322361, + -0.9999710321426392, + 0.007253534626215696, + -0.5726569890975952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 527, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662252_821544170", + "mask_path": "../../mask/hdr_front_00527.png" + }, + { + "file_path": "../../rgb/hdr_front_00528.png", + "transform_matrix": [ + [ + -0.46605581045150757, + 0.003961979411542416, + 0.8847465515136719, + -8.153743743896484 + ], + [ + -0.8847525715827942, + 0.00037290374166332185, + -0.4660607576370239, + 10.940211296081543 + ], + [ + -0.00217644777148962, + -0.9999920725822449, + 0.0033315776381641626, + -0.5692746639251709 + ], + [ + 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": "1731662252_921544313", + "mask_path": "../../mask/hdr_front_00528.png" + }, + { + "file_path": "../../rgb/hdr_front_00529.png", + "transform_matrix": [ + [ + -0.46091651916503906, + 0.009347491897642612, + 0.8873942494392395, + -8.2423095703125 + ], + [ + -0.887435257434845, + -0.0005501776468008757, + -0.46093201637268066, + 10.978221893310547 + ], + [ + -0.00382033409550786, + -0.9999561905860901, + 0.00854888092726469, + -0.5744355320930481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 529, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662253_21544694", + "mask_path": "../../mask/hdr_front_00529.png" + }, + { + "file_path": "../../rgb/hdr_front_00530.png", + "transform_matrix": [ + [ + -0.4558796286582947, + 0.011527053080499172, + 0.8899667263031006, + -8.313733100891113 + ], + [ + -0.8900184631347656, + 0.0012723898980766535, + -0.4559226334095001, + 11.0049467086792 + ], + [ + -0.006387828383594751, + -0.9999327659606934, + 0.009679233655333519, + -0.5884641408920288 + ], + [ + 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": "1731662253_121544122", + "mask_path": "../../mask/hdr_front_00530.png" + }, + { + "file_path": "../../rgb/hdr_front_00531.png", + "transform_matrix": [ + [ + -0.4567221999168396, + 0.011943533085286617, + 0.8895292282104492, + -8.380953788757324 + ], + [ + -0.8895780444145203, + 0.002255587372928858, + -0.4567776322364807, + 11.042997360229492 + ], + [ + -0.007461949251592159, + -0.9999262690544128, + 0.009594527073204517, + -0.5901179313659668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 531, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662253_221545696", + "mask_path": "../../mask/hdr_front_00531.png" + }, + { + "file_path": "../../rgb/hdr_front_00532.png", + "transform_matrix": [ + [ + -0.46403712034225464, + 0.02182755433022976, + 0.8855468034744263, + -8.450761795043945 + ], + [ + -0.885776698589325, + -0.0020517997909337282, + -0.46410706639289856, + 11.09424114227295 + ], + [ + -0.008313357830047607, + -0.9997597336769104, + 0.020286452025175095, + -0.5844390392303467 + ], + [ + 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": "1731662253_321544647", + "mask_path": "../../mask/hdr_front_00532.png" + }, + { + "file_path": "../../rgb/hdr_front_00533.png", + "transform_matrix": [ + [ + -0.4718109965324402, + 0.01923913136124611, + 0.8814897537231445, + -8.509979248046875 + ], + [ + -0.8816706538200378, + -0.0021631207782775164, + -0.47186049818992615, + 11.127720832824707 + ], + [ + -0.007171417586505413, + -0.9998126029968262, + 0.01798315905034542, + -0.5821179747581482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 533, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662253_421545743", + "mask_path": "../../mask/hdr_front_00533.png" + }, + { + "file_path": "../../rgb/hdr_front_00534.png", + "transform_matrix": [ + [ + -0.4724592864513397, + 0.014741151593625546, + 0.8812292814254761, + -8.584610939025879 + ], + [ + -0.8813365697860718, + -0.0018991422839462757, + -0.47248509526252747, + 11.158924102783203 + ], + [ + -0.005291393492370844, + -0.999889612197876, + 0.013889184221625328, + -0.5854012966156006 + ], + [ + 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": "1731662253_521544456", + "mask_path": "../../mask/hdr_front_00534.png" + }, + { + "file_path": "../../rgb/hdr_front_00535.png", + "transform_matrix": [ + [ + -0.46153533458709717, + 0.023619741201400757, + 0.8868073225021362, + -8.670907974243164 + ], + [ + -0.8870821595191956, + -0.0028367878403514624, + -0.4616028070449829, + 11.196493148803711 + ], + [ + -0.008387253619730473, + -0.9997169971466064, + 0.022261930629611015, + -0.601737380027771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 535, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662253_621544361", + "mask_path": "../../mask/hdr_front_00535.png" + }, + { + "file_path": "../../rgb/hdr_front_00536.png", + "transform_matrix": [ + [ + -0.45190751552581787, + 0.025692887604236603, + 0.8916947245597839, + -8.74209976196289 + ], + [ + -0.891998827457428, + -0.0008604376344010234, + -0.45203691720962524, + 11.220165252685547 + ], + [ + -0.010846883058547974, + -0.9996694922447205, + 0.023306863382458687, + -0.6133099794387817 + ], + [ + 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": "1731662253_721544265", + "mask_path": "../../mask/hdr_front_00536.png" + }, + { + "file_path": "../../rgb/hdr_front_00537.png", + "transform_matrix": [ + [ + -0.4456680417060852, + 0.02451927214860916, + 0.8948624730110168, + -8.812914848327637 + ], + [ + -0.8951522707939148, + -0.0020769804250448942, + -0.4457555413246155, + 11.256365776062012 + ], + [ + -0.0090709887444973, + -0.999697208404541, + 0.022874128073453903, + -0.6173221468925476 + ], + [ + 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": "1731662253_821543931", + "mask_path": "../../mask/hdr_front_00537.png" + }, + { + "file_path": "../../rgb/hdr_front_00538.png", + "transform_matrix": [ + [ + -0.4382370114326477, + 0.03365911915898323, + 0.8982290625572205, + -8.898314476013184 + ], + [ + -0.8988209962844849, + -0.00716561870649457, + -0.43825724720954895, + 11.299102783203125 + ], + [ + -0.008314985781908035, + -0.9994077086448669, + 0.03339376300573349, + -0.6104575395584106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 538, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662253_921543836", + "mask_path": "../../mask/hdr_front_00538.png" + }, + { + "file_path": "../../rgb/hdr_front_00539.png", + "transform_matrix": [ + [ + -0.43154269456863403, + 0.02908792719244957, + 0.9016234874725342, + -8.960384368896484 + ], + [ + -0.902073323726654, + -0.007394805084913969, + -0.43151944875717163, + 11.322721481323242 + ], + [ + -0.005884675309062004, + -0.9995495080947876, + 0.02943061850965023, + -0.6110307574272156 + ], + [ + 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": "1731662254_21545171", + "mask_path": "../../mask/hdr_front_00539.png" + }, + { + "file_path": "../../rgb/hdr_front_00540.png", + "transform_matrix": [ + [ + -0.422156423330307, + 0.022658824920654297, + 0.9062398672103882, + -9.039437294006348 + ], + [ + -0.9065172672271729, + -0.0070091732777655125, + -0.4221104383468628, + 11.350749969482422 + ], + [ + -0.003212534124031663, + -0.9997186660766602, + 0.023499585688114166, + -0.6151526570320129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 540, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662254_121544599", + "mask_path": "../../mask/hdr_front_00540.png" + }, + { + "file_path": "../../rgb/hdr_front_00541.png", + "transform_matrix": [ + [ + -0.399872750043869, + 0.03503698855638504, + 0.9159008264541626, + -9.129605293273926 + ], + [ + -0.9165407419204712, + -0.007207348011434078, + -0.3998764455318451, + 11.379255294799805 + ], + [ + -0.007409249432384968, + -0.9993600249290466, + 0.03499484807252884, + -0.630809485912323 + ], + [ + 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": "1731662254_221545457", + "mask_path": "../../mask/hdr_front_00541.png" + }, + { + "file_path": "../../rgb/hdr_front_00542.png", + "transform_matrix": [ + [ + -0.37929561734199524, + 0.03542274981737137, + 0.9245972633361816, + -9.204299926757812 + ], + [ + -0.9252205491065979, + -0.0036266667302697897, + -0.37941235303878784, + 11.392657279968262 + ], + [ + -0.010086621157824993, + -0.9993658661842346, + 0.03414943441748619, + -0.6430304050445557 + ], + [ + 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": "1731662254_321544170", + "mask_path": "../../mask/hdr_front_00542.png" + }, + { + "file_path": "../../rgb/hdr_front_00543.png", + "transform_matrix": [ + [ + -0.3620951473712921, + 0.031774986535310745, + 0.9315994381904602, + -9.28212833404541 + ], + [ + -0.9321152567863464, + -0.004903246182948351, + -0.3621283769607544, + 11.41794490814209 + ], + [ + -0.006938762031495571, + -0.999483048915863, + 0.031393397599458694, + -0.6458871960639954 + ], + [ + 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": "1731662254_421543598", + "mask_path": "../../mask/hdr_front_00543.png" + }, + { + "file_path": "../../rgb/hdr_front_00544.png", + "transform_matrix": [ + [ + -0.3555741310119629, + 0.04212810471653938, + 0.9336982369422913, + -9.373194694519043 + ], + [ + -0.9346116781234741, + -0.0072095016948878765, + -0.3555966913700104, + 11.456976890563965 + ], + [ + -0.008249115198850632, + -0.9990862011909485, + 0.041936930269002914, + -0.6436213254928589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 544, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662254_521543979", + "mask_path": "../../mask/hdr_front_00544.png" + }, + { + "file_path": "../../rgb/hdr_front_00545.png", + "transform_matrix": [ + [ + -0.3551931083202362, + 0.03914473205804825, + 0.9339730143547058, + -9.433042526245117 + ], + [ + -0.9347633123397827, + -0.006927119102329016, + -0.3552033603191376, + 11.48160457611084 + ], + [ + -0.007434597238898277, + -0.9992095232009888, + 0.03905152902007103, + -0.6374651193618774 + ], + [ + 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": "1731662254_621543884", + "mask_path": "../../mask/hdr_front_00545.png" + }, + { + "file_path": "../../rgb/hdr_front_00546.png", + "transform_matrix": [ + [ + -0.3571234345436096, + 0.03328141197562218, + 0.9334641695022583, + -9.50374984741211 + ], + [ + -0.9340470433235168, + -0.008058651350438595, + -0.35705918073654175, + 11.505267143249512 + ], + [ + -0.004360968247056007, + -0.9994135499000549, + 0.033964335918426514, + -0.6409707069396973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 546, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662254_721543073", + "mask_path": "../../mask/hdr_front_00546.png" + }, + { + "file_path": "../../rgb/hdr_front_00547.png", + "transform_matrix": [ + [ + -0.35509368777275085, + 0.038865868002176285, + 0.9340224266052246, + -9.59173583984375 + ], + [ + -0.934812068939209, + -0.008429682813584805, + -0.3550430238246918, + 11.530908584594727 + ], + [ + -0.005925542209297419, + -0.999208927154541, + 0.03932560235261917, + -0.6524605751037598 + ], + [ + 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": "1731662254_821543931", + "mask_path": "../../mask/hdr_front_00547.png" + }, + { + "file_path": "../../rgb/hdr_front_00548.png", + "transform_matrix": [ + [ + -0.3493347465991974, + 0.03856766223907471, + 0.9362039566040039, + -9.673196792602539 + ], + [ + -0.9369816780090332, + -0.008472158573567867, + -0.34927594661712646, + 11.55078411102295 + ], + [ + -0.005539086181670427, + -0.9992201328277588, + 0.03909681364893913, + -0.6625168323516846 + ], + [ + 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": "1731662254_921544790", + "mask_path": "../../mask/hdr_front_00548.png" + }, + { + "file_path": "../../rgb/hdr_front_00549.png", + "transform_matrix": [ + [ + -0.3467230200767517, + 0.035924188792705536, + 0.937279462814331, + -9.74890422821045 + ], + [ + -0.9379560947418213, + -0.008349697105586529, + -0.3466533422470093, + 11.574803352355957 + ], + [ + -0.004627240356057882, + -0.9993196725845337, + 0.03659035265445709, + -0.6682724356651306 + ], + [ + 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": "1731662255_21544218", + "mask_path": "../../mask/hdr_front_00549.png" + }, + { + "file_path": "../../rgb/hdr_front_00550.png", + "transform_matrix": [ + [ + -0.3461894989013672, + 0.042007073760032654, + 0.9372237324714661, + -9.826824188232422 + ], + [ + -0.9381430745124817, + -0.008736559189856052, + -0.34613752365112305, + 11.606736183166504 + ], + [ + -0.006352115422487259, + -0.999079167842865, + 0.04243315011262894, + -0.6689332723617554 + ], + [ + 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": "1731662255_121544122", + "mask_path": "../../mask/hdr_front_00550.png" + }, + { + "file_path": "../../rgb/hdr_front_00551.png", + "transform_matrix": [ + [ + -0.3445862829685211, + 0.036063533276319504, + 0.9380617141723633, + -9.89827823638916 + ], + [ + -0.9387462735176086, + -0.009015554562211037, + -0.344491183757782, + 11.630098342895508 + ], + [ + -0.003966418094933033, + -0.9993088245391846, + 0.036961138248443604, + -0.665181577205658 + ], + [ + 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": "1731662255_221544027", + "mask_path": "../../mask/hdr_front_00551.png" + }, + { + "file_path": "../../rgb/hdr_front_00552.png", + "transform_matrix": [ + [ + -0.33769845962524414, + 0.027852587401866913, + 0.9408422112464905, + -9.976336479187012 + ], + [ + -0.9412523508071899, + -0.007940839044749737, + -0.3376106321811676, + 11.654067039489746 + ], + [ + -0.001932252198457718, + -0.9995805621147156, + 0.028897922486066818, + -0.6620883345603943 + ], + [ + 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": "1731662255_321544170", + "mask_path": "../../mask/hdr_front_00552.png" + }, + { + "file_path": "../../rgb/hdr_front_00553.png", + "transform_matrix": [ + [ + -0.3149608373641968, + 0.03391365334391594, + 0.9484986066818237, + -10.075323104858398 + ], + [ + -0.9490909576416016, + -0.005897885654121637, + -0.3149467408657074, + 11.674016952514648 + ], + [ + -0.0050868564285337925, + -0.9994074106216431, + 0.03404475003480911, + -0.6768931150436401 + ], + [ + 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": "1731662255_421543836", + "mask_path": "../../mask/hdr_front_00553.png" + }, + { + "file_path": "../../rgb/hdr_front_00554.png", + "transform_matrix": [ + [ + -0.2848622500896454, + 0.03609595447778702, + 0.9578886032104492, + -10.156068801879883 + ], + [ + -0.9585327506065369, + -0.0021001191344112158, + -0.2849746346473694, + 11.67664623260498 + ], + [ + -0.008274750784039497, + -0.9993461966514587, + 0.03519740328192711, + -0.6924890875816345 + ], + [ + 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": "1731662255_521543979", + "mask_path": "../../mask/hdr_front_00554.png" + }, + { + "file_path": "../../rgb/hdr_front_00555.png", + "transform_matrix": [ + [ + -0.2645118236541748, + 0.03330887109041214, + 0.9638071060180664, + -10.233994483947754 + ], + [ + -0.9643658399581909, + -0.0032789043616503477, + -0.26455190777778625, + 11.691286087036133 + ], + [ + -0.005651690997183323, + -0.9994397759437561, + 0.032989248633384705, + -0.6974519491195679 + ], + [ + 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": "1731662255_621544122", + "mask_path": "../../mask/hdr_front_00555.png" + }, + { + "file_path": "../../rgb/hdr_front_00556.png", + "transform_matrix": [ + [ + -0.2566356658935547, + 0.0387922041118145, + 0.9657294750213623, + -10.322402000427246 + ], + [ + -0.9664980173110962, + -0.005703337956219912, + -0.25661078095436096, + 11.727054595947266 + ], + [ + -0.004446615930646658, + -0.9992311000823975, + 0.03895626962184906, + -0.6938799023628235 + ], + [ + 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": "1731662255_721544027", + "mask_path": "../../mask/hdr_front_00556.png" + }, + { + "file_path": "../../rgb/hdr_front_00557.png", + "transform_matrix": [ + [ + -0.256958544254303, + 0.03475475683808327, + 0.9657973051071167, + -10.387786865234375 + ], + [ + -0.9664158821105957, + -0.0055620549246668816, + -0.25692296028137207, + 11.745341300964355 + ], + [ + -0.0035574764478951693, + -0.9993805289268494, + 0.03501676023006439, + -0.6929121613502502 + ], + [ + 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": "1731662255_821543693", + "mask_path": "../../mask/hdr_front_00557.png" + }, + { + "file_path": "../../rgb/hdr_front_00558.png", + "transform_matrix": [ + [ + -0.25485002994537354, + 0.027877332642674446, + 0.9665786623954773, + -10.462600708007812 + ], + [ + -0.9669778347015381, + -0.004929780028760433, + -0.2548130750656128, + 11.760544776916504 + ], + [ + -0.002338487422093749, + -0.9995992183685303, + 0.02821311354637146, + -0.6937562823295593 + ], + [ + 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": "1731662255_921543836", + "mask_path": "../../mask/hdr_front_00558.png" + }, + { + "file_path": "../../rgb/hdr_front_00559.png", + "transform_matrix": [ + [ + -0.2428400218486786, + 0.03371621295809746, + 0.9694802761077881, + -10.554853439331055 + ], + [ + -0.970053493976593, + -0.0032952267210930586, + -0.24286900460720062, + 11.774785041809082 + ], + [ + -0.0049939644522964954, + -0.999426007270813, + 0.03350674360990524, + -0.7063813209533691 + ], + [ + 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": "1731662256_21543502", + "mask_path": "../../mask/hdr_front_00559.png" + }, + { + "file_path": "../../rgb/hdr_front_00560.png", + "transform_matrix": [ + [ + -0.22791332006454468, + 0.03591131418943405, + 0.9730190634727478, + -10.632037162780762 + ], + [ + -0.973662257194519, + -0.0021406575106084347, + -0.2279849797487259, + 11.779336929321289 + ], + [ + -0.006104339379817247, + -0.9993526935577393, + 0.035453375428915024, + -0.7175931334495544 + ], + [ + 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": "1731662256_121543884", + "mask_path": "../../mask/hdr_front_00560.png" + }, + { + "file_path": "../../rgb/hdr_front_00561.png", + "transform_matrix": [ + [ + -0.21808259189128876, + 0.03607261925935745, + 0.9752634763717651, + -10.710030555725098 + ], + [ + -0.9759142994880676, + -0.0023381204809993505, + -0.21814166009426117, + 11.782814025878906 + ], + [ + -0.0055886562913656235, + -0.9993464946746826, + 0.035713691264390945, + -0.7206769585609436 + ], + [ + 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": "1731662256_221544027", + "mask_path": "../../mask/hdr_front_00561.png" + }, + { + "file_path": "../../rgb/hdr_front_00562.png", + "transform_matrix": [ + [ + -0.21475359797477722, + 0.04627808928489685, + 0.97557133436203, + -10.79499340057373 + ], + [ + -0.9766679406166077, + -0.009329481981694698, + -0.21455243229866028, + 11.80251407623291 + ], + [ + -0.000827500713057816, + -0.9988850951194763, + 0.047201868146657944, + -0.7284759283065796 + ], + [ + 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": "1731662256_321543931", + "mask_path": "../../mask/hdr_front_00562.png" + }, + { + "file_path": "../../rgb/hdr_front_00563.png", + "transform_matrix": [ + [ + -0.22063902020454407, + 0.04776439070701599, + 0.9741852879524231, + -10.864218711853027 + ], + [ + -0.9753553867340088, + -0.010251757688820362, + -0.22040140628814697, + 11.818880081176758 + ], + [ + -0.0005402254755608737, + -0.9988060593605042, + 0.0488491915166378, + -0.7273765206336975 + ], + [ + 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": "1731662256_421544075", + "mask_path": "../../mask/hdr_front_00563.png" + }, + { + "file_path": "../../rgb/hdr_front_00564.png", + "transform_matrix": [ + [ + -0.2318376898765564, + 0.04126298427581787, + 0.9718790054321289, + -10.938694953918457 + ], + [ + -0.9727518558502197, + -0.01217173133045435, + -0.2315291464328766, + 11.837591171264648 + ], + [ + 0.0022758671548217535, + -0.9990742206573486, + 0.0429605096578598, + -0.728980541229248 + ], + [ + 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": "1731662256_521544456", + "mask_path": "../../mask/hdr_front_00564.png" + }, + { + "file_path": "../../rgb/hdr_front_00565.png", + "transform_matrix": [ + [ + -0.23355844616889954, + 0.04237251728773117, + 0.9714191555976868, + -11.047966003417969 + ], + [ + -0.9723410606384277, + -0.008328236639499664, + -0.2334168702363968, + 11.862141609191895 + ], + [ + -0.0018002515425905585, + -0.9990671873092651, + 0.04314567521214485, + -0.7390464544296265 + ], + [ + 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": "1731662256_621544361", + "mask_path": "../../mask/hdr_front_00565.png" + }, + { + "file_path": "../../rgb/hdr_front_00566.png", + "transform_matrix": [ + [ + -0.22807097434997559, + 0.04500493407249451, + 0.9726038575172424, + -11.132622718811035 + ], + [ + -0.9736299514770508, + -0.005082597024738789, + -0.22807642817497253, + 11.872223854064941 + ], + [ + -0.005321210250258446, + -0.9989739060401917, + 0.0449773445725441, + -0.7551262974739075 + ], + [ + 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": "1731662256_721544265", + "mask_path": "../../mask/hdr_front_00566.png" + }, + { + "file_path": "../../rgb/hdr_front_00567.png", + "transform_matrix": [ + [ + -0.2269745022058487, + 0.043718885630369186, + 0.9729189276695251, + -11.215757369995117 + ], + [ + -0.9738813042640686, + -0.003876905422657728, + -0.22702480852603912, + 11.887212753295898 + ], + [ + -0.006153355352580547, + -0.9990363717079163, + 0.04345696419477463, + -0.7574993968009949 + ], + [ + 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": "1731662256_821544170", + "mask_path": "../../mask/hdr_front_00567.png" + }, + { + "file_path": "../../rgb/hdr_front_00568.png", + "transform_matrix": [ + [ + -0.2326575368642807, + 0.054062921553850174, + 0.9710550308227539, + -11.30557632446289 + ], + [ + -0.972521960735321, + -0.00424934271723032, + -0.23277243971824646, + 11.910667419433594 + ], + [ + -0.008458011783659458, + -0.9985284805297852, + 0.053566016256809235, + -0.7614696025848389 + ], + [ + 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": "1731662256_921545028", + "mask_path": "../../mask/hdr_front_00568.png" + }, + { + "file_path": "../../rgb/hdr_front_00569.png", + "transform_matrix": [ + [ + -0.24378520250320435, + 0.05214548856019974, + 0.9684264659881592, + -11.386810302734375 + ], + [ + -0.9697549939155579, + -0.0007511070580221713, + -0.24407923221588135, + 11.936673164367676 + ], + [ + -0.012000234797596931, + -0.9986392855644226, + 0.0507514588534832, + -0.7568314075469971 + ], + [ + 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": "1731662257_21543741", + "mask_path": "../../mask/hdr_front_00569.png" + }, + { + "file_path": "../../rgb/hdr_front_00570.png", + "transform_matrix": [ + [ + -0.2562427818775177, + 0.04568573832511902, + 0.9655321836471558, + -11.467196464538574 + ], + [ + -0.9665072560310364, + 0.0026290055830031633, + -0.2566259503364563, + 11.957691192626953 + ], + [ + -0.014262531884014606, + -0.9989523887634277, + 0.04348192736506462, + -0.7570658922195435 + ], + [ + 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": "1731662257_121543884", + "mask_path": "../../mask/hdr_front_00570.png" + }, + { + "file_path": "../../rgb/hdr_front_00571.png", + "transform_matrix": [ + [ + -0.2599998116493225, + 0.047951750457286835, + 0.9644173383712769, + -11.573126792907715 + ], + [ + -0.9654284119606018, + 0.006381793413311243, + -0.2605898082256317, + 11.982928276062012 + ], + [ + -0.018650444224476814, + -0.9988293051719666, + 0.04463472217321396, + -0.7714226245880127 + ], + [ + 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": "1731662257_221544027", + "mask_path": "../../mask/hdr_front_00571.png" + }, + { + "file_path": "../../rgb/hdr_front_00572.png", + "transform_matrix": [ + [ + -0.25527307391166687, + 0.049454618245363235, + 0.9656034111976624, + -11.66711139678955 + ], + [ + -0.9666768312454224, + 0.006855274084955454, + -0.25590792298316956, + 11.997882843017578 + ], + [ + -0.019275305792689323, + -0.9987528920173645, + 0.04605666920542717, + -0.7833206653594971 + ], + [ + 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": "1731662257_321543931", + "mask_path": "../../mask/hdr_front_00572.png" + }, + { + "file_path": "../../rgb/hdr_front_00573.png", + "transform_matrix": [ + [ + -0.25194090604782104, + 0.04615113139152527, + 0.9666416049003601, + -11.746893882751465 + ], + [ + -0.9675676226615906, + 0.006984577514231205, + -0.2525157332420349, + 12.014899253845215 + ], + [ + -0.01840546913444996, + -0.998910129070282, + 0.0428946428000927, + -0.7894916534423828 + ], + [ + 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": "1731662257_421543836", + "mask_path": "../../mask/hdr_front_00573.png" + }, + { + "file_path": "../../rgb/hdr_front_00574.png", + "transform_matrix": [ + [ + -0.2551349401473999, + 0.05087960138916969, + 0.9655659198760986, + -11.838086128234863 + ], + [ + -0.9667956829071045, + 0.0016222770791500807, + -0.25554537773132324, + 12.044743537902832 + ], + [ + -0.014568459242582321, + -0.9987035393714905, + 0.048776283860206604, + -0.793139636516571 + ], + [ + 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": "1731662257_521540880", + "mask_path": "../../mask/hdr_front_00574.png" + }, + { + "file_path": "../../rgb/hdr_front_00575.png", + "transform_matrix": [ + [ + -0.263144314289093, + 0.05089249089360237, + 0.9634132981300354, + -11.920147895812988 + ], + [ + -0.9646340608596802, + 0.002028784714639187, + -0.2635849714279175, + 12.076639175415039 + ], + [ + -0.015369052067399025, + -0.9987021684646606, + 0.04855876788496971, + -0.7896963357925415 + ], + [ + 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": "1731662257_621540307", + "mask_path": "../../mask/hdr_front_00575.png" + }, + { + "file_path": "../../rgb/hdr_front_00576.png", + "transform_matrix": [ + [ + -0.2695179283618927, + 0.043082095682621, + 0.9620313048362732, + -11.999908447265625 + ], + [ + -0.9629048705101013, + 0.0016447266098111868, + -0.2698363661766052, + 12.101192474365234 + ], + [ + -0.013207390904426575, + -0.9990702271461487, + 0.04104067385196686, + -0.7918460965156555 + ], + [ + 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": "1731662257_721540689", + "mask_path": "../../mask/hdr_front_00576.png" + }, + { + "file_path": "../../rgb/hdr_front_00577.png", + "transform_matrix": [ + [ + -0.26933231949806213, + 0.04188960790634155, + 0.9621358513832092, + -12.098278045654297 + ], + [ + -0.9629324078559875, + 0.0037169083952903748, + -0.26971718668937683, + 12.124361038208008 + ], + [ + -0.014874516054987907, + -0.9991153478622437, + 0.03933577612042427, + -0.801785409450531 + ], + [ + 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": "1731662257_821543931", + "mask_path": "../../mask/hdr_front_00577.png" + }, + { + "file_path": "../../rgb/hdr_front_00578.png", + "transform_matrix": [ + [ + -0.2580801546573639, + 0.04688930884003639, + 0.9649849534034729, + -12.195636749267578 + ], + [ + -0.9659665822982788, + 0.005480630323290825, + -0.25860899686813354, + 12.142108917236328 + ], + [ + -0.017414722591638565, + -0.9988850951194763, + 0.04387906566262245, + -0.8166741728782654 + ], + [ + 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": "1731662257_921545028", + "mask_path": "../../mask/hdr_front_00578.png" + }, + { + "file_path": "../../rgb/hdr_front_00579.png", + "transform_matrix": [ + [ + -0.24817810952663422, + 0.04328330233693123, + 0.9677470326423645, + -12.277000427246094 + ], + [ + -0.968558669090271, + 0.006827668286859989, + -0.2486916035413742, + 12.156667709350586 + ], + [ + -0.0173716489225626, + -0.9990395307540894, + 0.040227945894002914, + -0.8228406310081482 + ], + [ + 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": "1731662258_21544694", + "mask_path": "../../mask/hdr_front_00579.png" + }, + { + "file_path": "../../rgb/hdr_front_00580.png", + "transform_matrix": [ + [ + -0.2431778907775879, + 0.041967958211898804, + 0.9690733551979065, + -12.365856170654297 + ], + [ + -0.9699040651321411, + 0.002125040628015995, + -0.24347834289073944, + 12.182244300842285 + ], + [ + -0.012277606874704361, + -0.9991167783737183, + 0.040188126266002655, + -0.8290632963180542 + ], + [ + 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": "1731662258_121546745", + "mask_path": "../../mask/hdr_front_00580.png" + }, + { + "file_path": "../../rgb/hdr_front_00581.png", + "transform_matrix": [ + [ + -0.2444784790277481, + 0.047536373138427734, + 0.968488872051239, + -12.452898979187012 + ], + [ + -0.9695034623146057, + 0.005655386485159397, + -0.24501220881938934, + 12.211971282958984 + ], + [ + -0.017124168574810028, + -0.9988535642623901, + 0.04470406100153923, + -0.8217037916183472 + ], + [ + 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": "1731662258_221544027", + "mask_path": "../../mask/hdr_front_00581.png" + }, + { + "file_path": "../../rgb/hdr_front_00582.png", + "transform_matrix": [ + [ + -0.24804137647151947, + 0.0414569117128849, + 0.9678619503974915, + -12.519343376159668 + ], + [ + -0.9686681032180786, + 0.002329937182366848, + -0.24834780395030975, + 12.234578132629395 + ], + [ + -0.01255078800022602, + -0.9991375803947449, + 0.03958006948232651, + -0.8208274245262146 + ], + [ + 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": "1731662258_321545600", + "mask_path": "../../mask/hdr_front_00582.png" + }, + { + "file_path": "../../rgb/hdr_front_00583.png", + "transform_matrix": [ + [ + -0.24551178514957428, + 0.03733159601688385, + 0.9686745405197144, + -12.612410545349121 + ], + [ + -0.9693114161491394, + 0.003552983980625868, + -0.24581016600131989, + 12.25064754486084 + ], + [ + -0.01261816918849945, + -0.9992966651916504, + 0.03531365096569061, + -0.8281089067459106 + ], + [ + 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": "1731662258_421544790", + "mask_path": "../../mask/hdr_front_00583.png" + }, + { + "file_path": "../../rgb/hdr_front_00584.png", + "transform_matrix": [ + [ + -0.22566790878772736, + 0.046658147126436234, + 0.9730862975120544, + -12.702227592468262 + ], + [ + -0.9740639328956604, + 0.006149757653474808, + -0.226189523935318, + 12.259632110595703 + ], + [ + -0.016537824645638466, + -0.9988920092582703, + 0.04406021162867546, + -0.840941309928894 + ], + [ + 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": "1731662258_521544933", + "mask_path": "../../mask/hdr_front_00584.png" + }, + { + "file_path": "../../rgb/hdr_front_00585.png", + "transform_matrix": [ + [ + -0.206713005900383, + 0.04602092131972313, + 0.9773187637329102, + -12.778804779052734 + ], + [ + -0.9782710075378418, + 0.006596676539629698, + -0.20722508430480957, + 12.261529922485352 + ], + [ + -0.015983741730451584, + -0.9989187717437744, + 0.043657317757606506, + -0.8489803671836853 + ], + [ + 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": "1731662258_621544599", + "mask_path": "../../mask/hdr_front_00585.png" + }, + { + "file_path": "../../rgb/hdr_front_00586.png", + "transform_matrix": [ + [ + -0.19384963810443878, + 0.0453757680952549, + 0.9799813628196716, + -12.864354133605957 + ], + [ + -0.9810030460357666, + -0.0013896471355110407, + -0.1939874291419983, + 12.274750709533691 + ], + [ + -0.007440498098731041, + -0.9989690780639648, + 0.04478314518928528, + -0.8541550636291504 + ], + [ + 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": "1731662258_721544265", + "mask_path": "../../mask/hdr_front_00586.png" + }, + { + "file_path": "../../rgb/hdr_front_00587.png", + "transform_matrix": [ + [ + -0.18980348110198975, + 0.05034702271223068, + 0.9805303812026978, + -12.94968032836914 + ], + [ + -0.981778621673584, + -0.00033689558040350676, + -0.19002778828144073, + 12.30074405670166 + ], + [ + -0.009236996062099934, + -0.9987317323684692, + 0.04949358105659485, + -0.8537831902503967 + ], + [ + 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": "1731662258_821543931", + "mask_path": "../../mask/hdr_front_00587.png" + }, + { + "file_path": "../../rgb/hdr_front_00588.png", + "transform_matrix": [ + [ + -0.18670429289340973, + 0.0460340790450573, + 0.9813370704650879, + -13.022582054138184 + ], + [ + -0.9824080467224121, + -0.004678554367274046, + -0.18668857216835022, + 12.310290336608887 + ], + [ + -0.004002797417342663, + -0.9989289045333862, + 0.04609774798154831, + -0.8540478944778442 + ], + [ + 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": "1731662258_921544551", + "mask_path": "../../mask/hdr_front_00588.png" + }, + { + "file_path": "../../rgb/hdr_front_00589.png", + "transform_matrix": [ + [ + -0.1770404577255249, + 0.04159349203109741, + 0.9833243489265442, + -13.118268013000488 + ], + [ + -0.9842034578323364, + -0.007082213182002306, + -0.17689919471740723, + 12.314719200134277 + ], + [ + -0.00039374237530864775, + -0.9991095662117004, + 0.0421903021633625, + -0.8646589517593384 + ], + [ + 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": "1731662259_21544694", + "mask_path": "../../mask/hdr_front_00589.png" + }, + { + "file_path": "../../rgb/hdr_front_00590.png", + "transform_matrix": [ + [ + -0.15515483915805817, + 0.0472581647336483, + 0.9867591261863708, + -13.210494041442871 + ], + [ + -0.9878833293914795, + -0.003689063247293234, + -0.15515489876270294, + 12.310075759887695 + ], + [ + -0.0036921175196766853, + -0.9988759160041809, + 0.0472579263150692, + -0.8804537057876587 + ], + [ + 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": "1731662259_121544599", + "mask_path": "../../mask/hdr_front_00590.png" + }, + { + "file_path": "../../rgb/hdr_front_00591.png", + "transform_matrix": [ + [ + -0.1363132745027542, + 0.04874022677540779, + 0.98946613073349, + -13.288077354431152 + ], + [ + -0.9906560182571411, + -0.0022579773794859648, + -0.13636597990989685, + 12.31063461303711 + ], + [ + -0.00441231532022357, + -0.9988089799880981, + 0.04859258979558945, + -0.8845759034156799 + ], + [ + 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": "1731662259_221545219", + "mask_path": "../../mask/hdr_front_00591.png" + }, + { + "file_path": "../../rgb/hdr_front_00592.png", + "transform_matrix": [ + [ + -0.12697094678878784, + 0.05639725178480148, + 0.9903018474578857, + -13.378180503845215 + ], + [ + -0.991905689239502, + -0.0060222274623811245, + -0.12683361768722534, + 12.321175575256348 + ], + [ + -0.0011892423499375582, + -0.9983903169631958, + 0.05670540779829025, + -0.8892322182655334 + ], + [ + 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": "1731662259_321543931", + "mask_path": "../../mask/hdr_front_00592.png" + }, + { + "file_path": "../../rgb/hdr_front_00593.png", + "transform_matrix": [ + [ + -0.13055627048015594, + 0.05682600289583206, + 0.9898110628128052, + -13.450889587402344 + ], + [ + -0.991439938545227, + -0.006110823713243008, + -0.13042031228542328, + 12.333627700805664 + ], + [ + -0.0013627017615363002, + -0.9983654618263245, + 0.057137373834848404, + -0.8873291611671448 + ], + [ + 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": "1731662259_421544313", + "mask_path": "../../mask/hdr_front_00593.png" + }, + { + "file_path": "../../rgb/hdr_front_00594.png", + "transform_matrix": [ + [ + -0.14051729440689087, + 0.050721894949674606, + 0.9887781739234924, + -13.529701232910156 + ], + [ + -0.9900763034820557, + -0.009169171564280987, + -0.1402314156293869, + 12.34770393371582 + ], + [ + 0.001953473314642906, + -0.998670756816864, + 0.05150698125362396, + -0.8839449882507324 + ], + [ + 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": "1731662259_521544694", + "mask_path": "../../mask/hdr_front_00594.png" + }, + { + "file_path": "../../rgb/hdr_front_00595.png", + "transform_matrix": [ + [ + -0.13944821059703827, + 0.05073646456003189, + 0.9889287352561951, + -13.62857723236084 + ], + [ + -0.9902292490005493, + -0.0075439829379320145, + -0.13924458622932434, + 12.352790832519531 + ], + [ + 0.0003956845903303474, + -0.9986836314201355, + 0.051292724907398224, + -0.9006384611129761 + ], + [ + 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": "1731662259_621546983", + "mask_path": "../../mask/hdr_front_00595.png" + }, + { + "file_path": "../../rgb/hdr_front_00596.png", + "transform_matrix": [ + [ + -0.13383707404136658, + 0.05218488723039627, + 0.9896284341812134, + -13.710482597351074 + ], + [ + -0.9910033345222473, + -0.006669941823929548, + -0.13367128372192383, + 12.355783462524414 + ], + [ + -0.0003748566668946296, + -0.9986152052879333, + 0.052608080208301544, + -0.9155428409576416 + ], + [ + 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": "1731662259_721544981", + "mask_path": "../../mask/hdr_front_00596.png" + }, + { + "file_path": "../../rgb/hdr_front_00597.png", + "transform_matrix": [ + [ + -0.134269580245018, + 0.052717842161655426, + 0.9895415902137756, + -13.785470008850098 + ], + [ + -0.9909383058547974, + -0.0035248403437435627, + -0.13427132368087769, + 12.36889934539795 + ], + [ + -0.0035905176773667336, + -0.9986032843589783, + 0.052713412791490555, + -0.9226278066635132 + ], + [ + 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": "1731662259_821544647", + "mask_path": "../../mask/hdr_front_00597.png" + }, + { + "file_path": "../../rgb/hdr_front_00598.png", + "transform_matrix": [ + [ + -0.1426134705543518, + 0.06582636386156082, + 0.9875871539115906, + -13.860492706298828 + ], + [ + -0.9897393584251404, + -0.0006065971101634204, + -0.14288383722305298, + 12.385293006896973 + ], + [ + -0.008806455880403519, + -0.9978309869766235, + 0.06523744761943817, + -0.9226626753807068 + ], + [ + 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": "1731662259_921544551", + "mask_path": "../../mask/hdr_front_00598.png" + }, + { + "file_path": "../../rgb/hdr_front_00599.png", + "transform_matrix": [ + [ + -0.1561392843723297, + 0.06300992518663406, + 0.9857231974601746, + -13.92827033996582 + ], + [ + -0.9876717925071716, + 0.0013385257916525006, + -0.15653349459171295, + 12.404545783996582 + ], + [ + -0.011182579211890697, + -0.9980120658874512, + 0.062024131417274475, + -0.9198687076568604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 599, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662260_21544694", + "mask_path": "../../mask/hdr_front_00599.png" + }, + { + "file_path": "../../rgb/hdr_front_00600.png", + "transform_matrix": [ + [ + -0.164493590593338, + 0.06146155297756195, + 0.9844613671302795, + -13.996566772460938 + ], + [ + -0.9862949848175049, + 0.002714794361963868, + -0.16496945917606354, + 12.414881706237793 + ], + [ + -0.012811887077987194, + -0.9981057643890381, + 0.06017265096306801, + -0.9237608909606934 + ], + [ + 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": "1731662260_121543884", + "mask_path": "../../mask/hdr_front_00600.png" + }, + { + "file_path": "../../rgb/hdr_front_00601.png", + "transform_matrix": [ + [ + -0.15767255425453186, + 0.06704741716384888, + 0.9852126836776733, + -14.084975242614746 + ], + [ + -0.9873926043510437, + 0.003407432697713375, + -0.15825332701206207, + 12.421075820922852 + ], + [ + -0.013967522419989109, + -0.9977439641952515, + 0.0656648650765419, + -0.9426895380020142 + ], + [ + 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": "1731662260_221545219", + "mask_path": "../../mask/hdr_front_00601.png" + }, + { + "file_path": "../../rgb/hdr_front_00602.png", + "transform_matrix": [ + [ + -0.15306244790554047, + 0.06577496230602264, + 0.9860251545906067, + -14.164008140563965 + ], + [ + -0.9881188869476318, + 0.00383941107429564, + -0.15364356338977814, + 12.426209449768066 + ], + [ + -0.013891653157770634, + -0.9978271126747131, + 0.06440579891204834, + -0.9551585912704468 + ], + [ + 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": "1731662260_321545124", + "mask_path": "../../mask/hdr_front_00602.png" + }, + { + "file_path": "../../rgb/hdr_front_00603.png", + "transform_matrix": [ + [ + -0.15545687079429626, + 0.06786013394594193, + 0.9855090975761414, + -14.247184753417969 + ], + [ + -0.9877855777740479, + 4.9869595386553556e-05, + -0.15581941604614258, + 12.447996139526367 + ], + [ + -0.01062307320535183, + -0.9976949095726013, + 0.06702351570129395, + -0.9593281149864197 + ], + [ + 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": "1731662260_421544313", + "mask_path": "../../mask/hdr_front_00603.png" + }, + { + "file_path": "../../rgb/hdr_front_00604.png", + "transform_matrix": [ + [ + -0.1614278107881546, + 0.07046717405319214, + 0.9843654632568359, + -14.320829391479492 + ], + [ + -0.9867748618125916, + 0.0033400144893676043, + -0.16206203401088715, + 12.468573570251465 + ], + [ + -0.014707846567034721, + -0.9975085258483887, + 0.06899606436491013, + -0.9578617811203003 + ], + [ + 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": "1731662260_521546363", + "mask_path": "../../mask/hdr_front_00604.png" + }, + { + "file_path": "../../rgb/hdr_front_00605.png", + "transform_matrix": [ + [ + -0.16652877628803253, + 0.06486227363348007, + 0.9839010238647461, + -14.400606155395508 + ], + [ + -0.9859490990638733, + 0.0023328345268964767, + -0.1670292168855667, + 12.48009967803955 + ], + [ + -0.013129170052707195, + -0.9978915452957153, + 0.06356240808963776, + -0.9533241987228394 + ], + [ + 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": "1731662260_621545314", + "mask_path": "../../mask/hdr_front_00605.png" + }, + { + "file_path": "../../rgb/hdr_front_00606.png", + "transform_matrix": [ + [ + -0.16019131243228912, + 0.06236839294433594, + 0.9851136207580566, + -14.49832820892334 + ], + [ + -0.9870302081108093, + 0.0004883682122454047, + -0.16053390502929688, + 12.48646354675293 + ], + [ + -0.01049333717674017, + -0.9980530738830566, + 0.061481256037950516, + -0.9653727412223816 + ], + [ + 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": "1731662260_721544742", + "mask_path": "../../mask/hdr_front_00606.png" + }, + { + "file_path": "../../rgb/hdr_front_00607.png", + "transform_matrix": [ + [ + -0.14332526922225952, + 0.0635572224855423, + 0.987632691860199, + -14.58798599243164 + ], + [ + -0.9895958304405212, + 0.003468160517513752, + -0.14383332431316376, + 12.486069679260254 + ], + [ + -0.012566914781928062, + -0.9979721903800964, + 0.06239888817071915, + -0.981529176235199 + ], + [ + 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": "1731662260_821544647", + "mask_path": "../../mask/hdr_front_00607.png" + }, + { + "file_path": "../../rgb/hdr_front_00608.png", + "transform_matrix": [ + [ + -0.13343928754329681, + 0.06129781901836395, + 0.9891595244407654, + -14.65919303894043 + ], + [ + -0.9909989237785339, + 0.002550794743001461, + -0.1338455080986023, + 12.492504119873047 + ], + [ + -0.010727579705417156, + -0.9981163144111633, + 0.06040569394826889, + -0.992888331413269 + ], + [ + 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": "1731662260_921544790", + "mask_path": "../../mask/hdr_front_00608.png" + }, + { + "file_path": "../../rgb/hdr_front_00609.png", + "transform_matrix": [ + [ + -0.134651780128479, + 0.068138986825943, + 0.9885473847389221, + -14.742117881774902 + ], + [ + -0.9908153414726257, + 0.003232134273275733, + -0.13518349826335907, + 12.509661674499512 + ], + [ + -0.012406385503709316, + -0.997670590877533, + 0.06707794219255447, + -0.9969009757041931 + ], + [ + 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": "1731662261_21544456", + "mask_path": "../../mask/hdr_front_00609.png" + }, + { + "file_path": "../../rgb/hdr_front_00610.png", + "transform_matrix": [ + [ + -0.14628787338733673, + 0.0675397738814354, + 0.986933708190918, + -14.815635681152344 + ], + [ + -0.9891402125358582, + 0.004330759402364492, + -0.14691129326820374, + 12.525361061096191 + ], + [ + -0.014196525327861309, + -0.997707188129425, + 0.0661727637052536, + -0.9930891990661621 + ], + [ + 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": "1731662261_121545076", + "mask_path": "../../mask/hdr_front_00610.png" + }, + { + "file_path": "../../rgb/hdr_front_00611.png", + "transform_matrix": [ + [ + -0.1531612128019333, + 0.0643138661980629, + 0.9861062169075012, + -14.902570724487305 + ], + [ + -0.9881331324577332, + 0.0017390315188094974, + -0.15358948707580566, + 12.536388397216797 + ], + [ + -0.011592802591621876, + -0.997928261756897, + 0.06328430026769638, + -1.001315951347351 + ], + [ + 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": "1731662261_221544504", + "mask_path": "../../mask/hdr_front_00611.png" + }, + { + "file_path": "../../rgb/hdr_front_00612.png", + "transform_matrix": [ + [ + -0.14750514924526215, + 0.06131420284509659, + 0.987159013748169, + -14.981870651245117 + ], + [ + -0.9890356659889221, + -0.0019717516843229532, + -0.1476631462574005, + 12.538989067077637 + ], + [ + -0.007107413373887539, + -0.9981166124343872, + 0.06093278154730797, + -1.0148723125457764 + ], + [ + 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": "1731662261_321544170", + "mask_path": "../../mask/hdr_front_00612.png" + }, + { + "file_path": "../../rgb/hdr_front_00613.png", + "transform_matrix": [ + [ + -0.14265894889831543, + 0.061252444982528687, + 0.9878748059272766, + -15.057272911071777 + ], + [ + -0.9897343516349792, + -0.00013235480582807213, + -0.14291927218437195, + 12.547614097595215 + ], + [ + -0.008623404428362846, + -0.9981223940849304, + 0.060642533004283905, + -1.0249687433242798 + ], + [ + 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": "1731662261_421544313", + "mask_path": "../../mask/hdr_front_00613.png" + }, + { + "file_path": "../../rgb/hdr_front_00614.png", + "transform_matrix": [ + [ + -0.14323408901691437, + 0.06455310434103012, + 0.9875813126564026, + -15.138120651245117 + ], + [ + -0.9896014332771301, + 0.003924370277673006, + -0.1437835693359375, + 12.56246566772461 + ], + [ + -0.013157310895621777, + -0.9979066252708435, + 0.06331973522901535, + -1.0203475952148438 + ], + [ + 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": "1731662261_521544218", + "mask_path": "../../mask/hdr_front_00614.png" + }, + { + "file_path": "../../rgb/hdr_front_00615.png", + "transform_matrix": [ + [ + -0.1496003270149231, + 0.06295258551836014, + 0.9867404699325562, + -15.204867362976074 + ], + [ + -0.9886197447776794, + 0.006459502503275871, + -0.1502973735332489, + 12.580504417419434 + ], + [ + -0.015835458412766457, + -0.9979956150054932, + 0.06126982718706131, + -1.0226138830184937 + ], + [ + 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": "1731662261_621544837", + "mask_path": "../../mask/hdr_front_00615.png" + }, + { + "file_path": "../../rgb/hdr_front_00616.png", + "transform_matrix": [ + [ + -0.15126387774944305, + 0.055685512721538544, + 0.9869236946105957, + -15.274659156799316 + ], + [ + -0.9884296655654907, + 0.002825019182637334, + -0.15165412425994873, + 12.594654083251953 + ], + [ + -0.011233014054596424, + -0.9984443783760071, + 0.05461388826370239, + -1.0291829109191895 + ], + [ + 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": "1731662261_721544027", + "mask_path": "../../mask/hdr_front_00616.png" + }, + { + "file_path": "../../rgb/hdr_front_03903.png", + "transform_matrix": [ + [ + 0.25137752294540405, + 0.0407692976295948, + -0.9670300483703613, + -14.63034725189209 + ], + [ + 0.9671074151992798, + -0.050726305693387985, + 0.24925905466079712, + 12.39991283416748 + ], + [ + -0.038891736418008804, + -0.9978801012039185, + -0.052179738879203796, + -1.0082696676254272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3903, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_421544075", + "mask_path": "../../mask/hdr_front_03903.png" + }, + { + "file_path": "../../rgb/hdr_front_03904.png", + "transform_matrix": [ + [ + 0.24917741119861603, + 0.037131763994693756, + -0.9677457809448242, + -14.561050415039062 + ], + [ + 0.9674904942512512, + -0.05419740453362465, + 0.24703216552734375, + 12.380508422851562 + ], + [ + -0.04327656701207161, + -0.997839629650116, + -0.04942940175533295, + -1.0099073648452759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3904, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_521544218", + "mask_path": "../../mask/hdr_front_03904.png" + }, + { + "file_path": "../../rgb/hdr_front_03905.png", + "transform_matrix": [ + [ + 0.25104984641075134, + 0.03797595202922821, + -0.9672289490699768, + -14.487665176391602 + ], + [ + 0.9668540954589844, + -0.05789295211434364, + 0.248679518699646, + 12.353378295898438 + ], + [ + -0.0465518943965435, + -0.997600257396698, + -0.05125122517347336, + -0.9988677501678467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3905, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_621545553", + "mask_path": "../../mask/hdr_front_03905.png" + }, + { + "file_path": "../../rgb/hdr_front_03906.png", + "transform_matrix": [ + [ + 0.26030200719833374, + 0.03658861666917801, + -0.9648337364196777, + -14.414504051208496 + ], + [ + 0.9644346237182617, + -0.05737793445587158, + 0.258018434047699, + 12.322653770446777 + ], + [ + -0.04591962695121765, + -0.9976818561553955, + -0.05022292584180832, + -0.9788206815719604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3906, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_721545457", + "mask_path": "../../mask/hdr_front_03906.png" + }, + { + "file_path": "../../rgb/hdr_front_03907.png", + "transform_matrix": [ + [ + 0.27076417207717896, + 0.04525895044207573, + -0.9615812301635742, + -14.355721473693848 + ], + [ + 0.9620273113250732, + -0.04851910099387169, + 0.26860615611076355, + 12.304720878601074 + ], + [ + -0.034498222172260284, + -0.997796356678009, + -0.05667757987976074, + -0.9743499755859375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3907, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_821544647", + "mask_path": "../../mask/hdr_front_03907.png" + }, + { + "file_path": "../../rgb/hdr_front_03908.png", + "transform_matrix": [ + [ + 0.2763638198375702, + 0.05108347162604332, + -0.9596945643424988, + -14.287385940551758 + ], + [ + 0.960674524307251, + -0.04270682483911514, + 0.2743728756904602, + 12.288098335266113 + ], + [ + -0.026969587430357933, + -0.9977808594703674, + -0.06087721511721611, + -0.9670273065567017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3908, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_921543359", + "mask_path": "../../mask/hdr_front_03908.png" + }, + { + "file_path": "../../rgb/hdr_front_03909.png", + "transform_matrix": [ + [ + 0.2710142433643341, + 0.04832359775900841, + -0.9613616466522217, + -14.205360412597656 + ], + [ + 0.9622077941894531, + -0.041197702288627625, + 0.2691819369792938, + 12.274697303771973 + ], + [ + -0.026598045602440834, + -0.99798184633255, + -0.05766249820590019, + -0.9664839506149292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3909, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_21544218", + "mask_path": "../../mask/hdr_front_03909.png" + }, + { + "file_path": "../../rgb/hdr_front_03910.png", + "transform_matrix": [ + [ + 0.26685962080955505, + 0.04588334634900093, + -0.9626426100730896, + -14.144859313964844 + ], + [ + 0.9633026719093323, + -0.042629364877939224, + 0.2650107145309448, + 12.25888729095459 + ], + [ + -0.02887726202607155, + -0.9980368614196777, + -0.05557560548186302, + -0.9695814847946167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3910, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_121544361", + "mask_path": "../../mask/hdr_front_03910.png" + }, + { + "file_path": "../../rgb/hdr_front_03911.png", + "transform_matrix": [ + [ + 0.26872673630714417, + 0.04359548166394234, + -0.9622294306755066, + -14.087559700012207 + ], + [ + 0.962692141532898, + -0.04511278122663498, + 0.2668120861053467, + 12.236677169799805 + ], + [ + -0.0317770391702652, + -0.9980302453041077, + -0.05409204214811325, + -0.9678505659103394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3911, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_221544981", + "mask_path": "../../mask/hdr_front_03911.png" + }, + { + "file_path": "../../rgb/hdr_front_03912.png", + "transform_matrix": [ + [ + 0.27790987491607666, + 0.0376635417342186, + -0.9598686099052429, + -14.029352188110352 + ], + [ + 0.9599888324737549, + -0.04673352465033531, + 0.27611100673675537, + 12.208878517150879 + ], + [ + -0.03445872291922569, + -0.9981971383094788, + -0.049144286662340164, + -0.9501631259918213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3912, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_321544647", + "mask_path": "../../mask/hdr_front_03912.png" + }, + { + "file_path": "../../rgb/hdr_front_03913.png", + "transform_matrix": [ + [ + 0.28971558809280396, + 0.04598567262291908, + -0.9560074210166931, + -13.971245765686035 + ], + [ + 0.956818699836731, + -0.03867264837026596, + 0.2881012558937073, + 12.187294960021973 + ], + [ + -0.0237228125333786, + -0.9981932640075684, + -0.05520402267575264, + -0.9385728240013123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3913, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_421544075", + "mask_path": "../../mask/hdr_front_03913.png" + }, + { + "file_path": "../../rgb/hdr_front_03914.png", + "transform_matrix": [ + [ + 0.29629069566726685, + 0.05283454433083534, + -0.9536353349685669, + -13.912774085998535 + ], + [ + 0.954983651638031, + -0.03182830661535263, + 0.29494625329971313, + 12.167606353759766 + ], + [ + -0.014769244939088821, + -0.9980959296226501, + -0.05988655984401703, + -0.927811861038208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3914, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_521544694", + "mask_path": "../../mask/hdr_front_03914.png" + }, + { + "file_path": "../../rgb/hdr_front_03915.png", + "transform_matrix": [ + [ + 0.2945464551448822, + 0.04766787961125374, + -0.9544475674629211, + -13.846437454223633 + ], + [ + 0.9554964303970337, + -0.03182477876543999, + 0.29328078031539917, + 12.15138053894043 + ], + [ + -0.01639501191675663, + -0.9983561038970947, + -0.054920367896556854, + -0.924033522605896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3915, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_621545314", + "mask_path": "../../mask/hdr_front_03915.png" + }, + { + "file_path": "../../rgb/hdr_front_03916.png", + "transform_matrix": [ + [ + 0.2899201810359955, + 0.04247291013598442, + -0.9561079144477844, + -13.791674613952637 + ], + [ + 0.9567437171936035, + -0.03816623240709305, + 0.2884175777435303, + 12.13992691040039 + ], + [ + -0.024241099134087563, + -0.9983683824539185, + -0.051700856536626816, + -0.9313483834266663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3916, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_721545457", + "mask_path": "../../mask/hdr_front_03916.png" + }, + { + "file_path": "../../rgb/hdr_front_03917.png", + "transform_matrix": [ + [ + 0.2894118130207062, + 0.039930373430252075, + -0.9563714861869812, + -13.74131965637207 + ], + [ + 0.9569156765937805, + -0.03661978244781494, + 0.28804755210876465, + 12.125425338745117 + ], + [ + -0.023520274087786674, + -0.9985312819480896, + -0.04880819469690323, + -0.9350423216819763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3917, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_821544170", + "mask_path": "../../mask/hdr_front_03917.png" + }, + { + "file_path": "../../rgb/hdr_front_03918.png", + "transform_matrix": [ + [ + 0.2945754826068878, + 0.035363756120204926, + -0.9549736380577087, + -13.688152313232422 + ], + [ + 0.9553225636482239, + -0.03617161884903908, + 0.29334360361099243, + 12.09919548034668 + ], + [ + -0.024169210344552994, + -0.9987197518348694, + -0.04443906992673874, + -0.920693576335907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3918, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_921545028", + "mask_path": "../../mask/hdr_front_03918.png" + }, + { + "file_path": "../../rgb/hdr_front_03919.png", + "transform_matrix": [ + [ + 0.3068483769893646, + 0.041073378175497055, + -0.9508717656135559, + -13.640069007873535 + ], + [ + 0.9515000581741333, + -0.03651341795921326, + 0.3054739236831665, + 12.074981689453125 + ], + [ + -0.022172728553414345, + -0.9984887838363647, + -0.05028541013598442, + -0.9066298007965088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3919, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_21544456", + "mask_path": "../../mask/hdr_front_03919.png" + }, + { + "file_path": "../../rgb/hdr_front_03921.png", + "transform_matrix": [ + [ + 0.3228444755077362, + 0.04747798293828964, + -0.9452604055404663, + -13.541500091552734 + ], + [ + 0.9463937282562256, + -0.02728230506181717, + 0.32186123728752136, + 12.03451156616211 + ], + [ + -0.010507561266422272, + -0.9984996318817139, + -0.053740810602903366, + -0.8887421488761902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3921, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_221544504", + "mask_path": "../../mask/hdr_front_03921.png" + }, + { + "file_path": "../../rgb/hdr_front_03922.png", + "transform_matrix": [ + [ + 0.3180158734321594, + 0.04293368011713028, + -0.9471127986907959, + -13.485074996948242 + ], + [ + 0.9479284882545471, + -0.03256717324256897, + 0.31681346893310547, + 12.022186279296875 + ], + [ + -0.01724281534552574, + -0.9985470771789551, + -0.0510549396276474, + -0.8962554931640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3922, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_321545362", + "mask_path": "../../mask/hdr_front_03922.png" + }, + { + "file_path": "../../rgb/hdr_front_03923.png", + "transform_matrix": [ + [ + 0.31503477692604065, + 0.03847773000597954, + -0.9482998847961426, + -13.433736801147461 + ], + [ + 0.9488462209701538, + -0.03495365381240845, + 0.31379804015159607, + 12.011785507202148 + ], + [ + -0.021072307601571083, + -0.9986479878425598, + -0.047521065920591354, + -0.9037737846374512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3923, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_421544313", + "mask_path": "../../mask/hdr_front_03923.png" + }, + { + "file_path": "../../rgb/hdr_front_03924.png", + "transform_matrix": [ + [ + 0.3160402476787567, + 0.036536067724227905, + -0.9480420351028442, + -13.374165534973145 + ], + [ + 0.9485280513763428, + -0.033575259149074554, + 0.3149084150791168, + 11.991262435913086 + ], + [ + -0.020325247198343277, + -0.9987682104110718, + -0.045266617089509964, + -0.8996002078056335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3924, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_521544694", + "mask_path": "../../mask/hdr_front_03924.png" + }, + { + "file_path": "../../rgb/hdr_front_03925.png", + "transform_matrix": [ + [ + 0.3221246898174286, + 0.03237168863415718, + -0.9461437463760376, + -13.321414947509766 + ], + [ + 0.9464594125747681, + -0.03341565653681755, + 0.32108885049819946, + 11.961455345153809 + ], + [ + -0.021221822127699852, + -0.9989172220230103, + -0.04140250012278557, + -0.8838891983032227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3925, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_621544837", + "mask_path": "../../mask/hdr_front_03925.png" + }, + { + "file_path": "../../rgb/hdr_front_03926.png", + "transform_matrix": [ + [ + 0.33095547556877136, + 0.040026456117630005, + -0.942797064781189, + -13.274853706359863 + ], + [ + 0.9435499310493469, + -0.028319938108325005, + 0.33001747727394104, + 11.937463760375977 + ], + [ + -0.0134905269369483, + -0.9987972378730774, + -0.04713959991931915, + -0.8772732615470886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3926, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_721544981", + "mask_path": "../../mask/hdr_front_03926.png" + }, + { + "file_path": "../../rgb/hdr_front_03927.png", + "transform_matrix": [ + [ + 0.338274747133255, + 0.045720528811216354, + -0.939936101436615, + -13.221675872802734 + ], + [ + 0.9410223960876465, + -0.02370431274175644, + 0.337512731552124, + 11.910786628723145 + ], + [ + -0.006849279627203941, + -0.9986730217933655, + -0.05104261264204979, + -0.8734209537506104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3927, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_821544170", + "mask_path": "../../mask/hdr_front_03927.png" + }, + { + "file_path": "../../rgb/hdr_front_03928.png", + "transform_matrix": [ + [ + 0.3407733738422394, + 0.0479726567864418, + -0.9389207363128662, + -13.150177001953125 + ], + [ + 0.9401395320892334, + -0.020949922502040863, + 0.3401453495025635, + 11.885723114013672 + ], + [ + -0.0033526404295116663, + -0.9986289739608765, + -0.05224016681313515, + -0.8657259345054626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3928, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_921544075", + "mask_path": "../../mask/hdr_front_03928.png" + }, + { + "file_path": "../../rgb/hdr_front_03929.png", + "transform_matrix": [ + [ + 0.33659499883651733, + 0.04616125300526619, + -0.9405173659324646, + -13.079462051391602 + ], + [ + 0.9415926337242126, + -0.027469908818602562, + 0.3356316089630127, + 11.868634223937988 + ], + [ + -0.010342751629650593, + -0.9985562562942505, + -0.052711326628923416, + -0.8608213067054749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3929, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_21544694", + "mask_path": "../../mask/hdr_front_03929.png" + }, + { + "file_path": "../../rgb/hdr_front_03930.png", + "transform_matrix": [ + [ + 0.33511486649513245, + 0.04270484298467636, + -0.9412090182304382, + -13.02424144744873 + ], + [ + 0.9421149492263794, + -0.02667125314474106, + 0.3342273533344269, + 11.854248046875 + ], + [ + -0.010830096900463104, + -0.9987316727638245, + -0.049170803278684616, + -0.8672941327095032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3930, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_121544599", + "mask_path": "../../mask/hdr_front_03930.png" + }, + { + "file_path": "../../rgb/hdr_front_03931.png", + "transform_matrix": [ + [ + 0.33713963627815247, + 0.035495951771736145, + -0.9407852292060852, + -12.96646499633789 + ], + [ + 0.9413405060768127, + -0.028266116976737976, + 0.3362721800804138, + 11.835563659667969 + ], + [ + -0.014656038954854012, + -0.9989700317382812, + -0.042943403124809265, + -0.8671194314956665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3931, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_221545219", + "mask_path": "../../mask/hdr_front_03931.png" + }, + { + "file_path": "../../rgb/hdr_front_03932.png", + "transform_matrix": [ + [ + 0.3457811176776886, + 0.036995939910411835, + -0.9375856518745422, + -12.909910202026367 + ], + [ + 0.9382083415985107, + -0.028709957376122475, + 0.3448779284954071, + 11.807170867919922 + ], + [ + -0.014158960431814194, + -0.9989029765129089, + -0.04463726282119751, + -0.8524690866470337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3932, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_321544885", + "mask_path": "../../mask/hdr_front_03932.png" + }, + { + "file_path": "../../rgb/hdr_front_03933.png", + "transform_matrix": [ + [ + 0.3543124198913574, + 0.04433714225888252, + -0.9340754747390747, + -12.854242324829102 + ], + [ + 0.9351027011871338, + -0.02401777356863022, + 0.35356205701828003, + 11.779722213745117 + ], + [ + -0.006758483126759529, + -0.9987278580665588, + -0.04996957629919052, + -0.8417208790779114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3933, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_421545267", + "mask_path": "../../mask/hdr_front_03933.png" + }, + { + "file_path": "../../rgb/hdr_front_03934.png", + "transform_matrix": [ + [ + 0.35705888271331787, + 0.044513728469610214, + -0.9330205917358398, + -12.778802871704102 + ], + [ + 0.9340667128562927, + -0.022700054571032524, + 0.3563762605190277, + 11.755269050598145 + ], + [ + -0.005315982270985842, + -0.9987508654594421, + -0.04968404397368431, + -0.8364124298095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3934, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_521544694", + "mask_path": "../../mask/hdr_front_03934.png" + }, + { + "file_path": "../../rgb/hdr_front_03935.png", + "transform_matrix": [ + [ + 0.35016703605651855, + 0.04227195680141449, + -0.9357329607009888, + -12.7015380859375 + ], + [ + 0.936621904373169, + -0.027608679607510567, + 0.34925246238708496, + 11.733406066894531 + ], + [ + -0.011070767417550087, + -0.998724639415741, + -0.049260493367910385, + -0.8346145749092102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3935, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_621544837", + "mask_path": "../../mask/hdr_front_03935.png" + }, + { + "file_path": "../../rgb/hdr_front_03936.png", + "transform_matrix": [ + [ + 0.3480106592178345, + 0.03823648765683174, + -0.9367104768753052, + -12.647965431213379 + ], + [ + 0.9373757243156433, + -0.02982722595334053, + 0.34704023599624634, + 11.708468437194824 + ], + [ + -0.014669873751699924, + -0.9988235235214233, + -0.046222150325775146, + -0.8396326899528503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3936, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_721546173", + "mask_path": "../../mask/hdr_front_03936.png" + }, + { + "file_path": "../../rgb/hdr_front_03937.png", + "transform_matrix": [ + [ + 0.3522670865058899, + 0.034974005073308945, + -0.9352458715438843, + -12.588335990905762 + ], + [ + 0.9356972575187683, + -0.03393470123410225, + 0.35116812586784363, + 11.67395305633545 + ], + [ + -0.019455531612038612, + -0.9988119006156921, + -0.04467915743589401, + -0.8313974738121033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3937, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_821543693", + "mask_path": "../../mask/hdr_front_03937.png" + }, + { + "file_path": "../../rgb/hdr_front_03938.png", + "transform_matrix": [ + [ + 0.36530789732933044, + 0.03805351257324219, + -0.9301086664199829, + -12.529098510742188 + ], + [ + 0.9306797385215759, + -0.0360005646944046, + 0.36405932903289795, + 11.638797760009766 + ], + [ + -0.01963070034980774, + -0.9986270666122437, + -0.04856692627072334, + -0.8185603618621826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3938, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_921543598", + "mask_path": "../../mask/hdr_front_03938.png" + }, + { + "file_path": "../../rgb/hdr_front_03939.png", + "transform_matrix": [ + [ + 0.37810656428337097, + 0.043381668627262115, + -0.9247451424598694, + -12.47014331817627 + ], + [ + 0.9256578683853149, + -0.032700568437576294, + 0.37694570422172546, + 11.608744621276855 + ], + [ + -0.013887153007090092, + -0.9985233545303345, + -0.052520882338285446, + -0.8123191595077515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3939, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_21544933", + "mask_path": "../../mask/hdr_front_03939.png" + }, + { + "file_path": "../../rgb/hdr_front_03940.png", + "transform_matrix": [ + [ + 0.3848940432071686, + 0.041704438626766205, + -0.9220180511474609, + -12.398797035217285 + ], + [ + 0.922872006893158, + -0.03124498948454857, + 0.3838372528553009, + 11.580769538879395 + ], + [ + -0.012800728902220726, + -0.9986413717269897, + -0.050513871014118195, + -0.8082548379898071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3940, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_121544599", + "mask_path": "../../mask/hdr_front_03940.png" + }, + { + "file_path": "../../rgb/hdr_front_03941.png", + "transform_matrix": [ + [ + 0.3796819746494293, + 0.03394364193081856, + -0.924494206905365, + -12.329838752746582 + ], + [ + 0.924899697303772, + -0.03559153154492378, + 0.3785417377948761, + 11.559723854064941 + ], + [ + -0.020055076107382774, + -0.9987897872924805, + -0.04490792378783226, + -0.8101551532745361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3941, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_221544265", + "mask_path": "../../mask/hdr_front_03941.png" + }, + { + "file_path": "../../rgb/hdr_front_03942.png", + "transform_matrix": [ + [ + 0.37663835287094116, + 0.03169245272874832, + -0.9258180856704712, + -12.265159606933594 + ], + [ + 0.9261054992675781, + -0.03632160648703575, + 0.37551191449165344, + 11.534253120422363 + ], + [ + -0.021726304665207863, + -0.9988374710083008, + -0.04303066432476044, + -0.8114678263664246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3942, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_321546792", + "mask_path": "../../mask/hdr_front_03942.png" + }, + { + "file_path": "../../rgb/hdr_front_03943.png", + "transform_matrix": [ + [ + 0.37665244936943054, + 0.03232221677899361, + -0.9257906079292297, + -12.191062927246094 + ], + [ + 0.9261379837989807, + -0.03475501015782356, + 0.3755803406238556, + 11.507628440856934 + ], + [ + -0.02003626897931099, + -0.9988729953765869, + -0.043025389313697815, + -0.8113104104995728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3943, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_421543836", + "mask_path": "../../mask/hdr_front_03943.png" + }, + { + "file_path": "../../rgb/hdr_front_03944.png", + "transform_matrix": [ + [ + 0.38538113236427307, + 0.032093729823827744, + -0.9221992492675781, + -12.117795944213867 + ], + [ + 0.9225633144378662, + -0.033905137330293655, + 0.384353369474411, + 11.473941802978516 + ], + [ + -0.018931956961750984, + -0.9989096522331238, + -0.042674895375967026, + -0.792064905166626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3944, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_521543979", + "mask_path": "../../mask/hdr_front_03944.png" + }, + { + "file_path": "../../rgb/hdr_front_03945.png", + "transform_matrix": [ + [ + 0.3948081433773041, + 0.03943733870983124, + -0.9179168343544006, + -12.042998313903809 + ], + [ + 0.9187046885490417, + -0.028260568156838417, + 0.3939328193664551, + 11.44542121887207 + ], + [ + -0.010405185632407665, + -0.9988223314285278, + -0.047388769686222076, + -0.7831997871398926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3945, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_621542692", + "mask_path": "../../mask/hdr_front_03945.png" + }, + { + "file_path": "../../rgb/hdr_front_03946.png", + "transform_matrix": [ + [ + 0.3995889723300934, + 0.03862963244318962, + -0.9158802032470703, + -11.958346366882324 + ], + [ + 0.916630208492279, + -0.028661958873271942, + 0.3987073600292206, + 11.418255805969238 + ], + [ + -0.010848998092114925, + -0.9988425374031067, + -0.046862099319696426, + -0.7794229984283447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3946, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_721543788", + "mask_path": "../../mask/hdr_front_03946.png" + }, + { + "file_path": "../../rgb/hdr_front_03947.png", + "transform_matrix": [ + [ + 0.393768846988678, + 0.03699181228876114, + -0.9184648990631104, + -11.877921104431152 + ], + [ + 0.9191216230392456, + -0.029661837965250015, + 0.39285576343536377, + 11.396484375 + ], + [ + -0.012710905633866787, + -0.9988752603530884, + -0.04567987844347954, + -0.7837164402008057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3947, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_821544170", + "mask_path": "../../mask/hdr_front_03947.png" + }, + { + "file_path": "../../rgb/hdr_front_03948.png", + "transform_matrix": [ + [ + 0.39035922288894653, + 0.03533950448036194, + -0.9199841618537903, + -11.810922622680664 + ], + [ + 0.9205632209777832, + -0.029666224494576454, + 0.38946533203125, + 11.372625350952148 + ], + [ + -0.013528941199183464, + -0.9989349842071533, + -0.044112734496593475, + -0.7853502035140991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3948, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_921543836", + "mask_path": "../../mask/hdr_front_03948.png" + }, + { + "file_path": "../../rgb/hdr_front_03949.png", + "transform_matrix": [ + [ + 0.3910946846008301, + 0.03236326202750206, + -0.9197813272476196, + -11.741243362426758 + ], + [ + 0.9202625751495361, + -0.02755957469344139, + 0.3903296887874603, + 11.345844268798828 + ], + [ + -0.012716434895992279, + -0.9990962147712708, + -0.04056110233068466, + -0.7845168709754944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3949, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_21544456", + "mask_path": "../../mask/hdr_front_03949.png" + }, + { + "file_path": "../../rgb/hdr_front_03950.png", + "transform_matrix": [ + [ + 0.39869725704193115, + 0.026171036064624786, + -0.9167091250419617, + -11.67164134979248 + ], + [ + 0.9169130325317383, + -0.03059445694088936, + 0.39791253209114075, + 11.314629554748535 + ], + [ + -0.017632436007261276, + -0.9991892576217651, + -0.036194488406181335, + -0.7672795653343201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3950, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_121544122", + "mask_path": "../../mask/hdr_front_03950.png" + }, + { + "file_path": "../../rgb/hdr_front_03951.png", + "transform_matrix": [ + [ + 0.4076525866985321, + 0.03465034440159798, + -0.9124794602394104, + -11.606897354125977 + ], + [ + 0.9130763411521912, + -0.026997238397598267, + 0.40689408779144287, + 11.282092094421387 + ], + [ + -0.010535403154790401, + -0.9990348219871521, + -0.04264390468597412, + -0.7590566873550415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3951, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_221544981", + "mask_path": "../../mask/hdr_front_03951.png" + }, + { + "file_path": "../../rgb/hdr_front_03952.png", + "transform_matrix": [ + [ + 0.4133521020412445, + 0.03833784908056259, + -0.9097638130187988, + -11.5332670211792 + ], + [ + 0.9105496406555176, + -0.024297503754496574, + 0.4126852750778198, + 11.247117042541504 + ], + [ + -0.006283524911850691, + -0.9989693760871887, + -0.04495193436741829, + -0.7507308721542358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3952, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_321545600", + "mask_path": "../../mask/hdr_front_03952.png" + }, + { + "file_path": "../../rgb/hdr_front_03953.png", + "transform_matrix": [ + [ + 0.409499853849411, + 0.025921503081917763, + -0.9119418263435364, + -11.456965446472168 + ], + [ + 0.9122276902198792, + -0.025074755772948265, + 0.40891551971435547, + 11.213597297668457 + ], + [ + -0.012267012149095535, + -0.9993495941162109, + -0.033914417028427124, + -0.7520390152931213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3953, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_421545505", + "mask_path": "../../mask/hdr_front_03953.png" + }, + { + "file_path": "../../rgb/hdr_front_03954.png", + "transform_matrix": [ + [ + 0.4063175320625305, + 0.02170686051249504, + -0.9134741425514221, + -11.39177131652832 + ], + [ + 0.9135434031486511, + -0.029958488419651985, + 0.4056364893913269, + 11.188061714172363 + ], + [ + -0.018561208620667458, + -0.9993154406547546, + -0.03200281783938408, + -0.7612885236740112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3954, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_521545410", + "mask_path": "../../mask/hdr_front_03954.png" + }, + { + "file_path": "../../rgb/hdr_front_03955.png", + "transform_matrix": [ + [ + 0.4065873622894287, + 0.020833294838666916, + -0.9133743643760681, + -11.319828033447266 + ], + [ + 0.9133859276771545, + -0.031502898782491684, + 0.4058740437030792, + 11.152588844299316 + ], + [ + -0.020318245515227318, + -0.9992865324020386, + -0.03183751925826073, + -0.7594599723815918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3955, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_621544361", + "mask_path": "../../mask/hdr_front_03955.png" + }, + { + "file_path": "../../rgb/hdr_front_03956.png", + "transform_matrix": [ + [ + 0.4142632484436035, + 0.01591022126376629, + -0.9100180268287659, + -11.246261596679688 + ], + [ + 0.9099109172821045, + -0.030497107654809952, + 0.4136812388896942, + 11.11087703704834 + ], + [ + -0.02117116190493107, + -0.9994083046913147, + -0.027110712602734566, + -0.7405959367752075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3956, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_721543788", + "mask_path": "../../mask/hdr_front_03956.png" + }, + { + "file_path": "../../rgb/hdr_front_03957.png", + "transform_matrix": [ + [ + 0.4246966540813446, + 0.02641279622912407, + -0.9049502611160278, + -11.185664176940918 + ], + [ + 0.9052603840827942, + -0.025280356407165527, + 0.42410433292388916, + 11.079540252685547 + ], + [ + -0.011675684712827206, + -0.9993314146995544, + -0.03464693948626518, + -0.7343206405639648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3957, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_821543693", + "mask_path": "../../mask/hdr_front_03957.png" + }, + { + "file_path": "../../rgb/hdr_front_03958.png", + "transform_matrix": [ + [ + 0.4304213225841522, + 0.03317601978778839, + -0.9020181894302368, + -11.115662574768066 + ], + [ + 0.9026147127151489, + -0.0212556142359972, + 0.4299241900444031, + 11.045364379882812 + ], + [ + -0.004909776151180267, + -0.9992234706878662, + -0.03909403458237648, + -0.7286711931228638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3958, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_921544075", + "mask_path": "../../mask/hdr_front_03958.png" + }, + { + "file_path": "../../rgb/hdr_front_03959.png", + "transform_matrix": [ + [ + 0.4273844361305237, + 0.02756662480533123, + -0.903649628162384, + -11.03240966796875 + ], + [ + 0.9040305614471436, + -0.02236882783472538, + 0.42688220739364624, + 11.01350212097168 + ], + [ + -0.008445880375802517, + -0.9993696808815002, + -0.03448115661740303, + -0.7270320653915405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3959, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_21544218", + "mask_path": "../../mask/hdr_front_03959.png" + }, + { + "file_path": "../../rgb/hdr_front_03960.png", + "transform_matrix": [ + [ + 0.4231368601322174, + 0.024397438392043114, + -0.9057372212409973, + -10.96654224395752 + ], + [ + 0.9059609770774841, + -0.026598341763019562, + 0.42252492904663086, + 10.9873046875 + ], + [ + -0.013782579451799393, + -0.999348521232605, + -0.03335786238312721, + -0.7317894697189331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3960, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_121543884", + "mask_path": "../../mask/hdr_front_03960.png" + }, + { + "file_path": "../../rgb/hdr_front_03961.png", + "transform_matrix": [ + [ + 0.42335712909698486, + 0.024062493816018105, + -0.9056432843208313, + -10.89808464050293 + ], + [ + 0.9058521389961243, + -0.026869038119912148, + 0.4227409362792969, + 10.95770263671875 + ], + [ + -0.014161563478410244, + -0.9993492960929871, + -0.033172257244586945, + -0.7306348085403442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3961, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_221544265", + "mask_path": "../../mask/hdr_front_03961.png" + }, + { + "file_path": "../../rgb/hdr_front_03962.png", + "transform_matrix": [ + [ + 0.4316420257091522, + 0.022883165627717972, + -0.9017547965049744, + -10.828123092651367 + ], + [ + 0.9018743634223938, + -0.030389906838536263, + 0.430928111076355, + 10.91795539855957 + ], + [ + -0.017543239519000053, + -0.9992762207984924, + -0.03375529870390892, + -0.7146965265274048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3962, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_321543931", + "mask_path": "../../mask/hdr_front_03962.png" + }, + { + "file_path": "../../rgb/hdr_front_03963.png", + "transform_matrix": [ + [ + 0.44300755858421326, + 0.03200019150972366, + -0.8959466814994812, + -10.763136863708496 + ], + [ + 0.8964617848396301, + -0.02698490396142006, + 0.4422985017299652, + 10.880309104919434 + ], + [ + -0.010023396462202072, + -0.9991236329078674, + -0.04064146429300308, + -0.7019540071487427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3963, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_421544075", + "mask_path": "../../mask/hdr_front_03963.png" + }, + { + "file_path": "../../rgb/hdr_front_03964.png", + "transform_matrix": [ + [ + 0.44930779933929443, + 0.038930755108594894, + -0.8925283551216125, + -10.69390869140625 + ], + [ + 0.8933647871017456, + -0.024801218882203102, + 0.44864708185195923, + 10.845734596252441 + ], + [ + -0.00466962018981576, + -0.9989341497421265, + -0.04592275246977806, + -0.6925844550132751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3964, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_521544694", + "mask_path": "../../mask/hdr_front_03964.png" + }, + { + "file_path": "../../rgb/hdr_front_03965.png", + "transform_matrix": [ + [ + 0.4458489716053009, + 0.03495653718709946, + -0.8944253325462341, + -10.61139965057373 + ], + [ + 0.8950656652450562, + -0.027153244242072105, + 0.44510698318481445, + 10.81215763092041 + ], + [ + -0.008727152831852436, + -0.9990199208259583, + -0.04339463636279106, + -0.6884074211120605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3965, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_621544361", + "mask_path": "../../mask/hdr_front_03965.png" + }, + { + "file_path": "../../rgb/hdr_front_03966.png", + "transform_matrix": [ + [ + 0.4419741928577423, + 0.02996954694390297, + -0.8965270519256592, + -10.549076080322266 + ], + [ + 0.8968954086303711, + -0.03193580359220505, + 0.4410881996154785, + 10.787635803222656 + ], + [ + -0.015412092208862305, + -0.9990405440330505, + -0.04099434241652489, + -0.6937726736068726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3966, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_721544504", + "mask_path": "../../mask/hdr_front_03966.png" + }, + { + "file_path": "../../rgb/hdr_front_03967.png", + "transform_matrix": [ + [ + 0.44323989748954773, + 0.028804371133446693, + -0.8959401249885559, + -10.484420776367188 + ], + [ + 0.8962439298629761, + -0.033065732568502426, + 0.4423271715641022, + 10.752400398254395 + ], + [ + -0.016883959993720055, + -0.9990381002426147, + -0.04047179967164993, + -0.6879966855049133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3967, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_821544170", + "mask_path": "../../mask/hdr_front_03967.png" + }, + { + "file_path": "../../rgb/hdr_front_03968.png", + "transform_matrix": [ + [ + 0.45250841975212097, + 0.025205083191394806, + -0.8914039134979248, + -10.426979064941406 + ], + [ + 0.8915421962738037, + -0.03488406538963318, + 0.45159226655960083, + 10.713183403015137 + ], + [ + -0.019713370129466057, + -0.9990735650062561, + -0.038256727159023285, + -0.6737473011016846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3968, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_921545028", + "mask_path": "../../mask/hdr_front_03968.png" + }, + { + "file_path": "../../rgb/hdr_front_03969.png", + "transform_matrix": [ + [ + 0.4635874629020691, + 0.03273686394095421, + -0.885446310043335, + -10.373900413513184 + ], + [ + 0.8859519362449646, + -0.03208159655332565, + 0.4626660943031311, + 10.677213668823242 + ], + [ + -0.013260294683277607, + -0.9989489912986755, + -0.043875910341739655, + -0.6669589877128601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3969, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_21544218", + "mask_path": "../../mask/hdr_front_03969.png" + }, + { + "file_path": "../../rgb/hdr_front_03970.png", + "transform_matrix": [ + [ + 0.4701085686683655, + 0.033343445509672165, + -0.8819785714149475, + -10.30158805847168 + ], + [ + 0.8825210332870483, + -0.03183335065841675, + 0.46919435262680054, + 10.641971588134766 + ], + [ + -0.012431774288415909, + -0.9989368915557861, + -0.04439142718911171, + -0.6610662341117859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3970, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_121544599", + "mask_path": "../../mask/hdr_front_03970.png" + }, + { + "file_path": "../../rgb/hdr_front_03971.png", + "transform_matrix": [ + [ + 0.4648008346557617, + 0.023507891222834587, + -0.8851031064987183, + -10.231786727905273 + ], + [ + 0.8852319121360779, + -0.032681651413440704, + 0.4640004634857178, + 10.609829902648926 + ], + [ + -0.01801895536482334, + -0.9991893768310547, + -0.036000389605760574, + -0.6672427654266357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3971, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_221544265", + "mask_path": "../../mask/hdr_front_03971.png" + }, + { + "file_path": "../../rgb/hdr_front_03972.png", + "transform_matrix": [ + [ + 0.462075412273407, + 0.0214240700006485, + -0.8865818977355957, + -10.170124053955078 + ], + [ + 0.8866059184074402, + -0.03416069224476814, + 0.4612624943256378, + 10.583320617675781 + ], + [ + -0.02040412835776806, + -0.9991867542266846, + -0.03477952256798744, + -0.6730779409408569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3972, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_321544647", + "mask_path": "../../mask/hdr_front_03972.png" + }, + { + "file_path": "../../rgb/hdr_front_03973.png", + "transform_matrix": [ + [ + 0.46310505270957947, + 0.022163571789860725, + -0.8860263228416443, + -10.111030578613281 + ], + [ + 0.8860649466514587, + -0.03476604074239731, + 0.4622556269168854, + 10.548667907714844 + ], + [ + -0.020558390766382217, + -0.999149739742279, + -0.03573869168758392, + -0.6722573637962341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3973, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_421544313", + "mask_path": "../../mask/hdr_front_03973.png" + }, + { + "file_path": "../../rgb/hdr_front_03974.png", + "transform_matrix": [ + [ + 0.4710814356803894, + 0.01668289676308632, + -0.8819319605827332, + -10.046942710876465 + ], + [ + 0.881853461265564, + -0.032050032168626785, + 0.47043323516845703, + 10.509696960449219 + ], + [ + -0.020417755469679832, + -0.9993471503257751, + -0.029810041189193726, + -0.6528067588806152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3974, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_521544694", + "mask_path": "../../mask/hdr_front_03974.png" + }, + { + "file_path": "../../rgb/hdr_front_03975.png", + "transform_matrix": [ + [ + 0.4763529896736145, + 0.02556716464459896, + -0.8788822889328003, + -9.989784240722656 + ], + [ + 0.8791324496269226, + -0.03047594055533409, + 0.47560206055641174, + 10.477499008178711 + ], + [ + -0.014624969102442265, + -0.9992085099220276, + -0.03699423000216484, + -0.6437250375747681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3975, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_621544837", + "mask_path": "../../mask/hdr_front_03975.png" + }, + { + "file_path": "../../rgb/hdr_front_03976.png", + "transform_matrix": [ + [ + 0.4745468199253082, + 0.029274236410856247, + -0.8797433376312256, + -9.923042297363281 + ], + [ + 0.8801451921463013, + -0.02967062219977379, + 0.47377634048461914, + 10.445250511169434 + ], + [ + -0.012233090586960316, + -0.9991309642791748, + -0.039845678955316544, + -0.638862669467926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3976, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_721545457", + "mask_path": "../../mask/hdr_front_03976.png" + }, + { + "file_path": "../../rgb/hdr_front_03977.png", + "transform_matrix": [ + [ + 0.46180152893066406, + 0.01961178332567215, + -0.8867664933204651, + -9.852622985839844 + ], + [ + 0.8868484497070312, + -0.027641626074910164, + 0.4612329304218292, + 10.410393714904785 + ], + [ + -0.01546606607735157, + -0.9994255304336548, + -0.030157627537846565, + -0.6416586637496948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3977, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_821544408", + "mask_path": "../../mask/hdr_front_03977.png" + }, + { + "file_path": "../../rgb/hdr_front_03978.png", + "transform_matrix": [ + [ + 0.4492783546447754, + 0.015334407798945904, + -0.8932602405548096, + -9.789590835571289 + ], + [ + 0.8931748270988464, + -0.02974841184914112, + 0.4487246870994568, + 10.38156509399414 + ], + [ + -0.01969214342534542, + -0.9994397759437561, + -0.027061624452471733, + -0.6472869515419006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3978, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_921544075", + "mask_path": "../../mask/hdr_front_03978.png" + }, + { + "file_path": "../../rgb/hdr_front_03979.png", + "transform_matrix": [ + [ + 0.4430130422115326, + 0.014272554777562618, + -0.8964015245437622, + -9.72506046295166 + ], + [ + 0.8963151574134827, + -0.028168590739369392, + 0.4425218403339386, + 10.349215507507324 + ], + [ + -0.018934447318315506, + -0.9995012879371643, + -0.025271760299801826, + -0.6485226154327393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3979, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_21545171", + "mask_path": "../../mask/hdr_front_03979.png" + }, + { + "file_path": "../../rgb/hdr_front_03980.png", + "transform_matrix": [ + [ + 0.4450770318508148, + 0.009757844731211662, + -0.8954391479492188, + -9.661409378051758 + ], + [ + 0.8952505588531494, + -0.02808300592005253, + 0.4446772634983063, + 10.305180549621582 + ], + [ + -0.020807530730962753, + -0.9995580315589905, + -0.021234815940260887, + -0.6319965124130249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3980, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_121544122", + "mask_path": "../../mask/hdr_front_03980.png" + }, + { + "file_path": "../../rgb/hdr_front_03981.png", + "transform_matrix": [ + [ + 0.4490107297897339, + 0.01912568509578705, + -0.893321692943573, + -9.604104042053223 + ], + [ + 0.8934452533721924, + -0.023082096129655838, + 0.44857871532440186, + 10.269403457641602 + ], + [ + -0.012040359899401665, + -0.9995506405830383, + -0.027451859787106514, + -0.6270368695259094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3981, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_221544981", + "mask_path": "../../mask/hdr_front_03981.png" + }, + { + "file_path": "../../rgb/hdr_front_03982.png", + "transform_matrix": [ + [ + 0.449952095746994, + 0.025515364482998848, + -0.8926881551742554, + -9.539204597473145 + ], + [ + 0.8930363655090332, + -0.018896091729402542, + 0.4495875835418701, + 10.232648849487305 + ], + [ + -0.005396923050284386, + -0.9994958639144897, + -0.03128848224878311, + -0.6225376129150391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3982, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_321545124", + "mask_path": "../../mask/hdr_front_03982.png" + }, + { + "file_path": "../../rgb/hdr_front_03983.png", + "transform_matrix": [ + [ + 0.4457171559333801, + 0.020739169791340828, + -0.8949335813522339, + -9.462905883789062 + ], + [ + 0.8951542973518372, + -0.01691734790802002, + 0.445435106754303, + 10.198308944702148 + ], + [ + -0.0059019471518695354, + -0.9996417760848999, + -0.026105111464858055, + -0.6219494342803955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3983, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_421544790", + "mask_path": "../../mask/hdr_front_03983.png" + }, + { + "file_path": "../../rgb/hdr_front_03984.png", + "transform_matrix": [ + [ + 0.43973368406295776, + 0.01554754376411438, + -0.8979936242103577, + -9.3997163772583 + ], + [ + 0.8980385661125183, + -0.02174237184226513, + 0.4393792152404785, + 10.171995162963867 + ], + [ + -0.012693243101239204, + -0.9996427297592163, + -0.02352314628660679, + -0.6248229742050171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3984, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_521545171", + "mask_path": "../../mask/hdr_front_03984.png" + }, + { + "file_path": "../../rgb/hdr_front_03985.png", + "transform_matrix": [ + [ + 0.4374808073043823, + 0.014318478293716908, + -0.899113655090332, + -9.335082054138184 + ], + [ + 0.8991350531578064, + -0.021316440775990486, + 0.4371517598628998, + 10.141593933105469 + ], + [ + -0.012906555086374283, + -0.9996703267097473, + -0.022199783474206924, + -0.6260559558868408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3985, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_621545553", + "mask_path": "../../mask/hdr_front_03985.png" + }, + { + "file_path": "../../rgb/hdr_front_03986.png", + "transform_matrix": [ + [ + 0.4407418668270111, + 0.01413989719003439, + -0.8975225687026978, + -9.263467788696289 + ], + [ + 0.8975354433059692, + -0.021754618734121323, + 0.4404054582118988, + 10.103525161743164 + ], + [ + -0.013297970406711102, + -0.9996633529663086, + -0.022279227152466774, + -0.6174744367599487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3986, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_721544504", + "mask_path": "../../mask/hdr_front_03986.png" + }, + { + "file_path": "../../rgb/hdr_front_03987.png", + "transform_matrix": [ + [ + 0.4520466923713684, + 0.02393478900194168, + -0.8916730284690857, + -9.196754455566406 + ], + [ + 0.8919857144355774, + -0.01650596782565117, + 0.4517621397972107, + 10.066655158996582 + ], + [ + -0.0039050960913300514, + -0.9995772838592529, + -0.028810957446694374, + -0.6056239604949951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3987, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_821545839", + "mask_path": "../../mask/hdr_front_03987.png" + }, + { + "file_path": "../../rgb/hdr_front_03988.png", + "transform_matrix": [ + [ + 0.45768651366233826, + 0.03156108409166336, + -0.8885533213615417, + -9.131031036376953 + ], + [ + 0.8891066908836365, + -0.012316779233515263, + 0.45753416419029236, + 10.03785514831543 + ], + [ + 0.0034961621277034283, + -0.9994259476661682, + -0.033698394894599915, + -0.5960797071456909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3988, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_921544313", + "mask_path": "../../mask/hdr_front_03988.png" + }, + { + "file_path": "../../rgb/hdr_front_03989.png", + "transform_matrix": [ + [ + 0.45031625032424927, + 0.024901604279875755, + -0.8925217986106873, + -9.053077697753906 + ], + [ + 0.8928685188293457, + -0.013734755106270313, + 0.45010796189308167, + 10.008991241455078 + ], + [ + -0.0010501581709831953, + -0.9995957016944885, + -0.02841884270310402, + -0.5949845314025879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3989, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_21544456", + "mask_path": "../../mask/hdr_front_03989.png" + }, + { + "file_path": "../../rgb/hdr_front_03990.png", + "transform_matrix": [ + [ + 0.43619418144226074, + 0.021948596462607384, + -0.8995848894119263, + -8.991438865661621 + ], + [ + 0.8998441100120544, + -0.014955466613173485, + 0.43595507740974426, + 9.990559577941895 + ], + [ + -0.0038851099088788033, + -0.999647319316864, + -0.026273805648088455, + -0.6000427603721619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3990, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_121544361", + "mask_path": "../../mask/hdr_front_03990.png" + }, + { + "file_path": "../../rgb/hdr_front_03991.png", + "transform_matrix": [ + [ + 0.416726291179657, + 0.01965358667075634, + -0.9088195562362671, + -8.931845664978027 + ], + [ + 0.9090226888656616, + -0.013521058484911919, + 0.41652712225914, + 9.974720001220703 + ], + [ + -0.0041019506752491, + -0.9997154474258423, + -0.023500138893723488, + -0.60063236951828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3991, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_221545457", + "mask_path": "../../mask/hdr_front_03991.png" + }, + { + "file_path": "../../rgb/hdr_front_03992.png", + "transform_matrix": [ + [ + 0.39968347549438477, + 0.020782021805644035, + -0.91641765832901, + -8.870199203491211 + ], + [ + 0.9166502952575684, + -0.011570009402930737, + 0.399522602558136, + 9.95294189453125 + ], + [ + -0.002300072694197297, + -0.9997170567512512, + -0.023674186319112778, + -0.5873409509658813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3992, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_321544647", + "mask_path": "../../mask/hdr_front_03992.png" + }, + { + "file_path": "../../rgb/hdr_front_03993.png", + "transform_matrix": [ + [ + 0.3871023952960968, + 0.030574029311537743, + -0.9215297102928162, + -8.814157485961914 + ], + [ + 0.9220216870307922, + -0.007114055100828409, + 0.38707301020622253, + 9.934545516967773 + ], + [ + 0.005278569180518389, + -0.9995072484016418, + -0.030943788588047028, + -0.5800986886024475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3993, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_421545743", + "mask_path": "../../mask/hdr_front_03993.png" + }, + { + "file_path": "../../rgb/hdr_front_03994.png", + "transform_matrix": [ + [ + 0.370778352022171, + 0.037991445511579514, + -0.9279440641403198, + -8.752228736877441 + ], + [ + 0.9286287426948547, + -0.001046911347657442, + 0.3710090219974518, + 9.917314529418945 + ], + [ + 0.013123694807291031, + -0.9992775917053223, + -0.03566811606287956, + -0.5737841725349426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3994, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_521544694", + "mask_path": "../../mask/hdr_front_03994.png" + }, + { + "file_path": "../../rgb/hdr_front_03995.png", + "transform_matrix": [ + [ + 0.34591591358184814, + 0.03134283423423767, + -0.9377418756484985, + -8.676297187805176 + ], + [ + 0.9381633400917053, + 0.0031972334254533052, + 0.346178263425827, + 9.903679847717285 + ], + [ + 0.013848389498889446, + -0.9995036125183105, + -0.028298720717430115, + -0.578673779964447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3995, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_621545791", + "mask_path": "../../mask/hdr_front_03995.png" + }, + { + "file_path": "../../rgb/hdr_front_03996.png", + "transform_matrix": [ + [ + 0.32324379682540894, + 0.026361718773841858, + -0.9459485411643982, + -8.606586456298828 + ], + [ + 0.9462984800338745, + -0.0029805998783558607, + 0.32328036427497864, + 9.89626693725586 + ], + [ + 0.005702732130885124, + -0.9996481537818909, + -0.025909515097737312, + -0.583703875541687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3996, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_721545219", + "mask_path": "../../mask/hdr_front_03996.png" + }, + { + "file_path": "../../rgb/hdr_front_03997.png", + "transform_matrix": [ + [ + 0.3036048412322998, + 0.02356565184891224, + -0.9525066018104553, + -8.546765327453613 + ], + [ + 0.9527875185012817, + -0.0027985628694295883, + 0.3036251366138458, + 9.886354446411133 + ], + [ + 0.004489475395530462, + -0.9997183680534363, + -0.02330271527171135, + -0.5832827091217041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3997, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_821545362", + "mask_path": "../../mask/hdr_front_03997.png" + }, + { + "file_path": "../../rgb/hdr_front_03998.png", + "transform_matrix": [ + [ + 0.2906375229358673, + 0.020782772451639175, + -0.9566075205802917, + -8.475854873657227 + ], + [ + 0.9568130970001221, + 0.00016551720909774303, + 0.29070356488227844, + 9.869394302368164 + ], + [ + 0.00619996152818203, + -0.9997840523719788, + -0.01983712427318096, + -0.5786210298538208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3998, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_921545505", + "mask_path": "../../mask/hdr_front_03998.png" + }, + { + "file_path": "../../rgb/hdr_front_03999.png", + "transform_matrix": [ + [ + 0.2962276041507721, + 0.02742801047861576, + -0.9547234773635864, + -8.411747932434082 + ], + [ + 0.9551001787185669, + -0.0025095546152442694, + 0.2962723970413208, + 9.843108177185059 + ], + [ + 0.00573023222386837, + -0.9996206164360046, + -0.02693989686667919, + -0.5657846331596375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3999, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_21545410", + "mask_path": "../../mask/hdr_front_03999.png" + }, + { + "file_path": "../../rgb/hdr_front_04000.png", + "transform_matrix": [ + [ + 0.3033126890659332, + 0.03434823825955391, + -0.9522718191146851, + -8.345999717712402 + ], + [ + 0.9528186917304993, + 0.0013852849369868636, + 0.30353686213493347, + 9.820284843444824 + ], + [ + 0.011745122261345387, + -0.9994089603424072, + -0.0323074646294117, + -0.5559824109077454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4000, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_121545314", + "mask_path": "../../mask/hdr_front_04000.png" + }, + { + "file_path": "../../rgb/hdr_front_04001.png", + "transform_matrix": [ + [ + 0.3041857182979584, + 0.029828330501914024, + -0.9521456360816956, + -8.258212089538574 + ], + [ + 0.9525555372238159, + 0.0014268093509599566, + 0.30436137318611145, + 9.796982765197754 + ], + [ + 0.010437121614813805, + -0.9995540976524353, + -0.02797912433743477, + -0.5565051436424255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4001, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_221545219", + "mask_path": "../../mask/hdr_front_04001.png" + }, + { + "file_path": "../../rgb/hdr_front_04002.png", + "transform_matrix": [ + [ + 0.2982334792613983, + 0.02399478107690811, + -0.954191267490387, + -8.18992805480957 + ], + [ + 0.9544920921325684, + -0.006158740259706974, + 0.2981726825237274, + 9.779980659484863 + ], + [ + 0.0012779703829437494, + -0.9996931552886963, + -0.024739570915699005, + -0.5651060938835144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4002, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_321544885", + "mask_path": "../../mask/hdr_front_04002.png" + }, + { + "file_path": "../../rgb/hdr_front_04003.png", + "transform_matrix": [ + [ + 0.29404008388519287, + 0.02156423218548298, + -0.9555498957633972, + -8.127131462097168 + ], + [ + 0.9557908177375793, + -0.008809300139546394, + 0.29391542077064514, + 9.756840705871582 + ], + [ + -0.0020796635653823614, + -0.9997286796569824, + -0.02320118620991707, + -0.5680060982704163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4003, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_421545743", + "mask_path": "../../mask/hdr_front_04003.png" + }, + { + "file_path": "../../rgb/hdr_front_04004.png", + "transform_matrix": [ + [ + 0.29129499197006226, + 0.0185841117054224, + -0.9564527869224548, + -8.051709175109863 + ], + [ + 0.9566109776496887, + -0.01249124389141798, + 0.29110050201416016, + 9.734743118286133 + ], + [ + -0.006537440698593855, + -0.9997493028640747, + -0.021416401490569115, + -0.5547464489936829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4004, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_521543264", + "mask_path": "../../mask/hdr_front_04004.png" + }, + { + "file_path": "../../rgb/hdr_front_04005.png", + "transform_matrix": [ + [ + 0.289718896150589, + 0.028319882228970528, + -0.9566927552223206, + -7.981900691986084 + ], + [ + 0.9571117758750916, + -0.008214005269110203, + 0.2896026372909546, + 9.711925506591797 + ], + [ + 0.0003432342200540006, + -0.9995652437210083, + -0.02948504313826561, + -0.5440759658813477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4005, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_621544122", + "mask_path": "../../mask/hdr_front_04005.png" + }, + { + "file_path": "../../rgb/hdr_front_04006.png", + "transform_matrix": [ + [ + 0.2819961905479431, + 0.03214916214346886, + -0.9588767886161804, + -7.908658027648926 + ], + [ + 0.9594056606292725, + -0.004913965240120888, + 0.2819870114326477, + 9.696195602416992 + ], + [ + 0.004353757947683334, + -0.9994710087776184, + -0.03222980350255966, + -0.5373653173446655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4006, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_721544504", + "mask_path": "../../mask/hdr_front_04006.png" + }, + { + "file_path": "../../rgb/hdr_front_04007.png", + "transform_matrix": [ + [ + 0.2653520405292511, + 0.02103184163570404, + -0.9639222025871277, + -7.83034610748291 + ], + [ + 0.9641507267951965, + -0.0071343607269227505, + 0.2652592957019806, + 9.684547424316406 + ], + [ + -0.001298076706007123, + -0.9997533559799194, + -0.022170981392264366, + -0.5466398596763611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4007, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_821543931", + "mask_path": "../../mask/hdr_front_04007.png" + }, + { + "file_path": "../../rgb/hdr_front_04008.png", + "transform_matrix": [ + [ + 0.24949662387371063, + 0.01891256496310234, + -0.9681909680366516, + -7.763869762420654 + ], + [ + 0.9683591723442078, + -0.010729392990469933, + 0.24933037161827087, + 9.676390647888184 + ], + [ + -0.00567262340337038, + -0.9997636079788208, + -0.02099110186100006, + -0.5527220964431763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4008, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_921543598", + "mask_path": "../../mask/hdr_front_04008.png" + }, + { + "file_path": "../../rgb/hdr_front_04009.png", + "transform_matrix": [ + [ + 0.23895631730556488, + 0.017672743648290634, + -0.9708696007728577, + -7.690155029296875 + ], + [ + 0.9710285663604736, + -0.006260954309254885, + 0.23888151347637177, + 9.661478996276855 + ], + [ + -0.0018568761879578233, + -0.9998242855072021, + -0.018656833097338676, + -0.5510650277137756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4009, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_21544456", + "mask_path": "../../mask/hdr_front_04009.png" + }, + { + "file_path": "../../rgb/hdr_front_04010.png", + "transform_matrix": [ + [ + 0.2355407327413559, + 0.011158130131661892, + -0.9718004465103149, + -7.611991882324219 + ], + [ + 0.971862256526947, + -0.00058017234550789, + 0.23554906249046326, + 9.642415046691895 + ], + [ + 0.002064475789666176, + -0.9999377131462097, + -0.010980820283293724, + -0.5467979907989502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4010, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_121543645", + "mask_path": "../../mask/hdr_front_04010.png" + }, + { + "file_path": "../../rgb/hdr_front_04011.png", + "transform_matrix": [ + [ + 0.24281013011932373, + 0.015660423785448074, + -0.9699473977088928, + -7.5468950271606445 + ], + [ + 0.9700359106063843, + 0.00492728129029274, + 0.24291184544563293, + 9.6277494430542 + ], + [ + 0.008583307266235352, + -0.9998652338981628, + -0.013994778506457806, + -0.5409845113754272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4011, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_221544265", + "mask_path": "../../mask/hdr_front_04011.png" + }, + { + "file_path": "../../rgb/hdr_front_04012.png", + "transform_matrix": [ + [ + 0.2530163824558258, + 0.020525524392724037, + -0.9672442078590393, + -7.47706413269043 + ], + [ + 0.9673221111297607, + 0.011633815243840218, + 0.25328361988067627, + 9.611065864562988 + ], + [ + 0.01645151898264885, + -0.9997217059135437, + -0.016911251470446587, + -0.5367716550827026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4012, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_321544170", + "mask_path": "../../mask/hdr_front_04012.png" + }, + { + "file_path": "../../rgb/hdr_front_04013.png", + "transform_matrix": [ + [ + 0.25600630044937134, + 0.015124200843274593, + -0.9665567874908447, + -7.388644695281982 + ], + [ + 0.9666125774383545, + 0.007368119899183512, + 0.25613635778427124, + 9.597312927246094 + ], + [ + 0.010995565913617611, + -0.999858558177948, + -0.012732958421111107, + -0.5393409729003906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4013, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_421546220", + "mask_path": "../../mask/hdr_front_04013.png" + }, + { + "file_path": "../../rgb/hdr_front_04014.png", + "transform_matrix": [ + [ + 0.25050482153892517, + 0.010831909254193306, + -0.9680547714233398, + -7.315683364868164 + ], + [ + 0.9681074023246765, + 0.0012392612406983972, + 0.2505323886871338, + 9.587956428527832 + ], + [ + 0.003913417458534241, + -0.9999406337738037, + -0.010176010429859161, + -0.5459175705909729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4014, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_521544456", + "mask_path": "../../mask/hdr_front_04014.png" + }, + { + "file_path": "../../rgb/hdr_front_04015.png", + "transform_matrix": [ + [ + 0.2503785789012909, + 0.008235202170908451, + -0.9681130051612854, + -7.2555341720581055 + ], + [ + 0.968145489692688, + 0.0001336055574938655, + 0.25038814544677734, + 9.575133323669434 + ], + [ + 0.002191342646256089, + -0.9999660849571228, + -0.007939420640468597, + -0.5495678186416626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4015, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_621544122", + "mask_path": "../../mask/hdr_front_04015.png" + }, + { + "file_path": "../../rgb/hdr_front_04016.png", + "transform_matrix": [ + [ + 0.25320523977279663, + 0.007393309380859137, + -0.9673843383789062, + -7.178300380706787 + ], + [ + 0.9673998355865479, + 0.0031923912465572357, + 0.2532337009906769, + 9.557577133178711 + ], + [ + 0.00496050575748086, + -0.999967634677887, + -0.00634395657107234, + -0.5513357520103455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4016, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_721544504", + "mask_path": "../../mask/hdr_front_04016.png" + }, + { + "file_path": "../../rgb/hdr_front_04017.png", + "transform_matrix": [ + [ + 0.2643044888973236, + 0.00928175076842308, + -0.9643946886062622, + -7.1083478927612305 + ], + [ + 0.9644312858581543, + 0.001513382070697844, + 0.26432913541793823, + 9.536388397216797 + ], + [ + 0.003912934102118015, + -0.9999558329582214, + -0.008551618084311485, + -0.54023677110672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4017, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_821543931", + "mask_path": "../../mask/hdr_front_04017.png" + }, + { + "file_path": "../../rgb/hdr_front_04018.png", + "transform_matrix": [ + [ + 0.27584147453308105, + 0.014650019817054272, + -0.9610915184020996, + -7.037899017333984 + ], + [ + 0.9611992239952087, + -0.001337666530162096, + 0.2758519947528839, + 9.514185905456543 + ], + [ + 0.0027556184213608503, + -0.9998918175697327, + -0.014450572431087494, + -0.5323450565338135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4018, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_921543836", + "mask_path": "../../mask/hdr_front_04018.png" + }, + { + "file_path": "../../rgb/hdr_front_04019.png", + "transform_matrix": [ + [ + 0.285637766122818, + 0.014379780739545822, + -0.9582297205924988, + -6.953737735748291 + ], + [ + 0.9583263993263245, + -0.009121407754719257, + 0.285529762506485, + 9.493941307067871 + ], + [ + -0.004634547047317028, + -0.999855101108551, + -0.016385942697525024, + -0.5300050973892212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4019, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_21544456", + "mask_path": "../../mask/hdr_front_04019.png" + }, + { + "file_path": "../../rgb/hdr_front_04020.png", + "transform_matrix": [ + [ + 0.2819426357746124, + 0.005680681671947241, + -0.959414541721344, + -6.8632612228393555 + ], + [ + 0.9593778848648071, + -0.012225502170622349, + 0.28185951709747314, + 9.469635009765625 + ], + [ + -0.010128168389201164, + -0.9999091625213623, + -0.008896810933947563, + -0.5390512347221375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4020, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_121543407", + "mask_path": "../../mask/hdr_front_04020.png" + }, + { + "file_path": "../../rgb/hdr_front_04021.png", + "transform_matrix": [ + [ + 0.28045064210891724, + 0.0028925316873937845, + -0.95986407995224, + -6.794688701629639 + ], + [ + 0.9597324728965759, + -0.017674582079052925, + 0.2803589403629303, + 9.447500228881836 + ], + [ + -0.016154246404767036, + -0.9998396635055542, + -0.007732904516160488, + -0.5464345812797546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4021, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_221544027", + "mask_path": "../../mask/hdr_front_04021.png" + }, + { + "file_path": "../../rgb/hdr_front_04022.png", + "transform_matrix": [ + [ + 0.2828770875930786, + 0.00452728196978569, + -0.9591455459594727, + -6.723254203796387 + ], + [ + 0.9589840769767761, + -0.020271727815270424, + 0.2827337980270386, + 9.418564796447754 + ], + [ + -0.018163518980145454, + -0.9997842907905579, + -0.010075998492538929, + -0.5467416048049927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4022, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_321543931", + "mask_path": "../../mask/hdr_front_04022.png" + }, + { + "file_path": "../../rgb/hdr_front_04023.png", + "transform_matrix": [ + [ + 0.29145577549934387, + 0.0009454999817535281, + -0.9565837979316711, + -6.6500654220581055 + ], + [ + 0.9563941359519958, + -0.020227696746587753, + 0.291377991437912, + 9.387129783630371 + ], + [ + -0.019073989242315292, + -0.9997950196266174, + -0.006799749564379454, + -0.5316498875617981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4023, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_421544313", + "mask_path": "../../mask/hdr_front_04023.png" + }, + { + "file_path": "../../rgb/hdr_front_04024.png", + "transform_matrix": [ + [ + 0.3039938509464264, + 0.005820380989462137, + -0.9526562690734863, + -6.592494964599609 + ], + [ + 0.9525706768035889, + -0.016582446172833443, + 0.30386531352996826, + 9.360088348388672 + ], + [ + -0.014028756879270077, + -0.999845564365387, + -0.010585286654531956, + -0.5288198590278625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4024, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_521543979", + "mask_path": "../../mask/hdr_front_04024.png" + }, + { + "file_path": "../../rgb/hdr_front_04025.png", + "transform_matrix": [ + [ + 0.3145519495010376, + 0.008683115243911743, + -0.9492005705833435, + -6.527163028717041 + ], + [ + 0.9491689801216125, + -0.015133312903344631, + 0.3144030272960663, + 9.332677841186523 + ], + [ + -0.011634552851319313, + -0.9998478293418884, + -0.013001956045627594, + -0.5279654264450073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4025, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_621544599", + "mask_path": "../../mask/hdr_front_04025.png" + }, + { + "file_path": "../../rgb/hdr_front_04026.png", + "transform_matrix": [ + [ + 0.3172549307346344, + 0.0025550664868205786, + -0.9483368992805481, + -6.436430931091309 + ], + [ + 0.948205828666687, + -0.01769026182591915, + 0.31716349720954895, + 9.30290412902832 + ], + [ + -0.01596594974398613, + -0.999840259552002, + -0.008035051636397839, + -0.5267074108123779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4026, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_721544981", + "mask_path": "../../mask/hdr_front_04026.png" + }, + { + "file_path": "../../rgb/hdr_front_04027.png", + "transform_matrix": [ + [ + 0.3134753704071045, + -0.0022024819627404213, + -0.9495937824249268, + -6.364363193511963 + ], + [ + 0.9492737054824829, + -0.025334756821393967, + 0.31342852115631104, + 9.28639030456543 + ], + [ + -0.024748045951128006, + -0.9996765851974487, + -0.005851063411682844, + -0.5309417843818665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4027, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_821544885", + "mask_path": "../../mask/hdr_front_04027.png" + }, + { + "file_path": "../../rgb/hdr_front_04028.png", + "transform_matrix": [ + [ + 0.3129003643989563, + -0.003084650030359626, + -0.9497810006141663, + -6.295352458953857 + ], + [ + 0.9494728446006775, + -0.024658843874931335, + 0.31287893652915955, + 9.264918327331543 + ], + [ + -0.024385616183280945, + -0.9996911883354187, + -0.004786968231201172, + -0.5369976758956909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4028, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_921544313", + "mask_path": "../../mask/hdr_front_04028.png" + }, + { + "file_path": "../../rgb/hdr_front_04029.png", + "transform_matrix": [ + [ + 0.3159569799900055, + -0.0019830982200801373, + -0.9487714767456055, + -6.209489345550537 + ], + [ + 0.9485489130020142, + -0.021098406985402107, + 0.31592699885368347, + 9.2349853515625 + ], + [ + -0.02064407989382744, + -0.9997754693031311, + -0.004785123281180859, + -0.5352464914321899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4029, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_21544694", + "mask_path": "../../mask/hdr_front_04029.png" + }, + { + "file_path": "../../rgb/hdr_front_04030.png", + "transform_matrix": [ + [ + 0.32856133580207825, + -0.0021251067519187927, + -0.9444802403450012, + -6.128422260284424 + ], + [ + 0.9442522525787354, + -0.021345891058444977, + 0.32853004336357117, + 9.202523231506348 + ], + [ + -0.02085893228650093, + -0.9997698664665222, + -0.0050067962147295475, + -0.5209140777587891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4030, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_121544599", + "mask_path": "../../mask/hdr_front_04030.png" + }, + { + "file_path": "../../rgb/hdr_front_04031.png", + "transform_matrix": [ + [ + 0.34190359711647034, + 0.004482455085963011, + -0.9397243857383728, + -6.0619683265686035 + ], + [ + 0.9396113753318787, + -0.017845066264271736, + 0.34177741408348083, + 9.17409610748291 + ], + [ + -0.01523744035512209, + -0.9998307824134827, + -0.010313058272004128, + -0.5139846205711365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4031, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_221544504", + "mask_path": "../../mask/hdr_front_04031.png" + }, + { + "file_path": "../../rgb/hdr_front_04032.png", + "transform_matrix": [ + [ + 0.34932681918144226, + 0.003685199888423085, + -0.9369937777519226, + -5.9715895652771 + ], + [ + 0.9368065595626831, + -0.021740827709436417, + 0.34917160868644714, + 9.146453857421875 + ], + [ + -0.019084250554442406, + -0.999756932258606, + -0.01104697398841381, + -0.5163699388504028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4032, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_321543931", + "mask_path": "../../mask/hdr_front_04032.png" + }, + { + "file_path": "../../rgb/hdr_front_04033.png", + "transform_matrix": [ + [ + 0.34441107511520386, + -0.002557727973908186, + -0.9388154149055481, + -5.883091926574707 + ], + [ + 0.9385662078857422, + -0.022263338789343834, + 0.34438031911849976, + 9.12388801574707 + ], + [ + -0.02178199589252472, + -0.9997488856315613, + -0.005267143249511719, + -0.5284745693206787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4033, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_421545028", + "mask_path": "../../mask/hdr_front_04033.png" + }, + { + "file_path": "../../rgb/hdr_front_04034.png", + "transform_matrix": [ + [ + 0.34139710664749146, + -0.008576977998018265, + -0.9398800134658813, + -5.816455841064453 + ], + [ + 0.9394958019256592, + -0.02689286880195141, + 0.3415030241012573, + 9.1001558303833 + ], + [ + -0.028205130249261856, + -0.9996016025543213, + -0.0011231122771278024, + -0.5293064713478088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4034, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_521544218", + "mask_path": "../../mask/hdr_front_04034.png" + }, + { + "file_path": "../../rgb/hdr_front_04035.png", + "transform_matrix": [ + [ + 0.3425625264644623, + -0.010684097185730934, + -0.939434289932251, + -5.736345291137695 + ], + [ + 0.9391377568244934, + -0.023677567020058632, + 0.3427237272262573, + 9.071396827697754 + ], + [ + -0.02590521238744259, + -0.9996625781059265, + 0.0019227921729907393, + -0.5314129590988159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4035, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_621545314", + "mask_path": "../../mask/hdr_front_04035.png" + }, + { + "file_path": "../../rgb/hdr_front_04036.png", + "transform_matrix": [ + [ + 0.35327932238578796, + -0.014973478391766548, + -0.9353980422019958, + -5.6547532081604 + ], + [ + 0.9351538419723511, + -0.02224062569439411, + 0.35354313254356384, + 9.035531997680664 + ], + [ + -0.026097606867551804, + -0.9996405839920044, + 0.006145352032035589, + -0.5198764204978943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4036, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_721544504", + "mask_path": "../../mask/hdr_front_04036.png" + }, + { + "file_path": "../../rgb/hdr_front_04037.png", + "transform_matrix": [ + [ + 0.36567503213882446, + -0.008162220939993858, + -0.930706799030304, + -5.592054843902588 + ], + [ + 0.9305211305618286, + -0.01860416866838932, + 0.3657652735710144, + 9.005897521972656 + ], + [ + -0.020300481468439102, + -0.9997936487197876, + 0.000792039034422487, + -0.5132559537887573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4037, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_821545839", + "mask_path": "../../mask/hdr_front_04037.png" + }, + { + "file_path": "../../rgb/hdr_front_04038.png", + "transform_matrix": [ + [ + 0.3729611337184906, + -0.006666673347353935, + -0.927823007106781, + -5.515893459320068 + ], + [ + 0.9275878071784973, + -0.02095089480280876, + 0.37301719188690186, + 8.977890968322754 + ], + [ + -0.021925505250692368, + -0.9997583031654358, + -0.0016299436101689935, + -0.5132008790969849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4038, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_921544313", + "mask_path": "../../mask/hdr_front_04038.png" + }, + { + "file_path": "../../rgb/hdr_front_04039.png", + "transform_matrix": [ + [ + 0.3660416305065155, + -0.016404230147600174, + -0.930453896522522, + -5.426183223724365 + ], + [ + 0.9301511645317078, + -0.02454693615436554, + 0.366355299949646, + 8.949968338012695 + ], + [ + -0.028849564492702484, + -0.9995641112327576, + 0.00627321470528841, + -0.520463764667511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4039, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_21545886", + "mask_path": "../../mask/hdr_front_04039.png" + }, + { + "file_path": "../../rgb/hdr_front_04040.png", + "transform_matrix": [ + [ + 0.3607231378555298, + -0.020949846133589745, + -0.9324376583099365, + -5.354612827301025 + ], + [ + 0.9319930076599121, + -0.030071089044213295, + 0.36122679710388184, + 8.922792434692383 + ], + [ + -0.03560705482959747, + -0.9993282556533813, + 0.008677773177623749, + -0.5288183093070984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4040, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_121546983", + "mask_path": "../../mask/hdr_front_04040.png" + }, + { + "file_path": "../../rgb/hdr_front_04041.png", + "transform_matrix": [ + [ + 0.3623926341533661, + -0.020730679854750633, + -0.9317950010299683, + -5.274536609649658 + ], + [ + 0.9312025308609009, + -0.033950213342905045, + 0.36291757225990295, + 8.881587982177734 + ], + [ + -0.039158161729574203, + -0.9992085099220276, + 0.0070011550560593605, + -0.5267980694770813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4041, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_221544742", + "mask_path": "../../mask/hdr_front_04041.png" + }, + { + "file_path": "../../rgb/hdr_front_04042.png", + "transform_matrix": [ + [ + 0.3746876120567322, + -0.020842676982283592, + -0.9269168376922607, + -5.202924728393555 + ], + [ + 0.9260910749435425, + -0.039379220455884933, + 0.3752393424510956, + 8.836224555969238 + ], + [ + -0.04432225227355957, + -0.999006986618042, + 0.0045473105274140835, + -0.5119269490242004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4042, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_321543931", + "mask_path": "../../mask/hdr_front_04042.png" + }, + { + "file_path": "../../rgb/hdr_front_04043.png", + "transform_matrix": [ + [ + 0.3883538544178009, + -0.014309076592326164, + -0.9213992357254028, + -5.143728733062744 + ], + [ + 0.9208152294158936, + -0.03280264511704445, + 0.3886171877384186, + 8.802508354187012 + ], + [ + -0.03578508272767067, + -0.9993594884872437, + 0.0004369806847535074, + -0.5074114799499512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4043, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_421544790", + "mask_path": "../../mask/hdr_front_04043.png" + }, + { + "file_path": "../../rgb/hdr_front_04044.png", + "transform_matrix": [ + [ + 0.3962913453578949, + -0.017122069373726845, + -0.9179651737213135, + -5.064713001251221 + ], + [ + 0.9174272418022156, + -0.03158196806907654, + 0.39664822816848755, + 8.770537376403809 + ], + [ + -0.0357825793325901, + -0.9993546009063721, + 0.0031925905495882034, + -0.5115966796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4044, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_521544694", + "mask_path": "../../mask/hdr_front_04044.png" + }, + { + "file_path": "../../rgb/hdr_front_04045.png", + "transform_matrix": [ + [ + 0.3961651921272278, + -0.020426781848073006, + -0.9179520010948181, + -4.985124111175537 + ], + [ + 0.9174224734306335, + -0.03177613765001297, + 0.3966437578201294, + 8.737251281738281 + ], + [ + -0.037271127104759216, + -0.9992863535881042, + 0.0061513883993029594, + -0.519676685333252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4045, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_621543645", + "mask_path": "../../mask/hdr_front_04045.png" + }, + { + "file_path": "../../rgb/hdr_front_04046.png", + "transform_matrix": [ + [ + 0.39894840121269226, + -0.023273462429642677, + -0.9166779518127441, + -4.918151378631592 + ], + [ + 0.916011393070221, + -0.0356648787856102, + 0.39956384897232056, + 8.702725410461426 + ], + [ + -0.041992440819740295, + -0.9990928173065186, + 0.0070903105661273, + -0.5211925506591797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4046, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_721544742", + "mask_path": "../../mask/hdr_front_04046.png" + }, + { + "file_path": "../../rgb/hdr_front_04047.png", + "transform_matrix": [ + [ + 0.40924572944641113, + -0.026993785053491592, + -0.9120249152183533, + -4.8490142822265625 + ], + [ + 0.9113304018974304, + -0.03683701157569885, + 0.41002440452575684, + 8.662772178649902 + ], + [ + -0.04466437175869942, + -0.9989566802978516, + 0.009524866007268429, + -0.5183588862419128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4047, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_821544408", + "mask_path": "../../mask/hdr_front_04047.png" + }, + { + "file_path": "../../rgb/hdr_front_04048.png", + "transform_matrix": [ + [ + 0.42969319224357605, + -0.02563651092350483, + -0.9026109576225281, + -4.796824932098389 + ], + [ + 0.9015620350837708, + -0.04371592029929161, + 0.43043556809425354, + 8.619462013244629 + ], + [ + -0.050493333488702774, + -0.9987150430679321, + 0.0043284697458148, + -0.5069000720977783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4048, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_921544790", + "mask_path": "../../mask/hdr_front_04048.png" + }, + { + "file_path": "../../rgb/hdr_front_04049.png", + "transform_matrix": [ + [ + 0.4486783444881439, + -0.02019653469324112, + -0.8934651017189026, + -4.751556396484375 + ], + [ + 0.8926128149032593, + -0.03901857137680054, + 0.44913238286972046, + 8.58763313293457 + ], + [ + -0.04393264651298523, + -0.9990344047546387, + 0.0005208979127928615, + -0.4964922368526459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4049, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662605_21544456", + "mask_path": "../../mask/hdr_front_04049.png" + }, + { + "file_path": "../../rgb/hdr_left_00496.png", + "transform_matrix": [ + [ + -0.38557955622673035, + -0.0280837994068861, + -0.9222471117973328, + -5.0521979331970215 + ], + [ + 0.9226065278053284, + 0.0004061278887093067, + -0.3857421875, + 9.022045135498047 + ], + [ + 0.011207656934857368, + -0.9996055364608765, + 0.025753701105713844, + -0.5094256401062012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 496, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662247_621544837", + "mask_path": "../../mask/hdr_left_00496.png" + }, + { + "file_path": "../../rgb/hdr_left_00497.png", + "transform_matrix": [ + [ + -0.39694252610206604, + -0.017281105741858482, + -0.9176807999610901, + -5.097814559936523 + ], + [ + 0.9178268909454346, + -0.0014700958272442222, + -0.3969780504703522, + 9.076844215393066 + ], + [ + 0.005511139985173941, + -0.9998496174812317, + 0.016444608569145203, + -0.5071710348129272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 497, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662247_721544265", + "mask_path": "../../mask/hdr_left_00497.png" + }, + { + "file_path": "../../rgb/hdr_left_00498.png", + "transform_matrix": [ + [ + -0.4132615029811859, + -0.010035553015768528, + -0.9105570912361145, + -5.133309364318848 + ], + [ + 0.9106058478355408, + -0.0007794260745868087, + -0.4132751226425171, + 9.116974830627441 + ], + [ + 0.003437731182202697, + -0.9999493360519409, + 0.009460541419684887, + -0.514508068561554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 498, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662247_821544885", + "mask_path": "../../mask/hdr_left_00498.png" + }, + { + "file_path": "../../rgb/hdr_left_00499.png", + "transform_matrix": [ + [ + -0.43223142623901367, + -0.009866470471024513, + -0.9017087817192078, + -5.170707702636719 + ], + [ + 0.9017626047134399, + -0.00434198509901762, + -0.43220964074134827, + 9.163582801818848 + ], + [ + 0.0003491774550639093, + -0.9999419450759888, + 0.010773959569633007, + -0.5232388973236084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 499, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662247_921545743", + "mask_path": "../../mask/hdr_left_00499.png" + }, + { + "file_path": "../../rgb/hdr_left_00500.png", + "transform_matrix": [ + [ + -0.4482724368572235, + -0.013189423829317093, + -0.8937996625900269, + -5.22018575668335 + ], + [ + 0.8938815593719482, + -0.012484749779105186, + -0.4481293559074402, + 9.218846321105957 + ], + [ + -0.005248296540230513, + -0.9998351335525513, + 0.017386354506015778, + -0.5232452154159546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 500, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_21545171", + "mask_path": "../../mask/hdr_left_00500.png" + }, + { + "file_path": "../../rgb/hdr_left_00501.png", + "transform_matrix": [ + [ + -0.45947059988975525, + -0.01217561587691307, + -0.8881095051765442, + -5.261918067932129 + ], + [ + 0.8881793022155762, + -0.011833063326776028, + -0.4593445658683777, + 9.264850616455078 + ], + [ + -0.004916253499686718, + -0.9998559951782227, + 0.016251077875494957, + -0.5118691325187683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 501, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_121544837", + "mask_path": "../../mask/hdr_left_00501.png" + }, + { + "file_path": "../../rgb/hdr_left_00503.png", + "transform_matrix": [ + [ + -0.4780895411968231, + -0.023794611915946007, + -0.8779886960983276, + -5.327109336853027 + ], + [ + 0.8782974481582642, + -0.007376307621598244, + -0.4780576825141907, + 9.34941291809082 + ], + [ + 0.00489888247102499, + -0.9996896982192993, + 0.024425284937024117, + -0.5192075371742249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 503, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_321544885", + "mask_path": "../../mask/hdr_left_00503.png" + }, + { + "file_path": "../../rgb/hdr_left_00504.png", + "transform_matrix": [ + [ + -0.49209892749786377, + -0.02298053726553917, + -0.8702358603477478, + -5.386115074157715 + ], + [ + 0.8705111145973206, + -0.004946506582200527, + -0.49212393164634705, + 9.401875495910645 + ], + [ + 0.00700464379042387, + -0.9997237324714661, + 0.022438984364271164, + -0.5200542211532593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 504, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_421544790", + "mask_path": "../../mask/hdr_left_00504.png" + }, + { + "file_path": "../../rgb/hdr_left_00505.png", + "transform_matrix": [ + [ + -0.5172557234764099, + -0.014128649607300758, + -0.8557142019271851, + -5.453388214111328 + ], + [ + 0.8558192849159241, + -0.0033439144026488066, + -0.5172640681266785, + 9.44998550415039 + ], + [ + 0.0044468059204518795, + -0.9998946189880371, + 0.013821232132613659, + -0.5172663331031799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 505, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_521546125", + "mask_path": "../../mask/hdr_left_00505.png" + }, + { + "file_path": "../../rgb/hdr_left_00507.png", + "transform_matrix": [ + [ + -0.5643405914306641, + -0.013912945054471493, + -0.82542484998703, + -5.555106163024902 + ], + [ + 0.8255413770675659, + -0.008242791518568993, + -0.5642813444137573, + 9.522363662719727 + ], + [ + 0.001047009602189064, + -0.9998692870140076, + 0.01613745465874672, + -0.5281722545623779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 507, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_721544265", + "mask_path": "../../mask/hdr_left_00507.png" + }, + { + "file_path": "../../rgb/hdr_left_00508.png", + "transform_matrix": [ + [ + -0.5815777778625488, + -0.012334803119301796, + -0.813397228717804, + -5.607036113739014 + ], + [ + 0.813456118106842, + -0.018044518306851387, + -0.5813462734222412, + 9.566581726074219 + ], + [ + -0.007506569381803274, + -0.999761164188385, + 0.020528113469481468, + -0.5237458944320679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 508, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_821545362", + "mask_path": "../../mask/hdr_left_00508.png" + }, + { + "file_path": "../../rgb/hdr_left_00511.png", + "transform_matrix": [ + [ + -0.6264035701751709, + -0.03198203071951866, + -0.7788424491882324, + -5.754652976989746 + ], + [ + 0.7794603109359741, + -0.015756934881210327, + -0.6262533664703369, + 9.668802261352539 + ], + [ + 0.0077566830441355705, + -0.9993642568588257, + 0.03479892760515213, + -0.5237380266189575 + ], + [ + 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": "1731662249_121544837", + "mask_path": "../../mask/hdr_left_00511.png" + }, + { + "file_path": "../../rgb/hdr_left_00512.png", + "transform_matrix": [ + [ + -0.6479586362838745, + -0.023024877533316612, + -0.7613273859024048, + -5.820822715759277 + ], + [ + 0.7616610527038574, + -0.013436537235975266, + -0.6478363871574402, + 9.712059020996094 + ], + [ + 0.004686748143285513, + -0.9996446967124939, + 0.026243476197123528, + -0.5254106521606445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 512, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_221544265", + "mask_path": "../../mask/hdr_left_00512.png" + }, + { + "file_path": "../../rgb/hdr_left_00513.png", + "transform_matrix": [ + [ + -0.6686782240867615, + -0.017565108835697174, + -0.7433443665504456, + -5.874128818511963 + ], + [ + 0.7435427904129028, + -0.010838115587830544, + -0.6686005592346191, + 9.736319541931152 + ], + [ + 0.003687589894980192, + -0.9997869729995728, + 0.020307622849941254, + -0.5312541127204895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 513, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_321544170", + "mask_path": "../../mask/hdr_left_00513.png" + }, + { + "file_path": "../../rgb/hdr_left_00514.png", + "transform_matrix": [ + [ + -0.6852874755859375, + -0.015118720009922981, + -0.7281157374382019, + -5.928745269775391 + ], + [ + 0.7282718420028687, + -0.0156733188778162, + -0.68510901927948, + 9.763246536254883 + ], + [ + -0.0010540189687162638, + -0.9997628927230835, + 0.021751269698143005, + -0.5335379242897034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 514, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_421543598", + "mask_path": "../../mask/hdr_left_00514.png" + }, + { + "file_path": "../../rgb/hdr_left_00515.png", + "transform_matrix": [ + [ + -0.6967114806175232, + -0.009681246243417263, + -0.7172861099243164, + -5.982592582702637 + ], + [ + 0.7172464728355408, + -0.026508085429668427, + -0.6963151693344116, + 9.790334701538086 + ], + [ + -0.012272682040929794, + -0.9996017217636108, + 0.02541232854127884, + -0.5321565270423889 + ], + [ + 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": "1731662249_521543979", + "mask_path": "../../mask/hdr_left_00515.png" + }, + { + "file_path": "../../rgb/hdr_left_00516.png", + "transform_matrix": [ + [ + -0.7011785507202148, + -0.00872650183737278, + -0.7129323482513428, + -6.027766227722168 + ], + [ + 0.7128902673721313, + -0.024938352406024933, + -0.700831949710846, + 9.821308135986328 + ], + [ + -0.011663548648357391, + -0.9996509552001953, + 0.023707278072834015, + -0.5257952809333801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 516, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_621545076", + "mask_path": "../../mask/hdr_left_00516.png" + }, + { + "file_path": "../../rgb/hdr_left_00518.png", + "transform_matrix": [ + [ + -0.7079191207885742, + -0.01966225728392601, + -0.7060196995735168, + -6.130866050720215 + ], + [ + 0.7062925696372986, + -0.021391388028860092, + -0.7075968980789185, + 9.88525390625 + ], + [ + -0.001189790666103363, + -0.9995778799057007, + 0.029030678793787956, + -0.5275828242301941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 518, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_821544647", + "mask_path": "../../mask/hdr_left_00518.png" + }, + { + "file_path": "../../rgb/hdr_left_00519.png", + "transform_matrix": [ + [ + -0.716223418712616, + -0.006784606724977493, + -0.6978380084037781, + -6.194430351257324 + ], + [ + 0.6978175640106201, + -0.019329912960529327, + -0.716014564037323, + 9.918970108032227 + ], + [ + -0.008631270378828049, + -0.9997902512550354, + 0.01857895962893963, + -0.5284916758537292 + ], + [ + 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": "1731662249_921544075", + "mask_path": "../../mask/hdr_left_00519.png" + }, + { + "file_path": "../../rgb/hdr_left_00520.png", + "transform_matrix": [ + [ + -0.7242330312728882, + -0.004380500875413418, + -0.6895412802696228, + -6.2418317794799805 + ], + [ + 0.6895042657852173, + -0.01674766279757023, + -0.7240880131721497, + 9.94327163696289 + ], + [ + -0.008376337587833405, + -0.9998502135276794, + 0.015149587765336037, + -0.5362502932548523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 520, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_21544933", + "mask_path": "../../mask/hdr_left_00520.png" + }, + { + "file_path": "../../rgb/hdr_left_00521.png", + "transform_matrix": [ + [ + -0.7284685969352722, + -0.002352937823161483, + -0.6850752234458923, + -6.292566776275635 + ], + [ + 0.6849701404571533, + -0.02033919095993042, + -0.7282871603965759, + 9.971580505371094 + ], + [ + -0.012220261618494987, + -0.9997904896736145, + 0.016428155824542046, + -0.5411930084228516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 521, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_121544361", + "mask_path": "../../mask/hdr_left_00521.png" + }, + { + "file_path": "../../rgb/hdr_left_00522.png", + "transform_matrix": [ + [ + -0.7251150012016296, + 0.005977948196232319, + -0.6886017918586731, + -6.344861030578613 + ], + [ + 0.6882663369178772, + -0.02610318921506405, + -0.7249883413314819, + 10.006769180297852 + ], + [ + -0.02230864390730858, + -0.9996414184570312, + 0.014813397079706192, + -0.541696310043335 + ], + [ + 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": "1731662250_221544504", + "mask_path": "../../mask/hdr_left_00522.png" + }, + { + "file_path": "../../rgb/hdr_left_00523.png", + "transform_matrix": [ + [ + -0.7181864976882935, + 0.006665422581136227, + -0.6958187222480774, + -6.390857219696045 + ], + [ + 0.695560097694397, + -0.02201322466135025, + -0.7181305885314941, + 10.040461540222168 + ], + [ + -0.020103856921195984, + -0.9997354745864868, + 0.011173401027917862, + -0.5350956320762634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 523, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_321544170", + "mask_path": "../../mask/hdr_left_00523.png" + }, + { + "file_path": "../../rgb/hdr_left_00524.png", + "transform_matrix": [ + [ + -0.7109206914901733, + 0.0002712199930101633, + -0.7032722234725952, + -6.434553623199463 + ], + [ + 0.7031508684158325, + -0.018301518633961678, + -0.7108051180839539, + 10.07290267944336 + ], + [ + -0.013063732534646988, + -0.9998325109481812, + 0.012820220552384853, + -0.532295823097229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 524, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_421544075", + "mask_path": "../../mask/hdr_left_00524.png" + }, + { + "file_path": "../../rgb/hdr_left_00525.png", + "transform_matrix": [ + [ + -0.7049772143363953, + -0.003375927684828639, + -0.7092218995094299, + -6.490818023681641 + ], + [ + 0.7091977596282959, + -0.01289467141032219, + -0.7048916816711426, + 10.120290756225586 + ], + [ + -0.006765521131455898, + -0.9999111294746399, + 0.011484651826322079, + -0.537999153137207 + ], + [ + 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": "1731662250_521543979", + "mask_path": "../../mask/hdr_left_00525.png" + }, + { + "file_path": "../../rgb/hdr_left_00526.png", + "transform_matrix": [ + [ + -0.7070689797401428, + 0.006409017369151115, + -0.7071155309677124, + -6.567194938659668 + ], + [ + 0.7070531249046326, + -0.009679257869720459, + -0.7070942521095276, + 10.16852855682373 + ], + [ + -0.011376133188605309, + -0.9999326467514038, + 0.002312389435246587, + -0.541581392288208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 526, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_621540784", + "mask_path": "../../mask/hdr_left_00526.png" + }, + { + "file_path": "../../rgb/hdr_left_00527.png", + "transform_matrix": [ + [ + -0.7088812589645386, + 0.00899381935596466, + -0.7052704691886902, + -6.624302864074707 + ], + [ + 0.7052124738693237, + -0.009041788056492805, + -0.708938479423523, + 10.20035171508789 + ], + [ + -0.012752968817949295, + -0.9999186992645264, + 6.700253288727254e-05, + -0.5515246391296387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 527, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_721544742", + "mask_path": "../../mask/hdr_left_00527.png" + }, + { + "file_path": "../../rgb/hdr_left_00528.png", + "transform_matrix": [ + [ + -0.7110878229141235, + 0.00968136452138424, + -0.7030365467071533, + -6.686309337615967 + ], + [ + 0.7029554843902588, + -0.010706748813390732, + -0.7111532092094421, + 10.238729476928711 + ], + [ + -0.014412169344723225, + -0.9998958110809326, + 0.0008078722166828811, + -0.5556113123893738 + ], + [ + 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": "1731662250_821544885", + "mask_path": "../../mask/hdr_left_00528.png" + }, + { + "file_path": "../../rgb/hdr_left_00529.png", + "transform_matrix": [ + [ + -0.7085768580436707, + 0.014927617274224758, + -0.7054756879806519, + -6.743360996246338 + ], + [ + 0.7052696347236633, + -0.017125332728028297, + -0.7087322473526001, + 10.285372734069824 + ], + [ + -0.02266119047999382, + -0.9997419714927673, + 0.0016066222451627254, + -0.5522751808166504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 529, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_921544313", + "mask_path": "../../mask/hdr_left_00529.png" + }, + { + "file_path": "../../rgb/hdr_left_00530.png", + "transform_matrix": [ + [ + -0.7030766010284424, + 0.012842469848692417, + -0.7109981775283813, + -6.78835916519165 + ], + [ + 0.7108262777328491, + -0.015752149745821953, + -0.7031912207603455, + 10.321676254272461 + ], + [ + -0.020230459049344063, + -0.999793529510498, + 0.0019462043419480324, + -0.5474178791046143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 530, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_21544456", + "mask_path": "../../mask/hdr_left_00530.png" + }, + { + "file_path": "../../rgb/hdr_left_00531.png", + "transform_matrix": [ + [ + -0.6977911591529846, + 0.006953237112611532, + -0.7162675857543945, + -6.83931303024292 + ], + [ + 0.716150164604187, + -0.013763667084276676, + -0.6978104114532471, + 10.359639167785645 + ], + [ + -0.014710510149598122, + -0.9998812079429626, + 0.00462460657581687, + -0.547031044960022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 531, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_121544599", + "mask_path": "../../mask/hdr_left_00531.png" + }, + { + "file_path": "../../rgb/hdr_left_00532.png", + "transform_matrix": [ + [ + -0.6998268365859985, + 0.007396078202873468, + -0.7142741680145264, + -6.9147233963012695 + ], + [ + 0.7141249775886536, + -0.01566590741276741, + -0.6998429298400879, + 10.405908584594727 + ], + [ + -0.016365844756364822, + -0.9998499751091003, + 0.005681703798472881, + -0.5512895584106445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 532, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_221544265", + "mask_path": "../../mask/hdr_left_00532.png" + }, + { + "file_path": "../../rgb/hdr_left_00533.png", + "transform_matrix": [ + [ + -0.7071283459663391, + 0.009990444406867027, + -0.7070146203041077, + -6.9764909744262695 + ], + [ + 0.7068749666213989, + -0.01439098734408617, + -0.7071920037269592, + 10.435179710388184 + ], + [ + -0.017239799723029137, + -0.9998465776443481, + 0.003114282386377454, + -0.5602191686630249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 533, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_321543693", + "mask_path": "../../mask/hdr_left_00533.png" + }, + { + "file_path": "../../rgb/hdr_left_00534.png", + "transform_matrix": [ + [ + -0.7122718691825867, + 0.011453564278781414, + -0.7018102407455444, + -7.028301239013672 + ], + [ + 0.7016248106956482, + -0.01656324416399002, + -0.7123540043830872, + 10.46359634399414 + ], + [ + -0.019783245399594307, + -0.9997972846031189, + 0.0037614312022924423, + -0.565161943435669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 534, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_421543598", + "mask_path": "../../mask/hdr_left_00534.png" + }, + { + "file_path": "../../rgb/hdr_left_00535.png", + "transform_matrix": [ + [ + -0.7163009643554688, + 0.015889840200543404, + -0.6976106762886047, + -7.089820861816406 + ], + [ + 0.6972478032112122, + -0.02316133677959442, + -0.71645587682724, + 10.504737854003906 + ], + [ + -0.027541963383555412, + -0.9996054768562317, + 0.005511329509317875, + -0.566260814666748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 535, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_521543979", + "mask_path": "../../mask/hdr_left_00535.png" + }, + { + "file_path": "../../rgb/hdr_left_00536.png", + "transform_matrix": [ + [ + -0.7194532155990601, + 0.015839627012610435, + -0.6943601965904236, + -7.146398067474365 + ], + [ + 0.6940150260925293, + -0.02249726839363575, + -0.7196089625358582, + 10.540809631347656 + ], + [ + -0.027019543573260307, + -0.9996213912963867, + 0.005192795302718878, + -0.5620813369750977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 536, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_621543884", + "mask_path": "../../mask/hdr_left_00536.png" + }, + { + "file_path": "../../rgb/hdr_left_00537.png", + "transform_matrix": [ + [ + -0.7226467728614807, + 0.009017701260745525, + -0.6911585927009583, + -7.198637008666992 + ], + [ + 0.6909117102622986, + -0.020311079919338226, + -0.7226536870002747, + 10.570039749145508 + ], + [ + -0.020554853603243828, + -0.9997530579566956, + 0.008447302505373955, + -0.559723436832428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 537, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_721543550", + "mask_path": "../../mask/hdr_left_00537.png" + }, + { + "file_path": "../../rgb/hdr_left_00538.png", + "transform_matrix": [ + [ + -0.7299327850341797, + 0.00739682512357831, + -0.6834788918495178, + -7.274272918701172 + ], + [ + 0.6832561492919922, + -0.019825756549835205, + -0.7299096584320068, + 10.610902786254883 + ], + [ + -0.018949497491121292, + -0.9997761249542236, + 0.009417543187737465, + -0.5637190341949463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 538, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_821545124", + "mask_path": "../../mask/hdr_left_00538.png" + }, + { + "file_path": "../../rgb/hdr_left_00539.png", + "transform_matrix": [ + [ + -0.7428910732269287, + 0.008498991839587688, + -0.6693583726882935, + -7.356091499328613 + ], + [ + 0.6691046357154846, + -0.020886268466711044, + -0.7428746223449707, + 10.642754554748535 + ], + [ + -0.020294087007641792, + -0.9997457265853882, + 0.0098295072093606, + -0.5707349181175232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 539, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_921544075", + "mask_path": "../../mask/hdr_left_00539.png" + }, + { + "file_path": "../../rgb/hdr_left_00540.png", + "transform_matrix": [ + [ + -0.7544079422950745, + 0.007570226211100817, + -0.6563621759414673, + -7.41480016708374 + ], + [ + 0.656095564365387, + -0.0220464039593935, + -0.7543557286262512, + 10.671795845031738 + ], + [ + -0.020181067287921906, + -0.9997283220291138, + 0.011665192432701588, + -0.5773382186889648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 540, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662252_21544456", + "mask_path": "../../mask/hdr_left_00540.png" + }, + { + "file_path": "../../rgb/hdr_left_00541.png", + "transform_matrix": [ + [ + -0.7612959742546082, + 0.009210309945046902, + -0.6483390927314758, + -7.481886863708496 + ], + [ + 0.6480521559715271, + -0.022151684388518333, + -0.7612736821174622, + 10.709875106811523 + ], + [ + -0.021373368799686432, + -0.9997122883796692, + 0.010895228944718838, + -0.575175940990448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 541, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662252_121543645", + "mask_path": "../../mask/hdr_left_00541.png" + }, + { + "file_path": "../../rgb/hdr_left_00542.png", + "transform_matrix": [ + [ + -0.7636606097221375, + 0.007536587305366993, + -0.6455738544464111, + -7.53859281539917 + ], + [ + 0.6453728079795837, + -0.018635589629411697, + -0.763640284538269, + 10.750272750854492 + ], + [ + -0.017785891890525818, + -0.999798059463501, + 0.009367361664772034, + -0.564521849155426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 542, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662252_221543788", + "mask_path": "../../mask/hdr_left_00542.png" + }, + { + "file_path": "../../rgb/hdr_left_00543.png", + "transform_matrix": [ + [ + -0.766545295715332, + -0.00021876752725802362, + -0.6421902179718018, + -7.595890045166016 + ], + [ + 0.6420682072639465, + -0.019753091037273407, + -0.7663929462432861, + 10.779350280761719 + ], + [ + -0.012517579831182957, + -0.9998049139976501, + 0.015282105654478073, + -0.5629110932350159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 543, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662252_321544408", + "mask_path": "../../mask/hdr_left_00543.png" + }, + { + "file_path": "../../rgb/hdr_left_00544.png", + "transform_matrix": [ + [ + -0.7729191780090332, + -0.0035975552164018154, + -0.6344943046569824, + -7.676731586456299 + ], + [ + 0.6344088912010193, + -0.02173527143895626, + -0.7726919054985046, + 10.816215515136719 + ], + [ + -0.011011103168129921, + -0.9997573494911194, + 0.019081929698586464, + -0.5686007738113403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 544, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662252_421545505", + "mask_path": "../../mask/hdr_left_00544.png" + }, + { + "file_path": "../../rgb/hdr_left_00545.png", + "transform_matrix": [ + [ + -0.7833567261695862, + 0.001041702926158905, + -0.6215713620185852, + -7.764594554901123 + ], + [ + 0.6214281916618347, + -0.02021692879498005, + -0.7832102179527283, + 10.846965789794922 + ], + [ + -0.013382136821746826, + -0.999795138835907, + 0.01518972683697939, + -0.5779101252555847 + ], + [ + 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": "1731662252_521543979", + "mask_path": "../../mask/hdr_left_00545.png" + }, + { + "file_path": "../../rgb/hdr_left_00546.png", + "transform_matrix": [ + [ + -0.7905846238136292, + 0.0020482970867305994, + -0.6123492121696472, + -7.831060886383057 + ], + [ + 0.6122265458106995, + -0.01765492558479309, + -0.7904853224754333, + 10.878070831298828 + ], + [ + -0.012430128641426563, + -0.9998420476913452, + 0.012703693471848965, + -0.5823496580123901 + ], + [ + 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": "1731662252_621544122", + "mask_path": "../../mask/hdr_left_00546.png" + }, + { + "file_path": "../../rgb/hdr_left_00547.png", + "transform_matrix": [ + [ + -0.7926415801048279, + 0.004986851941794157, + -0.6096674203872681, + -7.907485008239746 + ], + [ + 0.609524667263031, + -0.016651544719934464, + -0.7925921678543091, + 10.923393249511719 + ], + [ + -0.014104445464909077, + -0.9998489618301392, + 0.010159102268517017, + -0.5793489813804626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 547, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662252_721545219", + "mask_path": "../../mask/hdr_left_00547.png" + }, + { + "file_path": "../../rgb/hdr_left_00548.png", + "transform_matrix": [ + [ + -0.7885162830352783, + 0.0026223016902804375, + -0.6150082349777222, + -7.970783233642578 + ], + [ + 0.6149252653121948, + -0.01360691711306572, + -0.7884680032730103, + 10.96183967590332 + ], + [ + -0.010435965843498707, + -0.9999040365219116, + 0.009116756729781628, + -0.5729712843894958 + ], + [ + 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": "1731662252_821544170", + "mask_path": "../../mask/hdr_left_00548.png" + }, + { + "file_path": "../../rgb/hdr_left_00549.png", + "transform_matrix": [ + [ + -0.7857292890548706, + -0.0009843576699495316, + -0.6185697913169861, + -8.036005020141602 + ], + [ + 0.6185352802276611, + -0.01193290390074253, + -0.7856664061546326, + 10.99415397644043 + ], + [ + -0.006607957184314728, + -0.99992835521698, + 0.009984893724322319, + -0.5699152946472168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 549, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662252_921544313", + "mask_path": "../../mask/hdr_left_00549.png" + }, + { + "file_path": "../../rgb/hdr_left_00550.png", + "transform_matrix": [ + [ + -0.7892436981201172, + 0.004472081083804369, + -0.6140638589859009, + -8.124883651733398 + ], + [ + 0.6139735579490662, + -0.01288432627916336, + -0.789221465587616, + 11.032843589782715 + ], + [ + -0.011441260576248169, + -0.9999070167541504, + 0.007423132658004761, + -0.5744951963424683 + ], + [ + 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": "1731662253_21544694", + "mask_path": "../../mask/hdr_left_00550.png" + }, + { + "file_path": "../../rgb/hdr_left_00551.png", + "transform_matrix": [ + [ + -0.7926773428916931, + 0.0067213973961770535, + -0.6096042394638062, + -8.19661808013916 + ], + [ + 0.6095214486122131, + -0.011089188046753407, + -0.7926920056343079, + 11.060232162475586 + ], + [ + -0.01208801381289959, + -0.9999159574508667, + 0.004693315830081701, + -0.5881710648536682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 551, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662253_121544122", + "mask_path": "../../mask/hdr_left_00551.png" + }, + { + "file_path": "../../rgb/hdr_left_00552.png", + "transform_matrix": [ + [ + -0.7920929789543152, + 0.0071261306293308735, + -0.6103588342666626, + -8.263786315917969 + ], + [ + 0.6102862358093262, + -0.010101428255438805, + -0.7921165823936462, + 11.09817123413086 + ], + [ + -0.011810222640633583, + -0.9999237060546875, + 0.0036522946320474148, + -0.5897213220596313 + ], + [ + 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": "1731662253_221545696", + "mask_path": "../../mask/hdr_left_00552.png" + }, + { + "file_path": "../../rgb/hdr_left_00553.png", + "transform_matrix": [ + [ + -0.7868152260780334, + 0.01690736599266529, + -0.6169569492340088, + -8.333148002624512 + ], + [ + 0.616790235042572, + -0.014368250034749508, + -0.7869964241981506, + 11.14844036102295 + ], + [ + -0.022170627489686012, + -0.9997538924217224, + 0.0008768615080043674, + -0.5831099152565002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 553, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662253_321544647", + "mask_path": "../../mask/hdr_left_00553.png" + }, + { + "file_path": "../../rgb/hdr_left_00554.png", + "transform_matrix": [ + [ + -0.7814275622367859, + 0.014211097732186317, + -0.6238340735435486, + -8.391890525817871 + ], + [ + 0.6236716508865356, + -0.01443592831492424, + -0.7815531492233276, + 11.180885314941406 + ], + [ + -0.020112350583076477, + -0.9997948408126831, + 0.002417573006823659, + -0.581088125705719 + ], + [ + 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": "1731662253_421545743", + "mask_path": "../../mask/hdr_left_00554.png" + }, + { + "file_path": "../../rgb/hdr_left_00555.png", + "transform_matrix": [ + [ + -0.7810707092285156, + 0.009704607538878918, + -0.6243671774864197, + -8.466482162475586 + ], + [ + 0.6242265105247498, + -0.014168416149914265, + -0.781114935874939, + 11.212006568908691 + ], + [ + -0.016426706686615944, + -0.9998525977134705, + 0.0050086649134755135, + -0.5848879814147949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 555, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662253_521544456", + "mask_path": "../../mask/hdr_left_00555.png" + }, + { + "file_path": "../../rgb/hdr_left_00556.png", + "transform_matrix": [ + [ + -0.7885012030601501, + 0.01873411424458027, + -0.6147477626800537, + -8.553448677062988 + ], + [ + 0.6145607829093933, + -0.015166986733675003, + -0.7887236475944519, + 11.251023292541504 + ], + [ + -0.024099910631775856, + -0.99970942735672, + 0.00044593747588805854, + -0.6002445220947266 + ], + [ + 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": "1731662253_621544361", + "mask_path": "../../mask/hdr_left_00556.png" + }, + { + "file_path": "../../rgb/hdr_left_00557.png", + "transform_matrix": [ + [ + -0.7950431108474731, + 0.020940737798810005, + -0.6061912775039673, + -8.625240325927734 + ], + [ + 0.6060505509376526, + -0.013242673128843307, + -0.7953159213066101, + 11.275958061218262 + ], + [ + -0.024682093411684036, + -0.9996930360794067, + -0.002162645338103175, + -0.6114821434020996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 557, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662253_721544265", + "mask_path": "../../mask/hdr_left_00557.png" + }, + { + "file_path": "../../rgb/hdr_left_00558.png", + "transform_matrix": [ + [ + -0.7992924451828003, + 0.019853847101330757, + -0.6006141304969788, + -8.69644546508789 + ], + [ + 0.6004393696784973, + -0.014492173679172993, + -0.7995388507843018, + 11.31297779083252 + ], + [ + -0.02457812801003456, + -0.9996978640556335, + -0.00033754343166947365, + -0.6157107353210449 + ], + [ + 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": "1731662253_821543931", + "mask_path": "../../mask/hdr_left_00558.png" + }, + { + "file_path": "../../rgb/hdr_left_00559.png", + "transform_matrix": [ + [ + -0.8039146661758423, + 0.02909550443291664, + -0.5940324664115906, + -8.782331466674805 + ], + [ + 0.5937103033065796, + -0.019618574529886246, + -0.8044396638870239, + 11.356677055358887 + ], + [ + -0.035059645771980286, + -0.9993841648101807, + -0.001502638217061758, + -0.6080920696258545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 559, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662253_921543836", + "mask_path": "../../mask/hdr_left_00559.png" + }, + { + "file_path": "../../rgb/hdr_left_00560.png", + "transform_matrix": [ + [ + -0.8084819912910461, + 0.024617642164230347, + -0.5880058407783508, + -8.84482479095459 + ], + [ + 0.5876718163490295, + -0.019881488755345345, + -0.8088550567626953, + 11.381162643432617 + ], + [ + -0.031602535396814346, + -0.9994992613792419, + 0.0016067317919805646, + -0.6092279553413391 + ], + [ + 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": "1731662254_21545171", + "mask_path": "../../mask/hdr_left_00560.png" + }, + { + "file_path": "../../rgb/hdr_left_00561.png", + "transform_matrix": [ + [ + -0.8147452473640442, + 0.018319210037589073, + -0.5795295834541321, + -8.924483299255371 + ], + [ + 0.5792243480682373, + -0.019541729241609573, + -0.8149338960647583, + 11.410390853881836 + ], + [ + -0.0262539554387331, + -0.9996411800384521, + 0.005310600623488426, + -0.6140929460525513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 561, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662254_121544599", + "mask_path": "../../mask/hdr_left_00561.png" + }, + { + "file_path": "../../rgb/hdr_left_00562.png", + "transform_matrix": [ + [ + -0.8282347321510315, + 0.031003398820757866, + -0.5595230460166931, + -9.01616096496582 + ], + [ + 0.5591717958450317, + -0.01984190195798874, + -0.8288143277168274, + 11.441680908203125 + ], + [ + -0.036798059940338135, + -0.9993223547935486, + -0.0009024731116369367, + -0.6284103393554688 + ], + [ + 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": "1731662254_221545457", + "mask_path": "../../mask/hdr_left_00562.png" + }, + { + "file_path": "../../rgb/hdr_left_00563.png", + "transform_matrix": [ + [ + -0.8405113220214844, + 0.031672414392232895, + -0.5408673882484436, + -9.092279434204102 + ], + [ + 0.5406308770179749, + -0.016348231583833694, + -0.8411010503768921, + 11.457594871520996 + ], + [ + -0.03548192232847214, + -0.9993646144866943, + -0.0033822066616266966, + -0.6404234170913696 + ], + [ + 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": "1731662254_321544170", + "mask_path": "../../mask/hdr_left_00563.png" + }, + { + "file_path": "../../rgb/hdr_left_00564.png", + "transform_matrix": [ + [ + -0.8505253195762634, + 0.02826141007244587, + -0.5251742005348206, + -9.171321868896484 + ], + [ + 0.5248761177062988, + -0.017692167311906815, + -0.8509947061538696, + 11.484953880310059 + ], + [ + -0.03334178403019905, + -0.9994440078735352, + 0.00021389845642261207, + -0.6438210606575012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 564, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662254_421543598", + "mask_path": "../../mask/hdr_left_00564.png" + }, + { + "file_path": "../../rgb/hdr_left_00565.png", + "transform_matrix": [ + [ + -0.8537314534187317, + 0.038702499121427536, + -0.5192733407020569, + -9.262880325317383 + ], + [ + 0.5188957452774048, + -0.020022274926304817, + -0.8546030521392822, + 11.52475643157959 + ], + [ + -0.043472304940223694, + -0.9990501999855042, + -0.0029889149591326714, + -0.6405870914459229 + ], + [ + 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": "1731662254_521543979", + "mask_path": "../../mask/hdr_left_00565.png" + }, + { + "file_path": "../../rgb/hdr_left_00566.png", + "transform_matrix": [ + [ + -0.8540818095207214, + 0.035724788904190063, + -0.5189104080200195, + -9.322749137878418 + ], + [ + 0.5185374617576599, + -0.01974138431251049, + -0.8548269271850586, + 11.549430847167969 + ], + [ + -0.04078252613544464, + -0.9991666674613953, + -0.0016638829838484526, + -0.6347426176071167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 566, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662254_621543884", + "mask_path": "../../mask/hdr_left_00566.png" + }, + { + "file_path": "../../rgb/hdr_left_00567.png", + "transform_matrix": [ + [ + -0.8532537221908569, + 0.029835829511284828, + -0.5206418633460999, + -9.393304824829102 + ], + [ + 0.5202286243438721, + -0.02086588926613331, + -0.8537721633911133, + 11.572872161865234 + ], + [ + -0.03633664920926094, + -0.9993370771408081, + 0.00228244811296463, + -0.6389658451080322 + ], + [ + 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": "1731662254_721543073", + "mask_path": "../../mask/hdr_left_00567.png" + }, + { + "file_path": "../../rgb/hdr_left_00568.png", + "transform_matrix": [ + [ + -0.8541494011878967, + 0.03544732928276062, + -0.5188180208206177, + -9.481449127197266 + ], + [ + 0.5183829665184021, + -0.021244240924715996, + -0.8548847436904907, + 11.598750114440918 + ], + [ + -0.041325271129608154, + -0.9991458058357239, + -0.00022953421284910291, + -0.6498712301254272 + ], + [ + 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": "1731662254_821543931", + "mask_path": "../../mask/hdr_left_00568.png" + }, + { + "file_path": "../../rgb/hdr_left_00569.png", + "transform_matrix": [ + [ + -0.857338547706604, + 0.03522809222340584, + -0.5135459899902344, + -9.563328742980957 + ], + [ + 0.5131038427352905, + -0.02130749635398388, + -0.8580620884895325, + 11.619304656982422 + ], + [ + -0.04117026925086975, + -0.9991521835327148, + 0.0001920736103784293, + -0.6599852442741394 + ], + [ + 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": "1731662254_921544790", + "mask_path": "../../mask/hdr_left_00569.png" + }, + { + "file_path": "../../rgb/hdr_left_00570.png", + "transform_matrix": [ + [ + -0.8588789105415344, + 0.03262076899409294, + -0.5111387372016907, + -9.63922119140625 + ], + [ + 0.5107014179229736, + -0.0211943369358778, + -0.8594967722892761, + 11.643630981445312 + ], + [ + -0.03887069970369339, + -0.9992431402206421, + 0.0015438973205164075, + -0.666032612323761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 570, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662255_21544218", + "mask_path": "../../mask/hdr_left_00570.png" + }, + { + "file_path": "../../rgb/hdr_left_00571.png", + "transform_matrix": [ + [ + -0.8588981628417969, + 0.038710083812475204, + -0.5106814503669739, + -9.717194557189941 + ], + [ + 0.5102266073226929, + -0.02158293128013611, + -0.8597691059112549, + 11.675623893737793 + ], + [ + -0.044303733855485916, + -0.9990174770355225, + -0.0012133732670918107, + -0.6660544872283936 + ], + [ + 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": "1731662255_121544122", + "mask_path": "../../mask/hdr_left_00571.png" + }, + { + "file_path": "../../rgb/hdr_left_00572.png", + "transform_matrix": [ + [ + -0.8600346446037292, + 0.03278935328125954, + -0.5091809630393982, + -9.788753509521484 + ], + [ + 0.5087156295776367, + -0.021867621690034866, + -0.8606568574905396, + 11.699176788330078 + ], + [ + -0.03935495391488075, + -0.9992230534553528, + 0.002126462059095502, + -0.6629801988601685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 572, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662255_221544027", + "mask_path": "../../mask/hdr_left_00572.png" + }, + { + "file_path": "../../rgb/hdr_left_00573.png", + "transform_matrix": [ + [ + -0.8640467524528503, + 0.02467378042638302, + -0.5028064846992493, + -9.867307662963867 + ], + [ + 0.5024064779281616, + -0.020816709846258163, + -0.8643808364868164, + 11.723947525024414 + ], + [ + -0.03179432079195976, + -0.9994788765907288, + 0.005590346176177263, + -0.660733163356781 + ], + [ + 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": "1731662255_321544170", + "mask_path": "../../mask/hdr_left_00573.png" + }, + { + "file_path": "../../rgb/hdr_left_00574.png", + "transform_matrix": [ + [ + -0.8756704330444336, + 0.031044689938426018, + -0.48191019892692566, + -9.96801471710205 + ], + [ + 0.48154404759407043, + -0.018846545368433, + -0.8762191534042358, + 11.746495246887207 + ], + [ + -0.036284297704696655, + -0.9993403553962708, + 0.0015539794694632292, + -0.6748074293136597 + ], + [ + 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": "1731662255_421543836", + "mask_path": "../../mask/hdr_left_00574.png" + }, + { + "file_path": "../../rgb/hdr_left_00575.png", + "transform_matrix": [ + [ + -0.8903462886810303, + 0.03363664448261261, + -0.45403972268104553, + -10.051104545593262 + ], + [ + 0.45379096269607544, + -0.015132936649024487, + -0.8909796476364136, + 11.752466201782227 + ], + [ + -0.036840517073869705, + -0.9993196129798889, + -0.001790450420230627, + -0.6899851560592651 + ], + [ + 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": "1731662255_521543979", + "mask_path": "../../mask/hdr_left_00575.png" + }, + { + "file_path": "../../rgb/hdr_left_00576.png", + "transform_matrix": [ + [ + -0.8998615145683289, + 0.03112632781267166, + -0.43506360054016113, + -10.130653381347656 + ], + [ + 0.4347575008869171, + -0.01636081375181675, + -0.900398850440979, + 11.769316673278809 + ], + [ + -0.035144105553627014, + -0.9993816018104553, + 0.0011900680838152766, + -0.6953917145729065 + ], + [ + 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": "1731662255_621544122", + "mask_path": "../../mask/hdr_left_00576.png" + }, + { + "file_path": "../../rgb/hdr_left_00577.png", + "transform_matrix": [ + [ + -0.903157651424408, + 0.03671570122241974, + -0.42773619294166565, + -10.219711303710938 + ], + [ + 0.4273246228694916, + -0.018802369013428688, + -0.9039027690887451, + 11.805929183959961 + ], + [ + -0.04122987017035484, + -0.9991489052772522, + 0.0012919822474941611, + -0.691471517086029 + ], + [ + 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": "1731662255_721544027", + "mask_path": "../../mask/hdr_left_00577.png" + }, + { + "file_path": "../../rgb/hdr_left_00578.png", + "transform_matrix": [ + [ + -0.9031809568405151, + 0.03267443925142288, + -0.4280145764350891, + -10.285061836242676 + ], + [ + 0.4276173412799835, + -0.018660439178347588, + -0.9037672281265259, + 11.824183464050293 + ], + [ + -0.03751702234148979, + -0.9992919564247131, + 0.0028816021513193846, + -0.6909065246582031 + ], + [ + 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": "1731662255_821543693", + "mask_path": "../../mask/hdr_left_00578.png" + }, + { + "file_path": "../../rgb/hdr_left_00579.png", + "transform_matrix": [ + [ + -0.9043567180633545, + 0.025826500728726387, + -0.42599502205848694, + -10.360037803649902 + ], + [ + 0.42564642429351807, + -0.01803276687860489, + -0.9047099947929382, + 11.839611053466797 + ], + [ + -0.031047357246279716, + -0.9995038509368896, + 0.005315099377185106, + -0.6924136281013489 + ], + [ + 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": "1731662255_921543836", + "mask_path": "../../mask/hdr_left_00579.png" + }, + { + "file_path": "../../rgb/hdr_left_00580.png", + "transform_matrix": [ + [ + -0.9093629121780396, + 0.031827252358198166, + -0.41478431224823, + -10.453287124633789 + ], + [ + 0.414462685585022, + -0.01642269641160965, + -0.9099180698394775, + 11.85511302947998 + ], + [ + -0.03577207028865814, + -0.9993584752082825, + 0.0017429854488000274, + -0.7043476700782776 + ], + [ + 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": "1731662256_21543502", + "mask_path": "../../mask/hdr_left_00580.png" + }, + { + "file_path": "../../rgb/hdr_left_00581.png", + "transform_matrix": [ + [ + -0.9155373573303223, + 0.034223899245262146, + -0.4007742702960968, + -10.531720161437988 + ], + [ + 0.4004823863506317, + -0.015295609831809998, + -0.9161767363548279, + 11.861212730407715 + ], + [ + -0.03748522698879242, + -0.9992971420288086, + 0.0002976361138280481, + -0.7152916193008423 + ], + [ + 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": "1731662256_121543884", + "mask_path": "../../mask/hdr_left_00581.png" + }, + { + "file_path": "../../rgb/hdr_left_00582.png", + "transform_matrix": [ + [ + -0.9195239543914795, + 0.034517932683229446, + -0.3915153443813324, + -10.61054515838623 + ], + [ + 0.3912087678909302, + -0.015509386546909809, + -0.9201712608337402, + 11.86569881439209 + ], + [ + -0.037834569811820984, + -0.9992837905883789, + 0.0007575369090773165, + -0.7184077501296997 + ], + [ + 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": "1731662256_221544027", + "mask_path": "../../mask/hdr_left_00582.png" + }, + { + "file_path": "../../rgb/hdr_left_00583.png", + "transform_matrix": [ + [ + -0.9203912615776062, + 0.04476684331893921, + -0.3884272873401642, + -10.695813179016113 + ], + [ + 0.387789249420166, + -0.022505197674036026, + -0.9214733242988586, + 11.885751724243164 + ], + [ + -0.049993082880973816, + -0.998744010925293, + 0.003353489562869072, + -0.7257868647575378 + ], + [ + 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": "1731662256_321543931", + "mask_path": "../../mask/hdr_left_00583.png" + }, + { + "file_path": "../../rgb/hdr_left_00584.png", + "transform_matrix": [ + [ + -0.9179571866989136, + 0.04617348685860634, + -0.3939828872680664, + -10.764542579650879 + ], + [ + 0.39330050349235535, + -0.02341802604496479, + -0.9191117286682129, + 11.901519775390625 + ], + [ + -0.051664888858795166, + -0.9986589550971985, + 0.0033366959542036057, + -0.7245866060256958 + ], + [ + 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": "1731662256_421544075", + "mask_path": "../../mask/hdr_left_00584.png" + }, + { + "file_path": "../../rgb/hdr_left_00585.png", + "transform_matrix": [ + [ + -0.9136857390403748, + 0.039521776139736176, + -0.40449514985084534, + -10.838059425354004 + ], + [ + 0.4037657380104065, + -0.025318607687950134, + -0.9145119786262512, + 11.919081687927246 + ], + [ + -0.04638439044356346, + -0.998897910118103, + 0.0071757142432034016, + -0.7269452810287476 + ], + [ + 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": "1731662256_521544456", + "mask_path": "../../mask/hdr_left_00585.png" + }, + { + "file_path": "../../rgb/hdr_left_00586.png", + "transform_matrix": [ + [ + -0.9129179120063782, + 0.04060788452625275, + -0.4061181843280792, + -10.947189331054688 + ], + [ + 0.40556222200393677, + -0.021472597494721413, + -0.9138151407241821, + 11.943446159362793 + ], + [ + -0.04582851380109787, + -0.9989444017410278, + 0.00313369557261467, + -0.7365783452987671 + ], + [ + 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": "1731662256_621544361", + "mask_path": "../../mask/hdr_left_00586.png" + }, + { + "file_path": "../../rgb/hdr_left_00587.png", + "transform_matrix": [ + [ + -0.915066659450531, + 0.043314073234796524, + -0.40096989274024963, + -11.032312393188477 + ], + [ + 0.4005555212497711, + -0.01823698915541172, + -0.9160910248756409, + 11.954085350036621 + ], + [ + -0.04699211195111275, + -0.9988951086997986, + -0.0006616270984522998, + -0.7521520853042603 + ], + [ + 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": "1731662256_721544265", + "mask_path": "../../mask/hdr_left_00587.png" + }, + { + "file_path": "../../rgb/hdr_left_00588.png", + "transform_matrix": [ + [ + -0.9155797362327576, + 0.04204303026199341, + -0.399932324886322, + -11.115535736083984 + ], + [ + 0.3995712399482727, + -0.0170332882553339, + -0.9165439009666443, + 11.969184875488281 + ], + [ + -0.045346446335315704, + -0.998970627784729, + -0.001203848165459931, + -0.7545600533485413 + ], + [ + 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": "1731662256_821544170", + "mask_path": "../../mask/hdr_left_00588.png" + }, + { + "file_path": "../../rgb/hdr_left_00589.png", + "transform_matrix": [ + [ + -0.9126792550086975, + 0.05230864882469177, + -0.405315101146698, + -11.204907417297363 + ], + [ + 0.40497636795043945, + -0.01739557273685932, + -0.9141616225242615, + 11.992045402526855 + ], + [ + -0.05486924573779106, + -0.998479425907135, + -0.0053071873262524605, + -0.757494330406189 + ], + [ + 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": "1731662256_921545028", + "mask_path": "../../mask/hdr_left_00589.png" + }, + { + "file_path": "../../rgb/hdr_left_00590.png", + "transform_matrix": [ + [ + -0.9080867767333984, + 0.05024100840091705, + -0.41575750708580017, + -11.285208702087402 + ], + [ + 0.41560831665992737, + -0.013876509852707386, + -0.9094378352165222, + 12.016877174377441 + ], + [ + -0.05146033316850662, + -0.998640775680542, + -0.00827950518578291, + -0.7527152895927429 + ], + [ + 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": "1731662257_21543741", + "mask_path": "../../mask/hdr_left_00590.png" + }, + { + "file_path": "../../rgb/hdr_left_00591.png", + "transform_matrix": [ + [ + -0.9030090570449829, + 0.04361354187130928, + -0.4274018406867981, + -11.364553451538086 + ], + [ + 0.4273723065853119, + -0.010470901615917683, + -0.9040151238441467, + 12.036574363708496 + ], + [ + -0.04390257969498634, + -0.9989935755729675, + -0.009183893911540508, + -0.7532925009727478 + ], + [ + 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": "1731662257_121543884", + "mask_path": "../../mask/hdr_left_00591.png" + }, + { + "file_path": "../../rgb/hdr_left_00592.png", + "transform_matrix": [ + [ + -0.9012240171432495, + 0.04582827538251877, + -0.4309234321117401, + -11.470184326171875 + ], + [ + 0.43108922243118286, + -0.006709598936140537, + -0.9022842645645142, + 12.061392784118652 + ], + [ + -0.04424145817756653, + -0.9989268779754639, + -0.013709219172596931, + -0.7671078443527222 + ], + [ + 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": "1731662257_221544027", + "mask_path": "../../mask/hdr_left_00592.png" + }, + { + "file_path": "../../rgb/hdr_left_00593.png", + "transform_matrix": [ + [ + -0.9032406806945801, + 0.04739498347043991, + -0.4265090823173523, + -11.564558029174805 + ], + [ + 0.4267125725746155, + -0.006246265023946762, + -0.9043656587600708, + 12.076845169067383 + ], + [ + -0.04552648961544037, + -0.9988567233085632, + -0.014582152478396893, + -0.7788292765617371 + ], + [ + 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": "1731662257_321543931", + "mask_path": "../../mask/hdr_left_00593.png" + }, + { + "file_path": "../../rgb/hdr_left_00594.png", + "transform_matrix": [ + [ + -0.904877245426178, + 0.04413715749979019, + -0.42337822914123535, + -11.644603729248047 + ], + [ + 0.4235382080078125, + -0.006124114152044058, + -0.9058576226234436, + 12.094222068786621 + ], + [ + -0.042574793100357056, + -0.9990068078041077, + -0.013152197934687138, + -0.7853395342826843 + ], + [ + 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": "1731662257_421543836", + "mask_path": "../../mask/hdr_left_00594.png" + }, + { + "file_path": "../../rgb/hdr_left_00595.png", + "transform_matrix": [ + [ + -0.90322345495224, + 0.04882161319255829, + -0.4263846278190613, + -11.73554801940918 + ], + [ + 0.4263579845428467, + -0.011479876935482025, + -0.9044815897941589, + 12.123741149902344 + ], + [ + -0.049053091555833817, + -0.9987415671348572, + -0.010446588508784771, + -0.7889161705970764 + ], + [ + 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": "1731662257_521540880", + "mask_path": "../../mask/hdr_left_00595.png" + }, + { + "file_path": "../../rgb/hdr_left_00596.png", + "transform_matrix": [ + [ + -0.8996562957763672, + 0.048725906759500504, + -0.4338712990283966, + -11.8169584274292 + ], + [ + 0.43387487530708313, + -0.01105581410229206, + -0.9009053111076355, + 12.154780387878418 + ], + [ + -0.04869422689080238, + -0.9987511038780212, + -0.011194509454071522, + -0.7854079008102417 + ], + [ + 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": "1731662257_621540307", + "mask_path": "../../mask/hdr_left_00596.png" + }, + { + "file_path": "../../rgb/hdr_left_00597.png", + "transform_matrix": [ + [ + -0.8971723318099976, + 0.04083023592829704, + -0.43978938460350037, + -11.896183013916016 + ], + [ + 0.439708411693573, + -0.011425522156059742, + -0.8980679512023926, + 12.178661346435547 + ], + [ + -0.04169314727187157, + -0.9991008639335632, + -0.007702731527388096, + -0.7883740067481995 + ], + [ + 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": "1731662257_721540689", + "mask_path": "../../mask/hdr_left_00597.png" + }, + { + "file_path": "../../rgb/hdr_left_00598.png", + "transform_matrix": [ + [ + -0.8973132371902466, + 0.03964044526219368, + -0.43961063027381897, + -11.994564056396484 + ], + [ + 0.43960392475128174, + -0.009353725239634514, + -0.8981429934501648, + 12.201844215393066 + ], + [ + -0.03971477970480919, + -0.9991702437400818, + -0.009032869711518288, + -0.7982770204544067 + ], + [ + 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": "1731662257_821543931", + "mask_path": "../../mask/hdr_left_00598.png" + }, + { + "file_path": "../../rgb/hdr_left_00599.png", + "transform_matrix": [ + [ + -0.9021337628364563, + 0.04479202255606651, + -0.4291248917579651, + -12.092846870422363 + ], + [ + 0.4292352497577667, + -0.007615089416503906, + -0.9031606912612915, + 12.220783233642578 + ], + [ + -0.04372221231460571, + -0.9989673495292664, + -0.012356484308838844, + -0.812545895576477 + ], + [ + 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": "1731662257_921545028", + "mask_path": "../../mask/hdr_left_00599.png" + }, + { + "file_path": "../../rgb/hdr_left_00600.png", + "transform_matrix": [ + [ + -0.9066563248634338, + 0.04132072255015373, + -0.41984161734580994, + -12.175012588500977 + ], + [ + 0.41995614767074585, + -0.006288886070251465, + -0.9075226187705994, + 12.236392974853516 + ], + [ + -0.040139827877283096, + -0.999126136302948, + -0.011651032604277134, + -0.8190054893493652 + ], + [ + 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": "1731662258_21544694", + "mask_path": "../../mask/hdr_left_00600.png" + }, + { + "file_path": "../../rgb/hdr_left_00601.png", + "transform_matrix": [ + [ + -0.9088709354400635, + 0.04007326439023018, + -0.41514790058135986, + -12.264277458190918 + ], + [ + 0.4150550961494446, + -0.011001763865351677, + -0.9097297787666321, + 12.2625150680542 + ], + [ + -0.04102319851517677, + -0.9991362690925598, + -0.00663342559710145, + -0.8257539868354797 + ], + [ + 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": "1731662258_121546745", + "mask_path": "../../mask/hdr_left_00601.png" + }, + { + "file_path": "../../rgb/hdr_left_00602.png", + "transform_matrix": [ + [ + -0.9080398082733154, + 0.045623235404491425, + -0.41639190912246704, + -12.351226806640625 + ], + [ + 0.41650423407554626, + -0.00746852857992053, + -0.9091030955314636, + 12.292083740234375 + ], + [ + -0.04458605870604515, + -0.9989308714866638, + -0.012220545671880245, + -0.8175401091575623 + ], + [ + 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": "1731662258_221544027", + "mask_path": "../../mask/hdr_left_00602.png" + }, + { + "file_path": "../../rgb/hdr_left_00603.png", + "transform_matrix": [ + [ + -0.9068008661270142, + 0.03949645534157753, + -0.41970470547676086, + -12.417362213134766 + ], + [ + 0.4196210503578186, + -0.01078719925135374, + -0.9076352715492249, + 12.314337730407715 + ], + [ + -0.04037581384181976, + -0.9991614818572998, + -0.006791698280721903, + -0.8175382018089294 + ], + [ + 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": "1731662258_321545600", + "mask_path": "../../mask/hdr_left_00603.png" + }, + { + "file_path": "../../rgb/hdr_left_00604.png", + "transform_matrix": [ + [ + -0.9080734252929688, + 0.03540597856044769, + -0.41731175780296326, + -12.510629653930664 + ], + [ + 0.41724640130996704, + -0.009569297544658184, + -0.9087429642677307, + 12.33067512512207 + ], + [ + -0.03616831824183464, + -0.9993272423744202, + -0.006083390209823847, + -0.8251500725746155 + ], + [ + 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": "1731662258_421544790", + "mask_path": "../../mask/hdr_left_00604.png" + }, + { + "file_path": "../../rgb/hdr_left_00605.png", + "transform_matrix": [ + [ + -0.9159700870513916, + 0.04499950259923935, + -0.39871516823768616, + -12.602123260498047 + ], + [ + 0.3988201916217804, + -0.007008782122284174, + -0.9170023798942566, + 12.341700553894043 + ], + [ + -0.0440591499209404, + -0.9989624619483948, + -0.011526869609951973, + -0.8368886709213257 + ], + [ + 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": "1731662258_521544933", + "mask_path": "../../mask/hdr_left_00605.png" + }, + { + "file_path": "../../rgb/hdr_left_00606.png", + "transform_matrix": [ + [ + -0.9235665202140808, + 0.0446181520819664, + -0.3808334171772003, + -12.680312156677246 + ], + [ + 0.38093262910842896, + -0.006591629236936569, + -0.9245792627334595, + 12.345529556274414 + ], + [ + -0.043763332068920135, + -0.9989824295043945, + -0.010908698663115501, + -0.8450164198875427 + ], + [ + 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": "1731662258_621544599", + "mask_path": "../../mask/hdr_left_00606.png" + }, + { + "file_path": "../../rgb/hdr_left_00607.png", + "transform_matrix": [ + [ + -0.9285162687301636, + 0.044146373867988586, + -0.3686576783657074, + -12.76697063446045 + ], + [ + 0.3683786392211914, + -0.014595299027860165, + -0.929561197757721, + 12.360067367553711 + ], + [ + -0.04641742631793022, + -0.9989185333251953, + -0.0027106041088700294, + -0.8509787321090698 + ], + [ + 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": "1731662258_721544265", + "mask_path": "../../mask/hdr_left_00607.png" + }, + { + "file_path": "../../rgb/hdr_left_00608.png", + "transform_matrix": [ + [ + -0.929770290851593, + 0.0491713210940361, + -0.3648414611816406, + -12.852663040161133 + ], + [ + 0.3646288216114044, + -0.013547491282224655, + -0.9310543537139893, + 12.386454582214355 + ], + [ + -0.050723861902952194, + -0.9986985325813293, + -0.005333222448825836, + -0.8500500321388245 + ], + [ + 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": "1731662258_821543931", + "mask_path": "../../mask/hdr_left_00608.png" + }, + { + "file_path": "../../rgb/hdr_left_00609.png", + "transform_matrix": [ + [ + -0.9311408400535583, + 0.04490073770284653, + -0.3618849217891693, + -12.925824165344238 + ], + [ + 0.36144256591796875, + -0.017892533913254738, + -0.9322226643562317, + 12.396324157714844 + ], + [ + -0.048332516103982925, + -0.9988312125205994, + 0.0004314311663620174, + -0.8511203527450562 + ], + [ + 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": "1731662258_921544551", + "mask_path": "../../mask/hdr_left_00609.png" + }, + { + "file_path": "../../rgb/hdr_left_00610.png", + "transform_matrix": [ + [ + -0.9348613023757935, + 0.04059073328971863, + -0.35268497467041016, + -13.02234935760498 + ], + [ + 0.3521311283111572, + -0.020306361839175224, + -0.9357303380966187, + 12.401707649230957 + ], + [ + -0.0451437346637249, + -0.998969554901123, + 0.004690372385084629, + -0.8624106645584106 + ], + [ + 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": "1731662259_21544694", + "mask_path": "../../mask/hdr_left_00610.png" + }, + { + "file_path": "../../rgb/hdr_left_00611.png", + "transform_matrix": [ + [ + -0.9421805143356323, + 0.04654831066727638, + -0.33185699582099915, + -13.11654281616211 + ], + [ + 0.33142516016960144, + -0.016932500526309013, + -0.9433295726776123, + 12.399165153503418 + ], + [ + -0.04952956363558769, + -0.9987725019454956, + 0.0005261951009742916, + -0.8774662613868713 + ], + [ + 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": "1731662259_121544599", + "mask_path": "../../mask/hdr_left_00611.png" + }, + { + "file_path": "../../rgb/hdr_left_00612.png", + "transform_matrix": [ + [ + -0.9482483267784119, + 0.04828249290585518, + -0.313837468624115, + -13.195843696594238 + ], + [ + 0.31345415115356445, + -0.015512583777308464, + -0.9494766592979431, + 12.401494026184082 + ], + [ + -0.05071152746677399, + -0.9987133145332336, + -0.000424563157139346, + -0.8814090490341187 + ], + [ + 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": "1731662259_221545219", + "mask_path": "../../mask/hdr_left_00612.png" + }, + { + "file_path": "../../rgb/hdr_left_00613.png", + "transform_matrix": [ + [ + -0.9507330060005188, + 0.05606323108077049, + -0.304899126291275, + -13.28683090209961 + ], + [ + 0.30429163575172424, + -0.01928003318607807, + -0.9523837566375732, + 12.412912368774414 + ], + [ + -0.059272170066833496, + -0.9982411861419678, + 0.001270598848350346, + -0.8857544660568237 + ], + [ + 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": "1731662259_321543931", + "mask_path": "../../mask/hdr_left_00613.png" + }, + { + "file_path": "../../rgb/hdr_left_00614.png", + "transform_matrix": [ + [ + -0.9495996236801147, + 0.05644397437572479, + -0.30834150314331055, + -13.359210968017578 + ], + [ + 0.3077343702316284, + -0.01936735212802887, + -0.9512751698493958, + 12.425032615661621 + ], + [ + -0.0596655048429966, + -0.9982179403305054, + 0.001021484611555934, + -0.8837994337081909 + ], + [ + 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": "1731662259_421544313", + "mask_path": "../../mask/hdr_left_00614.png" + }, + { + "file_path": "../../rgb/hdr_left_00615.png", + "transform_matrix": [ + [ + -0.9468032717704773, + 0.05020758882164955, + -0.3178723156452179, + -13.437088966369629 + ], + [ + 0.31712499260902405, + -0.022420775145292282, + -0.9481186866760254, + 12.438190460205078 + ], + [ + -0.05472970008850098, + -0.998487114906311, + 0.005305981729179621, + -0.8812007904052734 + ], + [ + 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": "1731662259_521544694", + "mask_path": "../../mask/hdr_left_00615.png" + }, + { + "file_path": "../../rgb/hdr_left_00616.png", + "transform_matrix": [ + [ + -0.9471448063850403, + 0.05023646354675293, + -0.31684842705726624, + -13.536062240600586 + ], + [ + 0.316188246011734, + -0.020796407014131546, + -0.9484685659408569, + 12.44337272644043 + ], + [ + -0.0542370080947876, + -0.9985208511352539, + 0.003813033225014806, + -0.8977513909339905 + ], + [ + 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": "1731662259_621546983", + "mask_path": "../../mask/hdr_left_00616.png" + }, + { + "file_path": "../../rgb/hdr_left_00617.png", + "transform_matrix": [ + [ + -0.9488434195518494, + 0.051759738475084305, + -0.3114756643772125, + -13.618486404418945 + ], + [ + 0.31085044145584106, + -0.019925078377127647, + -0.950249969959259, + 12.44688606262207 + ], + [ + -0.0553908571600914, + -0.9984608292579651, + 0.002816244028508663, + -0.912472665309906 + ], + [ + 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": "1731662259_721544981", + "mask_path": "../../mask/hdr_left_00617.png" + }, + { + "file_path": "../../rgb/hdr_left_00618.png", + "transform_matrix": [ + [ + -0.9486777186393738, + 0.052286822348833084, + -0.311892032623291, + -13.693435668945312 + ], + [ + 0.31144052743911743, + -0.01678021252155304, + -0.9501175284385681, + 12.459951400756836 + ], + [ + -0.05491223558783531, + -0.9984911680221558, + -0.00036521893343888223, + -0.9192193746566772 + ], + [ + 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": "1731662259_821544647", + "mask_path": "../../mask/hdr_left_00618.png" + }, + { + "file_path": "../../rgb/hdr_left_00619.png", + "transform_matrix": [ + [ + -0.9451960921287537, + 0.0652814581990242, + -0.3199102580547333, + -13.767742156982422 + ], + [ + 0.31970447301864624, + -0.013858113437891006, + -0.9474160075187683, + 12.475544929504395 + ], + [ + -0.06628204137086868, + -0.9977707266807556, + -0.007772134151309729, + -0.9177285432815552 + ], + [ + 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": "1731662259_921544551", + "mask_path": "../../mask/hdr_left_00619.png" + }, + { + "file_path": "../../rgb/hdr_left_00620.png", + "transform_matrix": [ + [ + -0.9409247636795044, + 0.06228429079055786, + -0.3328379988670349, + -13.834281921386719 + ], + [ + 0.33276140689849854, + -0.011904437094926834, + -0.9429359436035156, + 12.493509292602539 + ], + [ + -0.06269234418869019, + -0.9979875087738037, + -0.009524623863399029, + -0.9149448871612549 + ], + [ + 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": "1731662260_21544694", + "mask_path": "../../mask/hdr_left_00620.png" + }, + { + "file_path": "../../rgb/hdr_left_00621.png", + "transform_matrix": [ + [ + -0.9381771087646484, + 0.060624122619628906, + -0.3408053517341614, + -13.901823043823242 + ], + [ + 0.3408137559890747, + -0.010521593503654003, + -0.9400719404220581, + 12.50303840637207 + ], + [ + -0.060576848685741425, + -0.9981052279472351, + -0.010790413245558739, + -0.918816328048706 + ], + [ + 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": "1731662260_121543884", + "mask_path": "../../mask/hdr_left_00621.png" + }, + { + "file_path": "../../rgb/hdr_left_00622.png", + "transform_matrix": [ + [ + -0.9401299953460693, + 0.06630050390958786, + -0.3343047499656677, + -13.990865707397461 + ], + [ + 0.3344099521636963, + -0.009834367781877518, + -0.9423763155937195, + 12.50987720489502 + ], + [ + -0.06576769798994064, + -0.9977512359619141, + -0.012925961054861546, + -0.9371919631958008 + ], + [ + 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": "1731662260_221545219", + "mask_path": "../../mask/hdr_left_00622.png" + }, + { + "file_path": "../../rgb/hdr_left_00623.png", + "transform_matrix": [ + [ + -0.9417684674263, + 0.06509008258581161, + -0.32990214228630066, + -14.070308685302734 + ], + [ + 0.33000949025154114, + -0.009405743330717087, + -0.9439307451248169, + 12.515450477600098 + ], + [ + -0.06454349309206009, + -0.997835099697113, + -0.012622307986021042, + -0.9497684240341187 + ], + [ + 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": "1731662260_321545124", + "mask_path": "../../mask/hdr_left_00623.png" + }, + { + "file_path": "../../rgb/hdr_left_00624.png", + "transform_matrix": [ + [ + -0.9408196210861206, + 0.0671427771449089, + -0.3321898877620697, + -14.153278350830078 + ], + [ + 0.332074910402298, + -0.01319351140409708, + -0.9431607723236084, + 12.537026405334473 + ], + [ + -0.06770919263362885, + -0.9976562261581421, + -0.009883716702461243, + -0.954066276550293 + ], + [ + 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": "1731662260_421544313", + "mask_path": "../../mask/hdr_left_00624.png" + }, + { + "file_path": "../../rgb/hdr_left_00625.png", + "transform_matrix": [ + [ + -0.9386042356491089, + 0.06966926157474518, + -0.3378877639770508, + -14.226397514343262 + ], + [ + 0.3380436301231384, + -0.009898807853460312, + -0.9410783648490906, + 12.557010650634766 + ], + [ + -0.0689089298248291, + -0.9975211024284363, + -0.014260183088481426, + -0.9520248174667358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 625, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662260_521546363", + "mask_path": "../../mask/hdr_left_00625.png" + }, + { + "file_path": "../../rgb/hdr_left_00626.png", + "transform_matrix": [ + [ + -0.9372448325157166, + 0.06399692595005035, + -0.3427484929561615, + -14.305694580078125 + ], + [ + 0.34277546405792236, + -0.010901755653321743, + -0.9393540620803833, + 12.568058013916016 + ], + [ + -0.06385233253240585, + -0.9978906512260437, + -0.01171895582228899, + -0.948078989982605 + ], + [ + 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": "1731662260_621545314", + "mask_path": "../../mask/hdr_left_00626.png" + }, + { + "file_path": "../../rgb/hdr_left_00627.png", + "transform_matrix": [ + [ + -0.9395940899848938, + 0.06158852577209473, + -0.33670416474342346, + -14.403973579406738 + ], + [ + 0.336576372385025, + -0.012751493602991104, + -0.9415698051452637, + 12.575044631958008 + ], + [ + -0.06228338181972504, + -0.9980201721191406, + -0.008748008869588375, + -0.9605625867843628 + ], + [ + 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": "1731662260_721544742", + "mask_path": "../../mask/hdr_left_00627.png" + }, + { + "file_path": "../../rgb/hdr_left_00628.png", + "transform_matrix": [ + [ + -0.9451205134391785, + 0.06300318986177444, + -0.3205896019935608, + -14.495161056518555 + ], + [ + 0.32062745094299316, + -0.009783112443983555, + -0.9471548795700073, + 12.576236724853516 + ], + [ + -0.06281013786792755, + -0.997965395450592, + -0.010954329743981361, + -0.9764336943626404 + ], + [ + 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": "1731662260_821544647", + "mask_path": "../../mask/hdr_left_00628.png" + }, + { + "file_path": "../../rgb/hdr_left_00629.png", + "transform_matrix": [ + [ + -0.9484203457832336, + 0.06087648123502731, + -0.311115562915802, + -14.567264556884766 + ], + [ + 0.31105533242225647, + -0.010705333203077316, + -0.9503315091133118, + 12.583602905273438 + ], + [ + -0.06118342652916908, + -0.9980879426002502, + -0.008782796561717987, + -0.988139271736145 + ], + [ + 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": "1731662260_921544790", + "mask_path": "../../mask/hdr_left_00629.png" + }, + { + "file_path": "../../rgb/hdr_left_00630.png", + "transform_matrix": [ + [ + -0.9475733041763306, + 0.06770021468400955, + -0.3122841715812683, + -14.650105476379395 + ], + [ + 0.31234055757522583, + -0.010023447684943676, + -0.9499173164367676, + 12.600637435913086 + ], + [ + -0.06743977218866348, + -0.9976553916931152, + -0.011647566221654415, + -0.9914518594741821 + ], + [ + 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": "1731662261_21544456", + "mask_path": "../../mask/hdr_left_00630.png" + }, + { + "file_path": "../../rgb/hdr_left_00631.png", + "transform_matrix": [ + [ + -0.9438819885253906, + 0.06694535166025162, + -0.32342711091041565, + -14.722557067871094 + ], + [ + 0.3235752582550049, + -0.008918761275708675, + -0.9461603760719299, + 12.615238189697266 + ], + [ + -0.06622560322284698, + -0.9977168440818787, + -0.0132435979321599, + -0.9875279664993286 + ], + [ + 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": "1731662261_121545076", + "mask_path": "../../mask/hdr_left_00631.png" + }, + { + "file_path": "../../rgb/hdr_left_00632.png", + "transform_matrix": [ + [ + -0.9418357014656067, + 0.06362792104482651, + -0.329995334148407, + -14.808856964111328 + ], + [ + 0.32995107769966125, + -0.011506052687764168, + -0.9439278841018677, + 12.625632286071777 + ], + [ + -0.06385710835456848, + -0.9979074001312256, + -0.010157286189496517, + -0.9962503910064697 + ], + [ + 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": "1731662261_221544504", + "mask_path": "../../mask/hdr_left_00632.png" + }, + { + "file_path": "../../rgb/hdr_left_00633.png", + "transform_matrix": [ + [ + -0.943906307220459, + 0.06070457398891449, + -0.3245857059955597, + -14.888656616210938 + ], + [ + 0.3242722749710083, + -0.01522036176174879, + -0.9458413124084473, + 12.628789901733398 + ], + [ + -0.06235720217227936, + -0.9980397820472717, + -0.005318212788552046, + -1.0104529857635498 + ], + [ + 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": "1731662261_321544170", + "mask_path": "../../mask/hdr_left_00633.png" + }, + { + "file_path": "../../rgb/hdr_left_00634.png", + "transform_matrix": [ + [ + -0.9454878568649292, + 0.060707733035087585, + -0.31994885206222534, + -14.964500427246094 + ], + [ + 0.3197401762008667, + -0.0133838951587677, + -0.9474107623100281, + 12.637864112854004 + ], + [ + -0.06179731711745262, + -0.9980659484863281, + -0.006756387650966644, + -1.0204168558120728 + ], + [ + 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": "1731662261_421544313", + "mask_path": "../../mask/hdr_left_00634.png" + }, + { + "file_path": "../../rgb/hdr_left_00635.png", + "transform_matrix": [ + [ + -0.9450827836990356, + 0.06400011479854584, + -0.320503294467926, + -15.045308113098145 + ], + [ + 0.32058125734329224, + -0.009326949715614319, + -0.947175145149231, + 12.652637481689453 + ], + [ + -0.06360862404108047, + -0.9979063868522644, + -0.011702495627105236, + -1.0151187181472778 + ], + [ + 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": "1731662261_521544218", + "mask_path": "../../mask/hdr_left_00635.png" + }, + { + "file_path": "../../rgb/hdr_left_00636.png", + "transform_matrix": [ + [ + -0.9431092739105225, + 0.062314607203006744, + -0.3265911638736725, + -15.111470222473145 + ], + [ + 0.3268190622329712, + -0.006787941325455904, + -0.9450625777244568, + 12.670063972473145 + ], + [ + -0.06110807880759239, + -0.9980334639549255, + -0.013963828794658184, + -1.0172723531723022 + ], + [ + 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": "1731662261_621544837", + "mask_path": "../../mask/hdr_left_00636.png" + }, + { + "file_path": "../../rgb/hdr_left_00637.png", + "transform_matrix": [ + [ + -0.9430153369903564, + 0.055026471614837646, + -0.32816776633262634, + -15.181084632873535 + ], + [ + 0.3281054198741913, + -0.010421440936625004, + -0.9445836544036865, + 12.684082984924316 + ], + [ + -0.05539708584547043, + -0.9984305500984192, + -0.008226900361478329, + -1.024839997291565 + ], + [ + 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": "1731662261_721544027", + "mask_path": "../../mask/hdr_left_00637.png" + }, + { + "file_path": "../../rgb/hdr_left_03924.png", + "transform_matrix": [ + [ + 0.9056850671768188, + 0.04276767000555992, + 0.42178818583488464, + -14.732512474060059 + ], + [ + -0.4204149842262268, + -0.03762426599860191, + 0.9065514802932739, + 12.320331573486328 + ], + [ + 0.05464055389165878, + -0.9983763694763184, + -0.016095561906695366, + -1.0095278024673462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3924, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_421544075", + "mask_path": "../../mask/hdr_left_03924.png" + }, + { + "file_path": "../../rgb/hdr_left_03925.png", + "transform_matrix": [ + [ + 0.9067737460136414, + 0.03910045698285103, + 0.4198004901409149, + -14.663050651550293 + ], + [ + -0.41830721497535706, + -0.04109303280711174, + 0.9073756337165833, + 12.300707817077637 + ], + [ + 0.05272967740893364, + -0.9983900189399719, + -0.020906079560518265, + -1.0104984045028687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3925, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_521544218", + "mask_path": "../../mask/hdr_left_03925.png" + }, + { + "file_path": "../../rgb/hdr_left_03926.png", + "transform_matrix": [ + [ + 0.9059296250343323, + 0.039969973266124725, + 0.42153751850128174, + -14.589815139770508 + ], + [ + -0.4198259115219116, + -0.04479440674185753, + 0.9064986109733582, + 12.273768424987793 + ], + [ + 0.05511524900794029, + -0.9981963634490967, + -0.02380015142261982, + -0.9992663264274597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3926, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_621545553", + "mask_path": "../../mask/hdr_left_03926.png" + }, + { + "file_path": "../../rgb/hdr_left_03927.png", + "transform_matrix": [ + [ + 0.9018937945365906, + 0.03870807960629463, + 0.4302199184894562, + -14.517416000366211 + ], + [ + -0.4285704791545868, + -0.04429866373538971, + 0.9024216532707214, + 12.244030952453613 + ], + [ + 0.05398917943239212, + -0.998268187046051, + -0.023363547399640083, + -0.9792029857635498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3927, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_721545457", + "mask_path": "../../mask/hdr_left_03927.png" + }, + { + "file_path": "../../rgb/hdr_left_03928.png", + "transform_matrix": [ + [ + 0.8968331813812256, + 0.047520093619823456, + 0.4398089349269867, + -14.459439277648926 + ], + [ + -0.4385142922401428, + -0.035457976162433624, + 0.8980244398117065, + 12.227191925048828 + ], + [ + 0.05826893821358681, + -0.9982407689094543, + -0.01096164807677269, + -0.9764143228530884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3928, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_821544647", + "mask_path": "../../mask/hdr_left_03928.png" + }, + { + "file_path": "../../rgb/hdr_left_03929.png", + "transform_matrix": [ + [ + 0.8939856886863708, + 0.0534205436706543, + 0.4448997974395752, + -14.391523361206055 + ], + [ + -0.4439191222190857, + -0.029656223952770233, + 0.8955759406089783, + 12.211170196533203 + ], + [ + 0.06103619933128357, + -0.9981316328048706, + -0.00279783527366817, + -0.9701958894729614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3929, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_921543359", + "mask_path": "../../mask/hdr_left_03929.png" + }, + { + "file_path": "../../rgb/hdr_left_03930.png", + "transform_matrix": [ + [ + 0.8965834379196167, + 0.05058806762099266, + 0.4399760961532593, + -14.309082984924316 + ], + [ + -0.43908601999282837, + -0.02813405729830265, + 0.8980044722557068, + 12.197203636169434 + ], + [ + 0.05780661851167679, + -0.998323380947113, + -0.0030120150186121464, + -0.9694368839263916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3930, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_21544218", + "mask_path": "../../mask/hdr_left_03930.png" + }, + { + "file_path": "../../rgb/hdr_left_03931.png", + "transform_matrix": [ + [ + 0.8985863327980042, + 0.04809148237109184, + 0.4361535310745239, + -14.248260498046875 + ], + [ + -0.43518728017807007, + -0.029556822031736374, + 0.8998547196388245, + 12.180950164794922 + ], + [ + 0.05616665259003639, + -0.9984056353569031, + -0.005630552768707275, + -0.9721357226371765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3931, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_121544361", + "mask_path": "../../mask/hdr_left_03931.png" + }, + { + "file_path": "../../rgb/hdr_left_03932.png", + "transform_matrix": [ + [ + 0.8978334069252014, + 0.045829012989997864, + 0.4379439055919647, + -14.191122055053711 + ], + [ + -0.43685758113861084, + -0.032045625150203705, + 0.8989596962928772, + 12.158942222595215 + ], + [ + 0.05523262545466423, + -0.9984352588653564, + -0.00875087734311819, + -0.9699900150299072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3932, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_221544981", + "mask_path": "../../mask/hdr_left_03932.png" + }, + { + "file_path": "../../rgb/hdr_left_03933.png", + "transform_matrix": [ + [ + 0.893826961517334, + 0.040021952241659164, + 0.44662249088287354, + -14.13367748260498 + ], + [ + -0.44551941752433777, + -0.03368924930691719, + 0.894638180732727, + 12.132153511047363 + ], + [ + 0.05085153877735138, + -0.9986307621002197, + -0.012281805276870728, + -0.9516366720199585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3933, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_321544647", + "mask_path": "../../mask/hdr_left_03933.png" + }, + { + "file_path": "../../rgb/hdr_left_03934.png", + "transform_matrix": [ + [ + 0.8879233002662659, + 0.04850434884428978, + 0.4574269652366638, + -14.076467514038086 + ], + [ + -0.4567074477672577, + -0.025654608383774757, + 0.889246940612793, + 12.111851692199707 + ], + [ + 0.0548674501478672, + -0.998493492603302, + -0.000627028348390013, + -0.9416266679763794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3934, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_421544075", + "mask_path": "../../mask/hdr_left_03934.png" + }, + { + "file_path": "../../rgb/hdr_left_03935.png", + "transform_matrix": [ + [ + 0.8844255805015564, + 0.05544259026646614, + 0.46337616443634033, + -14.018474578857422 + ], + [ + -0.4630815386772156, + -0.018825775012373924, + 0.8861157894134521, + 12.092900276184082 + ], + [ + 0.05785195901989937, + -0.9982843995094299, + 0.00902444589883089, + -0.9321542382240295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3935, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_521544694", + "mask_path": "../../mask/hdr_left_03935.png" + }, + { + "file_path": "../../rgb/hdr_left_03936.png", + "transform_matrix": [ + [ + 0.885520875453949, + 0.05025226250290871, + 0.46187376976013184, + -13.95202922821045 + ], + [ + -0.4615364670753479, + -0.018817748874425888, + 0.8869215846061707, + 12.07649040222168 + ], + [ + 0.05326124280691147, + -0.998559296131134, + 0.006529742386192083, + -0.9278169870376587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3936, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_621545314", + "mask_path": "../../mask/hdr_left_03936.png" + }, + { + "file_path": "../../rgb/hdr_left_03937.png", + "transform_matrix": [ + [ + 0.8879719972610474, + 0.04499445855617523, + 0.45769110321998596, + -13.896928787231445 + ], + [ + -0.45700308680534363, + -0.025148795917630196, + 0.8891094923019409, + 12.064517974853516 + ], + [ + 0.051515381783246994, + -0.9986706376075745, + -0.0017688162624835968, + -0.9340723752975464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3937, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_721545457", + "mask_path": "../../mask/hdr_left_03937.png" + }, + { + "file_path": "../../rgb/hdr_left_03938.png", + "transform_matrix": [ + [ + 0.8883137106895447, + 0.04244507849216461, + 0.4572712481021881, + -13.846545219421387 + ], + [ + -0.4566645324230194, + -0.02360071800649166, + 0.8893258571624756, + 12.049970626831055 + ], + [ + 0.048539433628320694, + -0.9988200664520264, + -0.0015816822415217757, + -0.9376119375228882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3938, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_821544170", + "mask_path": "../../mask/hdr_left_03938.png" + }, + { + "file_path": "../../rgb/hdr_left_03939.png", + "transform_matrix": [ + [ + 0.8859872221946716, + 0.037948887795209885, + 0.4621541500091553, + -13.793802261352539 + ], + [ + -0.4615829586982727, + -0.023166414350271225, + 0.8867945075035095, + 12.024323463439941 + ], + [ + 0.044359322637319565, + -0.999011218547821, + -0.003008580533787608, + -0.9228515028953552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3939, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_921545028", + "mask_path": "../../mask/hdr_left_03939.png" + }, + { + "file_path": "../../rgb/hdr_left_03940.png", + "transform_matrix": [ + [ + 0.8797524571418762, + 0.04382549598813057, + 0.4734077453613281, + -13.746647834777832 + ], + [ + -0.472821980714798, + -0.023542122915387154, + 0.8808433413505554, + 12.001460075378418 + ], + [ + 0.04974842071533203, + -0.9987618327140808, + 1.0421680599392857e-05, + -0.909454345703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3940, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_21544456", + "mask_path": "../../mask/hdr_left_03940.png" + }, + { + "file_path": "../../rgb/hdr_left_03942.png", + "transform_matrix": [ + [ + 0.8713617920875549, + 0.05044819787144661, + 0.4880405068397522, + -13.649269104003906 + ], + [ + -0.487979531288147, + -0.014356913976371288, + 0.8727369904518127, + 11.96281909942627 + ], + [ + 0.05103476345539093, + -0.9986234903335571, + 0.012107620015740395, + -0.8930366039276123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3942, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_221544504", + "mask_path": "../../mask/hdr_left_03942.png" + }, + { + "file_path": "../../rgb/hdr_left_03943.png", + "transform_matrix": [ + [ + 0.8740407824516296, + 0.04583807662129402, + 0.4836854040622711, + -13.592499732971191 + ], + [ + -0.48331278562545776, + -0.019627930596470833, + 0.8752276301383972, + 11.949931144714355 + ], + [ + 0.049612488597631454, + -0.9987561106681824, + 0.0049985176883637905, + -0.8996466994285583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3943, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_321545362", + "mask_path": "../../mask/hdr_left_03943.png" + }, + { + "file_path": "../../rgb/hdr_left_03944.png", + "transform_matrix": [ + [ + 0.8757312893867493, + 0.041341572999954224, + 0.48102548718452454, + -13.540955543518066 + ], + [ + -0.48052218556404114, + -0.022006193175911903, + 0.8767064809799194, + 11.93919563293457 + ], + [ + 0.046829961240291595, + -0.9989027380943298, + 0.0005940341507084668, + -0.9064929485321045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3944, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_421544313", + "mask_path": "../../mask/hdr_left_03944.png" + }, + { + "file_path": "../../rgb/hdr_left_03945.png", + "transform_matrix": [ + [ + 0.8752885460853577, + 0.0394136942923069, + 0.48199227452278137, + -13.481468200683594 + ], + [ + -0.48155149817466736, + -0.0206306092441082, + 0.8761749863624573, + 11.918793678283691 + ], + [ + 0.044477082788944244, + -0.9990100264549255, + 0.0009219860075972974, + -0.9022179841995239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3945, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_521544694", + "mask_path": "../../mask/hdr_left_03945.png" + }, + { + "file_path": "../../rgb/hdr_left_03946.png", + "transform_matrix": [ + [ + 0.8723044991493225, + 0.035332534462213516, + 0.48768487572669983, + -13.429197311401367 + ], + [ + -0.48725467920303345, + -0.02048991061747074, + 0.8730195164680481, + 11.889687538146973 + ], + [ + 0.040838610380887985, + -0.9991656541824341, + -0.0006574959261342883, + -0.8861097693443298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3946, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_621544837", + "mask_path": "../../mask/hdr_left_03946.png" + }, + { + "file_path": "../../rgb/hdr_left_03947.png", + "transform_matrix": [ + [ + 0.8674429655075073, + 0.04310767725110054, + 0.4956655502319336, + -13.383269309997559 + ], + [ + -0.4954899251461029, + -0.015420887619256973, + 0.8684768080711365, + 11.866706848144531 + ], + [ + 0.04508161544799805, + -0.9989514946937561, + 0.007982680574059486, + -0.8807402849197388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3947, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_721544981", + "mask_path": "../../mask/hdr_left_03947.png" + }, + { + "file_path": "../../rgb/hdr_left_03948.png", + "transform_matrix": [ + [ + 0.8633253574371338, + 0.04890169948339462, + 0.5022726655006409, + -13.330609321594238 + ], + [ + -0.5023865103721619, + -0.01082882471382618, + 0.8645752668380737, + 11.840886116027832 + ], + [ + 0.04771822318434715, + -0.9987449049949646, + 0.015218756161630154, + -0.8778776526451111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3948, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_821544170", + "mask_path": "../../mask/hdr_left_03948.png" + }, + { + "file_path": "../../rgb/hdr_left_03949.png", + "transform_matrix": [ + [ + 0.8618828654289246, + 0.05118797346949577, + 0.5045172572135925, + -13.259284019470215 + ], + [ + -0.5048054456710815, + -0.008082746528089046, + 0.8631953001022339, + 11.81612491607666 + ], + [ + 0.048263102769851685, + -0.9986563324928284, + 0.018873590975999832, + -0.870635986328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3949, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_921544075", + "mask_path": "../../mask/hdr_left_03949.png" + }, + { + "file_path": "../../rgb/hdr_left_03950.png", + "transform_matrix": [ + [ + 0.8642028570175171, + 0.04931943863630295, + 0.5007205009460449, + -13.188268661499023 + ], + [ + -0.5006537437438965, + -0.014589124359190464, + 0.8655245900154114, + 11.798521995544434 + ], + [ + 0.04999225214123726, + -0.9986765384674072, + 0.012083998881280422, + -0.8650513291358948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3950, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_21544694", + "mask_path": "../../mask/hdr_left_03950.png" + }, + { + "file_path": "../../rgb/hdr_left_03951.png", + "transform_matrix": [ + [ + 0.865138053894043, + 0.045842863619327545, + 0.4994341731071472, + -13.132954597473145 + ], + [ + -0.49936428666114807, + -0.013785555958747864, + 0.8662823438644409, + 11.78397274017334 + ], + [ + 0.046597838401794434, + -0.9988535642623901, + 0.010965880006551743, + -0.87119460105896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3951, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_121544599", + "mask_path": "../../mask/hdr_left_03951.png" + }, + { + "file_path": "../../rgb/hdr_left_03952.png", + "transform_matrix": [ + [ + 0.8643279075622559, + 0.0386618934571743, + 0.5014403462409973, + -13.075361251831055 + ], + [ + -0.5012410283088684, + -0.015387718565762043, + 0.8651707768440247, + 11.76552677154541 + ], + [ + 0.04116515815258026, + -0.9991339445114136, + 0.006078900769352913, + -0.8701354265213013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3952, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_221545219", + "mask_path": "../../mask/hdr_left_03952.png" + }, + { + "file_path": "../../rgb/hdr_left_03953.png", + "transform_matrix": [ + [ + 0.8596222996711731, + 0.04028010368347168, + 0.5093397498130798, + -13.019437789916992 + ], + [ + -0.5091391205787659, + -0.01586114428937435, + 0.8605380058288574, + 11.73813533782959 + ], + [ + 0.04274127632379532, + -0.9990625977516174, + 0.006873585283756256, + -0.8556699156761169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3953, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_321544885", + "mask_path": "../../mask/hdr_left_03953.png" + }, + { + "file_path": "../../rgb/hdr_left_03954.png", + "transform_matrix": [ + [ + 0.8546529412269592, + 0.04773798584938049, + 0.5170003175735474, + -12.964360237121582 + ], + [ + -0.5170999765396118, + -0.011198543012142181, + 0.8558517694473267, + 11.71169662475586 + ], + [ + 0.04664628580212593, + -0.9987971186637878, + 0.015114440582692623, + -0.8461021780967712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3954, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_421545267", + "mask_path": "../../mask/hdr_left_03954.png" + }, + { + "file_path": "../../rgb/hdr_left_03955.png", + "transform_matrix": [ + [ + 0.8531189560890198, + 0.04795221984386444, + 0.519507884979248, + -12.889118194580078 + ], + [ + -0.5196751952171326, + -0.009890781715512276, + 0.8543066382408142, + 11.68757438659668 + ], + [ + 0.04610423371195793, + -0.9988006949424744, + 0.016481567174196243, + -0.8409191966056824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3955, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_521544694", + "mask_path": "../../mask/hdr_left_03955.png" + }, + { + "file_path": "../../rgb/hdr_left_03956.png", + "transform_matrix": [ + [ + 0.8570258617401123, + 0.045616038143634796, + 0.5132502317428589, + -12.811363220214844 + ], + [ + -0.5131499767303467, + -0.014774945564568043, + 0.858171820640564, + 11.664880752563477 + ], + [ + 0.04672963544726372, + -0.9988498091697693, + 0.010745357722043991, + -0.8384974002838135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3956, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_621544837", + "mask_path": "../../mask/hdr_left_03956.png" + }, + { + "file_path": "../../rgb/hdr_left_03957.png", + "transform_matrix": [ + [ + 0.85836261510849, + 0.041551146656274796, + 0.5113580226898193, + -12.757651329040527 + ], + [ + -0.5111191868782043, + -0.016986358910799026, + 0.8593419194221497, + 11.639687538146973 + ], + [ + 0.04439275339245796, + -0.9989920854568481, + 0.0066571347415447235, + -0.8429062366485596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3957, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_721546173", + "mask_path": "../../mask/hdr_left_03957.png" + }, + { + "file_path": "../../rgb/hdr_left_03958.png", + "transform_matrix": [ + [ + 0.8561394214630127, + 0.038347095251083374, + 0.5153201222419739, + -12.698346138000488 + ], + [ + -0.514890193939209, + -0.02111000567674637, + 0.8569962382316589, + 11.605666160583496 + ], + [ + 0.04374172165989876, + -0.9990414977073669, + 0.0016714335652068257, + -0.8340581059455872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3958, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_821543693", + "mask_path": "../../mask/hdr_left_03958.png" + }, + { + "file_path": "../../rgb/hdr_left_03959.png", + "transform_matrix": [ + [ + 0.8487377762794495, + 0.04160536080598831, + 0.5271748304367065, + -12.640037536621094 + ], + [ + -0.526667594909668, + -0.02322436310350895, + 0.8497539758682251, + 11.572042465209961 + ], + [ + 0.04759761318564415, + -0.9988642334938049, + 0.002200802555307746, + -0.8215100765228271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3959, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_921543598", + "mask_path": "../../mask/hdr_left_03959.png" + }, + { + "file_path": "../../rgb/hdr_left_03960.png", + "transform_matrix": [ + [ + 0.8411655426025391, + 0.04710918664932251, + 0.5387217998504639, + -12.581965446472168 + ], + [ + -0.5384194850921631, + -0.01997339352965355, + 0.842440128326416, + 11.543525695800781 + ], + [ + 0.0504467710852623, + -0.998690128326416, + 0.008563578128814697, + -0.8161704540252686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3960, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_21544933", + "mask_path": "../../mask/hdr_left_03960.png" + }, + { + "file_path": "../../rgb/hdr_left_03961.png", + "transform_matrix": [ + [ + 0.8372485041618347, + 0.045525357127189636, + 0.5449240803718567, + -12.511101722717285 + ], + [ + -0.5446872711181641, + -0.018545327708125114, + 0.8384341597557068, + 11.516383171081543 + ], + [ + 0.04827580228447914, + -0.9987910985946655, + 0.009270035661756992, + -0.8120591044425964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3961, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_121544599", + "mask_path": "../../mask/hdr_left_03961.png" + }, + { + "file_path": "../../rgb/hdr_left_03962.png", + "transform_matrix": [ + [ + 0.8405983448028564, + 0.03769311308860779, + 0.5403457283973694, + -12.441813468933105 + ], + [ + -0.5398625731468201, + -0.02287193387746811, + 0.841442346572876, + 11.494706153869629 + ], + [ + 0.04407532885670662, + -0.9990275502204895, + 0.0011229929514229298, + -0.812772274017334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3962, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_221544265", + "mask_path": "../../mask/hdr_left_03962.png" + }, + { + "file_path": "../../rgb/hdr_left_03963.png", + "transform_matrix": [ + [ + 0.8424429893493652, + 0.03540017083287239, + 0.5376210808753967, + -12.37692928314209 + ], + [ + -0.5371039509773254, + -0.023590154945850372, + 0.84318608045578, + 11.4688720703125 + ], + [ + 0.042531490325927734, + -0.9990947842597961, + -0.0008597907144576311, + -0.8137652277946472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3963, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_321546792", + "mask_path": "../../mask/hdr_left_03963.png" + }, + { + "file_path": "../../rgb/hdr_left_03964.png", + "transform_matrix": [ + [ + 0.8424158096313477, + 0.03603010252118111, + 0.5376219749450684, + -12.302830696105957 + ], + [ + -0.5371712446212769, + -0.022023173049092293, + 0.8431857228279114, + 11.442251205444336 + ], + [ + 0.04222020506858826, + -0.9991080164909363, + 0.0008016637875698507, + -0.8137808442115784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3964, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_421543836", + "mask_path": "../../mask/hdr_left_03964.png" + }, + { + "file_path": "../../rgb/hdr_left_03965.png", + "transform_matrix": [ + [ + 0.8373027443885803, + 0.035921670496463776, + 0.5455582141876221, + -12.230175971984863 + ], + [ + -0.5451489090919495, + -0.021208614110946655, + 0.8380709886550903, + 11.409625053405762 + ], + [ + 0.04167544096708298, + -0.999129593372345, + 0.0018246312392875552, + -0.7946209907531738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3965, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_521543979", + "mask_path": "../../mask/hdr_left_03965.png" + }, + { + "file_path": "../../rgb/hdr_left_03966.png", + "transform_matrix": [ + [ + 0.8314117789268494, + 0.043394822627305984, + 0.5539596676826477, + -12.155999183654785 + ], + [ + -0.5538504123687744, + -0.015602423809468746, + 0.8324700593948364, + 11.382264137268066 + ], + [ + 0.04476800188422203, + -0.9989361763000488, + 0.011062202975153923, + -0.7870030403137207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3966, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_621542692", + "mask_path": "../../mask/hdr_left_03966.png" + }, + { + "file_path": "../../rgb/hdr_left_03967.png", + "transform_matrix": [ + [ + 0.8285402059555054, + 0.042653027921915054, + 0.5583025813102722, + -12.071677207946777 + ], + [ + -0.5581719279289246, + -0.01602465845644474, + 0.8295705914497375, + 11.355688095092773 + ], + [ + 0.044330306351184845, + -0.9989615678787231, + 0.010530652478337288, + -0.783139169216156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3967, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_721543788", + "mask_path": "../../mask/hdr_left_03967.png" + }, + { + "file_path": "../../rgb/hdr_left_03968.png", + "transform_matrix": [ + [ + 0.8321298360824585, + 0.040935058146715164, + 0.5530680418014526, + -11.990860939025879 + ], + [ + -0.552871823310852, + -0.016999535262584686, + 0.8330928683280945, + 11.333197593688965 + ], + [ + 0.04350459575653076, + -0.9990172386169434, + 0.008486023172736168, + -0.7871482372283936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3968, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_821544170", + "mask_path": "../../mask/hdr_left_03968.png" + }, + { + "file_path": "../../rgb/hdr_left_03969.png", + "transform_matrix": [ + [ + 0.8342350721359253, + 0.03923584520816803, + 0.550011157989502, + -11.923635482788086 + ], + [ + -0.5497984886169434, + -0.016989510506391525, + 0.8351244926452637, + 11.30892276763916 + ], + [ + 0.04211123660206795, + -0.999085545539856, + 0.007398564834147692, + -0.7885742783546448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3969, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_921543836", + "mask_path": "../../mask/hdr_left_03969.png" + }, + { + "file_path": "../../rgb/hdr_left_03970.png", + "transform_matrix": [ + [ + 0.8338913917541504, + 0.03626984357833862, + 0.550735592842102, + -11.854018211364746 + ], + [ + -0.5505862236022949, + -0.014885838143527508, + 0.8346455693244934, + 11.282242774963379 + ], + [ + 0.03847062215209007, + -0.999231219291687, + 0.007556510623544455, + -0.7875438332557678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3970, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_21544456", + "mask_path": "../../mask/hdr_left_03970.png" + }, + { + "file_path": "../../rgb/hdr_left_03971.png", + "transform_matrix": [ + [ + 0.8294705152511597, + 0.03018263541162014, + 0.5577343702316284, + -11.78495979309082 + ], + [ + -0.5574486255645752, + -0.017954334616661072, + 0.8300172686576843, + 11.251967430114746 + ], + [ + 0.03506585583090782, + -0.9993832111358643, + 0.0019326780457049608, + -0.7694571614265442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3971, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_121544122", + "mask_path": "../../mask/hdr_left_03971.png" + }, + { + "file_path": "../../rgb/hdr_left_03972.png", + "transform_matrix": [ + [ + 0.8237209916114807, + 0.038785092532634735, + 0.5656670928001404, + -11.72079086303711 + ], + [ + -0.5655736923217773, + -0.01439584232866764, + 0.8245720863342285, + 11.220537185668945 + ], + [ + 0.04012436047196388, + -0.9991439580917358, + 0.010077672079205513, + -0.7624719142913818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3972, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_221544981", + "mask_path": "../../mask/hdr_left_03972.png" + }, + { + "file_path": "../../rgb/hdr_left_03973.png", + "transform_matrix": [ + [ + 0.8200321793556213, + 0.042551156133413315, + 0.5707333087921143, + -11.647526741027832 + ], + [ + -0.5708016157150269, + -0.011721809394657612, + 0.821004331111908, + 11.186283111572266 + ], + [ + 0.04162470996379852, + -0.9990255236625671, + 0.014676010236144066, + -0.7547646760940552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3973, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_321545600", + "mask_path": "../../mask/hdr_left_03973.png" + }, + { + "file_path": "../../rgb/hdr_left_03974.png", + "transform_matrix": [ + [ + 0.8228253722190857, + 0.03008212149143219, + 0.5674974322319031, + -11.571017265319824 + ], + [ + -0.5674008727073669, + -0.012481976300477982, + 0.8233470916748047, + 11.152292251586914 + ], + [ + 0.03185150772333145, + -0.9994696378707886, + 0.006798137910664082, + -0.7545871138572693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3974, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_421545505", + "mask_path": "../../mask/hdr_left_03974.png" + }, + { + "file_path": "../../rgb/hdr_left_03975.png", + "transform_matrix": [ + [ + 0.8248927593231201, + 0.02582378312945366, + 0.564699113368988, + -11.505621910095215 + ], + [ + -0.5644324421882629, + -0.017352379858493805, + 0.8252968192100525, + 11.126357078552246 + ], + [ + 0.031111160293221474, + -0.9995158910751343, + 0.00026192914810962975, + -0.7630397081375122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3975, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_521545410", + "mask_path": "../../mask/hdr_left_03975.png" + }, + { + "file_path": "../../rgb/hdr_left_03976.png", + "transform_matrix": [ + [ + 0.8247425556182861, + 0.024953989312052727, + 0.5649574995040894, + -11.433699607849121 + ], + [ + -0.5646433234214783, + -0.018898406997323036, + 0.8251186013221741, + 11.090916633605957 + ], + [ + 0.031266793608665466, + -0.9995099902153015, + -0.0014962152345106006, + -0.7610177993774414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3976, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_621544361", + "mask_path": "../../mask/hdr_left_03976.png" + }, + { + "file_path": "../../rgb/hdr_left_03977.png", + "transform_matrix": [ + [ + 0.8200337886810303, + 0.020137175917625427, + 0.5719607472419739, + -11.360660552978516 + ], + [ + -0.5716885924339294, + -0.01792793907225132, + 0.820274829864502, + 11.050179481506348 + ], + [ + 0.026772094890475273, + -0.9996365904808044, + -0.0031893232371658087, + -0.741692841053009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3977, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_721543788", + "mask_path": "../../mask/hdr_left_03977.png" + }, + { + "file_path": "../../rgb/hdr_left_03978.png", + "transform_matrix": [ + [ + 0.813200056552887, + 0.030783360823988914, + 0.5811694860458374, + -11.300721168518066 + ], + [ + -0.581078052520752, + -0.012758832424879074, + 0.8137478232383728, + 11.020150184631348 + ], + [ + 0.03246493265032768, + -0.9994446635246277, + 0.007512053474783897, + -0.7369872331619263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3978, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_821543693", + "mask_path": "../../mask/hdr_left_03978.png" + }, + { + "file_path": "../../rgb/hdr_left_03979.png", + "transform_matrix": [ + [ + 0.8093051910400391, + 0.037625495344400406, + 0.5861820578575134, + -11.231067657470703 + ], + [ + -0.5863077044487, + -0.008761437609791756, + 0.8100410103797913, + 10.986709594726562 + ], + [ + 0.03561399132013321, + -0.999253511428833, + 0.014969444833695889, + -0.7323832511901855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3979, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_921544075", + "mask_path": "../../mask/hdr_left_03979.png" + }, + { + "file_path": "../../rgb/hdr_left_03980.png", + "transform_matrix": [ + [ + 0.8114385008811951, + 0.03197431564331055, + 0.583562433719635, + -11.147639274597168 + ], + [ + -0.5835764408111572, + -0.009860009886324406, + 0.8119983673095703, + 10.954461097717285 + ], + [ + 0.03171701356768608, + -0.9994401335716248, + 0.010658667422831059, + -0.7300169467926025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3980, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_21544218", + "mask_path": "../../mask/hdr_left_03980.png" + }, + { + "file_path": "../../rgb/hdr_left_03981.png", + "transform_matrix": [ + [ + 0.81424880027771, + 0.028746534138917923, + 0.5798038244247437, + -11.081503868103027 + ], + [ + -0.5796564221382141, + -0.014069605618715286, + 0.814739465713501, + 10.927716255187988 + ], + [ + 0.03157854080200195, + -0.9994877576828003, + 0.005206955596804619, + -0.7341380715370178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3981, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_121543884", + "mask_path": "../../mask/hdr_left_03981.png" + }, + { + "file_path": "../../rgb/hdr_left_03982.png", + "transform_matrix": [ + [ + 0.8141152858734131, + 0.02841465175151825, + 0.5800076723098755, + -11.0130615234375 + ], + [ + -0.5798501968383789, + -0.014341420494019985, + 0.8145968317985535, + 10.898141860961914 + ], + [ + 0.03146461024880409, + -0.9994933605194092, + 0.004800670780241489, + -0.7329298853874207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3982, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_221544265", + "mask_path": "../../mask/hdr_left_03982.png" + }, + { + "file_path": "../../rgb/hdr_left_03983.png", + "transform_matrix": [ + [ + 0.8087866902351379, + 0.027350012212991714, + 0.587465763092041, + -10.943644523620605 + ], + [ + -0.5871950387954712, + -0.01790332794189453, + 0.8092474341392517, + 10.859445571899414 + ], + [ + 0.03265051543712616, + -0.9994656443595886, + 0.0015798213426023722, + -0.7166905999183655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3983, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_321543931", + "mask_path": "../../mask/hdr_left_03983.png" + }, + { + "file_path": "../../rgb/hdr_left_03984.png", + "transform_matrix": [ + [ + 0.8010509610176086, + 0.03662407025694847, + 0.5974746942520142, + -10.879355430603027 + ], + [ + -0.5973848104476929, + -0.014554576016962528, + 0.8018226027488708, + 10.823257446289062 + ], + [ + 0.038061998784542084, + -0.9992232322692871, + 0.010219709947705269, + -0.705263614654541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3984, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_421544075", + "mask_path": "../../mask/hdr_left_03984.png" + }, + { + "file_path": "../../rgb/hdr_left_03985.png", + "transform_matrix": [ + [ + 0.7965743541717529, + 0.04364179074764252, + 0.6029631495475769, + -10.810494422912598 + ], + [ + -0.6030595898628235, + -0.012403314933180809, + 0.7975996136665344, + 10.789504051208496 + ], + [ + 0.04228741675615311, + -0.9989703297615051, + 0.016438443213701248, + -0.6968604922294617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3985, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_521544694", + "mask_path": "../../mask/hdr_left_03985.png" + }, + { + "file_path": "../../rgb/hdr_left_03986.png", + "transform_matrix": [ + [ + 0.7990514039993286, + 0.03961971402168274, + 0.5999558568000793, + -10.72778606414795 + ], + [ + -0.5998947024345398, + -0.014737503603100777, + 0.799943208694458, + 10.755470275878906 + ], + [ + 0.04053536430001259, + -0.999106228351593, + 0.011991632170975208, + -0.6920675039291382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3986, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_621544361", + "mask_path": "../../mask/hdr_left_03986.png" + }, + { + "file_path": "../../rgb/hdr_left_03987.png", + "transform_matrix": [ + [ + 0.8018012642860413, + 0.03457918390631676, + 0.5965895056724548, + -10.665236473083496 + ], + [ + -0.5962914824485779, + -0.019500965252518654, + 0.8025311231613159, + 10.730438232421875 + ], + [ + 0.03938493877649307, + -0.9992117285728455, + 0.004983377642929554, + -0.6965572237968445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3987, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_721544504", + "mask_path": "../../mask/hdr_left_03987.png" + }, + { + "file_path": "../../rgb/hdr_left_03988.png", + "transform_matrix": [ + [ + 0.8009905815124512, + 0.033431608229875565, + 0.5977427363395691, + -10.600666046142578 + ], + [ + -0.5973962545394897, + -0.02063770592212677, + 0.8016805052757263, + 10.695365905761719 + ], + [ + 0.03913750872015953, + -0.9992280006408691, + 0.0034413111861795187, + -0.6905888915061951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3988, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_821544170", + "mask_path": "../../mask/hdr_left_03988.png" + }, + { + "file_path": "../../rgb/hdr_left_03989.png", + "transform_matrix": [ + [ + 0.7948378920555115, + 0.029961079359054565, + 0.6060816645622253, + -10.54382038116455 + ], + [ + -0.6056637167930603, + -0.022505315020680428, + 0.7954023480415344, + 10.65736198425293 + ], + [ + 0.037471167743206024, + -0.9992977380752563, + 0.0002582633460406214, + -0.6758742332458496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3989, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_921545028", + "mask_path": "../../mask/hdr_left_03989.png" + }, + { + "file_path": "../../rgb/hdr_left_03990.png", + "transform_matrix": [ + [ + 0.7870011329650879, + 0.03764645755290985, + 0.6158020496368408, + -10.491398811340332 + ], + [ + -0.6155319809913635, + -0.019761793315410614, + 0.787864089012146, + 10.622843742370605 + ], + [ + 0.04182963818311691, + -0.9990957379341125, + 0.0076200454495847225, + -0.6701919436454773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3990, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_21544218", + "mask_path": "../../mask/hdr_left_03990.png" + }, + { + "file_path": "../../rgb/hdr_left_03991.png", + "transform_matrix": [ + [ + 0.7824122905731201, + 0.03834373131394386, + 0.6215791702270508, + -10.41948127746582 + ], + [ + -0.6213302612304688, + -0.019549956545233727, + 0.7833049297332764, + 10.588470458984375 + ], + [ + 0.0421866811811924, + -0.9990733861923218, + 0.008527994155883789, + -0.6644248962402344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3991, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_121544599", + "mask_path": "../../mask/hdr_left_03991.png" + }, + { + "file_path": "../../rgb/hdr_left_03992.png", + "transform_matrix": [ + [ + 0.7864095568656921, + 0.028434772044420242, + 0.6170505285263062, + -10.349393844604492 + ], + [ + -0.6167161464691162, + -0.020369477570056915, + 0.7869219779968262, + 10.555639266967773 + ], + [ + 0.034944940358400345, + -0.9993881583213806, + 0.0015174326254054904, + -0.6693653464317322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3992, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_221544265", + "mask_path": "../../mask/hdr_left_03992.png" + }, + { + "file_path": "../../rgb/hdr_left_03993.png", + "transform_matrix": [ + [ + 0.788349449634552, + 0.026313167065382004, + 0.6146646738052368, + -10.287569999694824 + ], + [ + -0.614277720451355, + -0.021833984181284904, + 0.788787841796875, + 10.528770446777344 + ], + [ + 0.03417608141899109, + -0.9994153380393982, + -0.0010492178844287992, + -0.6748594045639038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3993, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_321544647", + "mask_path": "../../mask/hdr_left_03993.png" + }, + { + "file_path": "../../rgb/hdr_left_03994.png", + "transform_matrix": [ + [ + 0.7876194715499878, + 0.027066942304372787, + 0.6155672073364258, + -10.228537559509277 + ], + [ + -0.61515873670578, + -0.022445067763328552, + 0.7880837321281433, + 10.494251251220703 + ], + [ + 0.03514745831489563, + -0.9993816614151001, + -0.001027704100124538, + -0.6740987300872803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3994, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_421544313", + "mask_path": "../../mask/hdr_left_03994.png" + }, + { + "file_path": "../../rgb/hdr_left_03995.png", + "transform_matrix": [ + [ + 0.7821282744407654, + 0.021697545424103737, + 0.6227394938468933, + -10.164950370788574 + ], + [ + -0.6224285364151001, + -0.01977374218404293, + 0.7824268937110901, + 10.456360816955566 + ], + [ + 0.02929062768816948, + -0.9995691180229187, + -0.00196043006144464, + -0.6541942358016968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3995, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_521544694", + "mask_path": "../../mask/hdr_left_03995.png" + }, + { + "file_path": "../../rgb/hdr_left_03996.png", + "transform_matrix": [ + [ + 0.7782078385353088, + 0.030654724687337875, + 0.6272581815719604, + -10.108081817626953 + ], + [ + -0.6270134449005127, + -0.018228663131594658, + 0.778795063495636, + 10.42485237121582 + ], + [ + 0.03530782461166382, + -0.9993638396263123, + 0.005035239737480879, + -0.6462743878364563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3996, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_621544837", + "mask_path": "../../mask/hdr_left_03996.png" + }, + { + "file_path": "../../rgb/hdr_left_03997.png", + "transform_matrix": [ + [ + 0.779395341873169, + 0.03433647006750107, + 0.6255907416343689, + -10.041218757629395 + ], + [ + -0.6253982782363892, + -0.01741253398358822, + 0.7801113128662109, + 10.39235782623291 + ], + [ + 0.037679389119148254, + -0.9992586374282837, + 0.0079027209430933, + -0.6418826580047607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3997, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_721545457", + "mask_path": "../../mask/hdr_left_03997.png" + }, + { + "file_path": "../../rgb/hdr_left_03998.png", + "transform_matrix": [ + [ + 0.7885738611221313, + 0.024497175589203835, + 0.6144518256187439, + -9.970057487487793 + ], + [ + -0.6142683029174805, + -0.015312333591282368, + 0.7889487147331238, + 10.35582447052002 + ], + [ + 0.028735708445310593, + -0.9995826482772827, + 0.002972933230921626, + -0.6435816884040833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3998, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_821544408", + "mask_path": "../../mask/hdr_left_03998.png" + }, + { + "file_path": "../../rgb/hdr_left_03999.png", + "transform_matrix": [ + [ + 0.7972115278244019, + 0.020046135410666466, + 0.603367030620575, + -9.906258583068848 + ], + [ + -0.603119969367981, + -0.017352471128106117, + 0.797461748123169, + 10.325355529785156 + ], + [ + 0.026455935090780258, + -0.9996485114097595, + -0.001743364380672574, + -0.6485317945480347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3999, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_921544075", + "mask_path": "../../mask/hdr_left_03999.png" + }, + { + "file_path": "../../rgb/hdr_left_04000.png", + "transform_matrix": [ + [ + 0.8014312386512756, + 0.01889744959771633, + 0.5977881550788879, + -9.84133529663086 + ], + [ + -0.5975823402404785, + -0.015739791095256805, + 0.8016529679298401, + 10.292195320129395 + ], + [ + 0.024558257311582565, + -0.9996975660324097, + -0.0013215752551332116, + -0.649703860282898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4000, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_21545171", + "mask_path": "../../mask/hdr_left_04000.png" + }, + { + "file_path": "../../rgb/hdr_left_04001.png", + "transform_matrix": [ + [ + 0.8000943064689636, + 0.014411674812436104, + 0.5997010469436646, + -9.777824401855469 + ], + [ + -0.599509060382843, + -0.015665328130126, + 0.8002147078514099, + 10.24843978881836 + ], + [ + 0.02092694491147995, + -0.9997735023498535, + -0.003893811022862792, + -0.6326665878295898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4001, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_121544122", + "mask_path": "../../mask/hdr_left_04001.png" + }, + { + "file_path": "../../rgb/hdr_left_04002.png", + "transform_matrix": [ + [ + 0.7973345518112183, + 0.023833464831113815, + 0.6030667424201965, + -9.720745086669922 + ], + [ + -0.6030005216598511, + -0.010683373548090458, + 0.7976692914962769, + 10.21316146850586 + ], + [ + 0.02545400708913803, + -0.9996588826179504, + 0.005853370297700167, + -0.6290977001190186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4002, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_221544981", + "mask_path": "../../mask/hdr_left_04002.png" + }, + { + "file_path": "../../rgb/hdr_left_04003.png", + "transform_matrix": [ + [ + 0.7965649366378784, + 0.030235862359404564, + 0.6037964224815369, + -9.655884742736816 + ], + [ + -0.6039031147956848, + -0.006501759402453899, + 0.7970312833786011, + 10.176533699035645 + ], + [ + 0.028024660423398018, + -0.9995216727256775, + 0.013080460950732231, + -0.6255831718444824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4003, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_321545124", + "mask_path": "../../mask/hdr_left_04003.png" + }, + { + "file_path": "../../rgb/hdr_left_04004.png", + "transform_matrix": [ + [ + 0.7995221018791199, + 0.025401165708899498, + 0.6000992059707642, + -9.579334259033203 + ], + [ + -0.6001953482627869, + -0.004500892944633961, + 0.7998407483100891, + 10.141650199890137 + ], + [ + 0.023017868399620056, + -0.999667227268219, + 0.011647102423012257, + -0.6245337724685669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4004, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_421544790", + "mask_path": "../../mask/hdr_left_04004.png" + }, + { + "file_path": "../../rgb/hdr_left_04005.png", + "transform_matrix": [ + [ + 0.8035954833030701, + 0.02012689970433712, + 0.5948353409767151, + -9.515778541564941 + ], + [ + -0.5947797298431396, + -0.009295672178268433, + 0.8038349747657776, + 10.114556312561035 + ], + [ + 0.02170809917151928, + -0.9997542500495911, + 0.004501111339777708, + -0.626506507396698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4005, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_521545171", + "mask_path": "../../mask/hdr_left_04005.png" + }, + { + "file_path": "../../rgb/hdr_left_04006.png", + "transform_matrix": [ + [ + 0.8051003217697144, + 0.01886669732630253, + 0.5928383469581604, + -9.451003074645996 + ], + [ + -0.5927860140800476, + -0.008858340792357922, + 0.8053112030029297, + 10.083868026733398 + ], + [ + 0.02044512704014778, + -0.9997828602790833, + 0.004052063915878534, + -0.6276130080223083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4006, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_621545553", + "mask_path": "../../mask/hdr_left_04006.png" + }, + { + "file_path": "../../rgb/hdr_left_04007.png", + "transform_matrix": [ + [ + 0.8029444217681885, + 0.018733317032456398, + 0.595759391784668, + -9.379597663879395 + ], + [ + -0.5956979990005493, + -0.009313161484897137, + 0.8031545281410217, + 10.046219825744629 + ], + [ + 0.020594149827957153, + -0.9997811913490295, + 0.0036814508493989706, + -0.6189976334571838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4007, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_721544504", + "mask_path": "../../mask/hdr_left_04007.png" + }, + { + "file_path": "../../rgb/hdr_left_04008.png", + "transform_matrix": [ + [ + 0.7951814532279968, + 0.02868443913757801, + 0.6056925654411316, + -9.313570976257324 + ], + [ + -0.605842649936676, + -0.0041227517649531364, + 0.7955738306045532, + 10.010822296142578 + ], + [ + 0.025317706167697906, + -0.9995800852775574, + 0.014099921099841595, + -0.6086268424987793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4008, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_821545839", + "mask_path": "../../mask/hdr_left_04008.png" + }, + { + "file_path": "../../rgb/hdr_left_04009.png", + "transform_matrix": [ + [ + 0.791120707988739, + 0.036388710141181946, + 0.6105766296386719, + -9.248170852661133 + ], + [ + -0.610982358455658, + 3.593077417463064e-05, + 0.7916440963745117, + 9.982778549194336 + ], + [ + 0.028784966096282005, + -0.9993377923965454, + 0.02226129174232483, + -0.6002280712127686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4009, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_921544313", + "mask_path": "../../mask/hdr_left_04009.png" + }, + { + "file_path": "../../rgb/hdr_left_04010.png", + "transform_matrix": [ + [ + 0.7963331341743469, + 0.029627187177538872, + 0.6041322350502014, + -9.169782638549805 + ], + [ + -0.6043652892112732, + -0.0013423851924017072, + 0.7967061996459961, + 9.952939987182617 + ], + [ + 0.024415139108896255, + -0.9995602369308472, + 0.016836659982800484, + -0.5982493758201599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4010, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_21544456", + "mask_path": "../../mask/hdr_left_04010.png" + }, + { + "file_path": "../../rgb/hdr_left_04011.png", + "transform_matrix": [ + [ + 0.8058251142501831, + 0.02647852897644043, + 0.5915613174438477, + -9.107256889343262 + ], + [ + -0.5917137861251831, + -0.002490198239684105, + 0.8061442375183105, + 9.932673454284668 + ], + [ + 0.022818617522716522, + -0.9996463656425476, + 0.01366104930639267, + -0.6028473377227783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4011, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_121544361", + "mask_path": "../../mask/hdr_left_04011.png" + }, + { + "file_path": "../../rgb/hdr_left_04012.png", + "transform_matrix": [ + [ + 0.8184230923652649, + 0.023914337158203125, + 0.5741181969642639, + -9.046398162841797 + ], + [ + -0.5742633938789368, + -0.0009612325811758637, + 0.8186699748039246, + 9.914358139038086 + ], + [ + 0.020129811018705368, + -0.9997135996818542, + 0.012946434319019318, + -0.6031955480575562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4012, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_221545457", + "mask_path": "../../mask/hdr_left_04012.png" + }, + { + "file_path": "../../rgb/hdr_left_04013.png", + "transform_matrix": [ + [ + 0.8289852142333984, + 0.024807503446936607, + 0.558720052242279, + -8.983603477478027 + ], + [ + -0.5589136481285095, + 0.0010671615600585938, + 0.8292251825332642, + 9.890456199645996 + ], + [ + 0.019974756985902786, + -0.9996916651725769, + 0.014749913476407528, + -0.5901027917861938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4013, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_321544647", + "mask_path": "../../mask/hdr_left_04013.png" + }, + { + "file_path": "../../rgb/hdr_left_04014.png", + "transform_matrix": [ + [ + 0.8363269567489624, + 0.03442572057247162, + 0.5471489429473877, + -8.926663398742676 + ], + [ + -0.547625720500946, + 0.005576665047556162, + 0.8367048501968384, + 9.870529174804688 + ], + [ + 0.025752902030944824, + -0.9993917346000671, + 0.023516327142715454, + -0.5842123031616211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4014, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_421545743", + "mask_path": "../../mask/hdr_left_04014.png" + }, + { + "file_path": "../../rgb/hdr_left_04015.png", + "transform_matrix": [ + [ + 0.8456181883811951, + 0.041618410497903824, + 0.5321632027626038, + -8.863557815551758 + ], + [ + -0.5330008864402771, + 0.011708605103194714, + 0.8460336923599243, + 9.851357460021973 + ], + [ + 0.02897968515753746, + -0.9990650415420532, + 0.032083660364151, + -0.5790757536888123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4015, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_521544694", + "mask_path": "../../mask/hdr_left_04015.png" + }, + { + "file_path": "../../rgb/hdr_left_04016.png", + "transform_matrix": [ + [ + 0.8597304224967957, + 0.034629061818122864, + 0.5095725655555725, + -8.785857200622559 + ], + [ + -0.5102909803390503, + 0.016044413670897484, + 0.8598521947860718, + 9.834787368774414 + ], + [ + 0.02160007506608963, + -0.9992715120315552, + 0.031464770436286926, + -0.5834575891494751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4016, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_621545791", + "mask_path": "../../mask/hdr_left_04016.png" + }, + { + "file_path": "../../rgb/hdr_left_04017.png", + "transform_matrix": [ + [ + 0.8718875050544739, + 0.02933812327682972, + 0.48882654309272766, + -8.71447467803955 + ], + [ + -0.4892674684524536, + 0.009943326935172081, + 0.8720771074295044, + 9.824723243713379 + ], + [ + 0.020724540576338768, + -0.9995202422142029, + 0.02302365191280842, + -0.5874633193016052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4017, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_721545219", + "mask_path": "../../mask/hdr_left_04017.png" + }, + { + "file_path": "../../rgb/hdr_left_04018.png", + "transform_matrix": [ + [ + 0.8818823099136353, + 0.026274297386407852, + 0.4707369804382324, + -8.653160095214844 + ], + [ + -0.4711112082004547, + 0.010184238664805889, + 0.88201504945755, + 9.812592506408691 + ], + [ + 0.01838022470474243, + -0.9996029138565063, + 0.021359417587518692, + -0.5867117643356323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4018, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_821545362", + "mask_path": "../../mask/hdr_left_04018.png" + }, + { + "file_path": "../../rgb/hdr_left_04019.png", + "transform_matrix": [ + [ + 0.8882526755332947, + 0.02331501431763172, + 0.458763062953949, + -8.581246376037598 + ], + [ + -0.45912104845046997, + 0.013183604925870895, + 0.8882758021354675, + 9.794200897216797 + ], + [ + 0.014662008732557297, + -0.9996412992477417, + 0.022414786741137505, + -0.5819517970085144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4019, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_921545505", + "mask_path": "../../mask/hdr_left_04019.png" + }, + { + "file_path": "../../rgb/hdr_left_04020.png", + "transform_matrix": [ + [ + 0.8854125142097473, + 0.030035976320505142, + 0.4638345241546631, + -8.517556190490723 + ], + [ + -0.46429765224456787, + 0.010493737645447254, + 0.8856170177459717, + 9.76852798461914 + ], + [ + 0.021733010187745094, + -0.9994937181472778, + 0.023236922919750214, + -0.5696282982826233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4020, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_21545410", + "mask_path": "../../mask/hdr_left_04020.png" + }, + { + "file_path": "../../rgb/hdr_left_04021.png", + "transform_matrix": [ + [ + 0.8817444443702698, + 0.037052396684885025, + 0.47026991844177246, + -8.452333450317383 + ], + [ + -0.47101446986198425, + 0.014368009753525257, + 0.88200843334198, + 9.746517181396484 + ], + [ + 0.025923682376742363, + -0.9992100596427917, + 0.030121129006147385, + -0.5608671307563782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4021, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_121545314", + "mask_path": "../../mask/hdr_left_04021.png" + }, + { + "file_path": "../../rgb/hdr_left_04022.png", + "transform_matrix": [ + [ + 0.8814454674720764, + 0.0325445793569088, + 0.4711630940437317, + -8.364631652832031 + ], + [ + -0.4717775881290436, + 0.014407181181013584, + 0.8815998435020447, + 9.723306655883789 + ], + [ + 0.021903159096837044, + -0.9993665218353271, + 0.02805294841527939, + -0.5609137415885925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4022, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_221545219", + "mask_path": "../../mask/hdr_left_04022.png" + }, + { + "file_path": "../../rgb/hdr_left_04023.png", + "transform_matrix": [ + [ + 0.8845131993293762, + 0.026630235835909843, + 0.4657544493675232, + -8.295904159545898 + ], + [ + -0.4660700261592865, + 0.006839434150606394, + 0.8847213983535767, + 9.705609321594238 + ], + [ + 0.0203748419880867, + -0.9996220469474792, + 0.01846112497150898, + -0.5683192014694214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4023, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_321544885", + "mask_path": "../../mask/hdr_left_04023.png" + }, + { + "file_path": "../../rgb/hdr_left_04024.png", + "transform_matrix": [ + [ + 0.8865993618965149, + 0.024142730981111526, + 0.46190762519836426, + -8.232787132263184 + ], + [ + -0.462128221988678, + 0.004200455266982317, + 0.8868032097816467, + 9.68199634552002 + ], + [ + 0.019469626247882843, + -0.9996997714042664, + 0.01488115917891264, + -0.5707531571388245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4024, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_421545743", + "mask_path": "../../mask/hdr_left_04024.png" + }, + { + "file_path": "../../rgb/hdr_left_04025.png", + "transform_matrix": [ + [ + 0.8879732489585876, + 0.02112543024122715, + 0.45940962433815, + -8.157157897949219 + ], + [ + -0.45952197909355164, + 0.0005258283345028758, + 0.8881663084030151, + 9.659587860107422 + ], + [ + 0.018521321937441826, + -0.9997767210006714, + 0.010174522176384926, + -0.5568951368331909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4025, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_521543264", + "mask_path": "../../mask/hdr_left_04025.png" + }, + { + "file_path": "../../rgb/hdr_left_04026.png", + "transform_matrix": [ + [ + 0.8885308504104614, + 0.03083922527730465, + 0.4577792286872864, + -8.087196350097656 + ], + [ + -0.4581236243247986, + 0.004807263612747192, + 0.8888755440711975, + 9.636605262756348 + ], + [ + 0.02521156333386898, + -0.9995128512382507, + 0.01839957945048809, + -0.5475680232048035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4026, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_621544122", + "mask_path": "../../mask/hdr_left_04026.png" + }, + { + "file_path": "../../rgb/hdr_left_04027.png", + "transform_matrix": [ + [ + 0.8920911550521851, + 0.03456331789493561, + 0.450531542301178, + -8.01332950592041 + ], + [ + -0.45103687047958374, + 0.008126923814415932, + 0.8924683332443237, + 9.620041847229004 + ], + [ + 0.0271852258592844, + -0.9993695020675659, + 0.02283928543329239, + -0.5414856672286987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4027, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_721544504", + "mask_path": "../../mask/hdr_left_04027.png" + }, + { + "file_path": "../../rgb/hdr_left_04028.png", + "transform_matrix": [ + [ + 0.9000250697135925, + 0.02322053536772728, + 0.43521901965141296, + -7.93372106552124 + ], + [ + -0.43545302748680115, + 0.005946586839854717, + 0.9001918435096741, + 9.606582641601562 + ], + [ + 0.018314864486455917, + -0.9997127056121826, + 0.015463531017303467, + -0.5493857264518738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4028, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_821543931", + "mask_path": "../../mask/hdr_left_04028.png" + }, + { + "file_path": "../../rgb/hdr_left_04029.png", + "transform_matrix": [ + [ + 0.9070858955383301, + 0.020886465907096863, + 0.4204269349575043, + -7.865958213806152 + ], + [ + -0.420562744140625, + 0.0023857406340539455, + 0.9072604179382324, + 9.596731185913086 + ], + [ + 0.017946433275938034, + -0.9997790455818176, + 0.010948142036795616, + -0.5549259185791016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4029, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_921543598", + "mask_path": "../../mask/hdr_left_04029.png" + }, + { + "file_path": "../../rgb/hdr_left_04030.png", + "transform_matrix": [ + [ + 0.9116238355636597, + 0.019504057243466377, + 0.41056257486343384, + -7.791375160217285 + ], + [ + -0.4107532501220703, + 0.006874801125377417, + 0.9117206931114197, + 9.58072566986084 + ], + [ + 0.014959712512791157, + -0.9997861981391907, + 0.014278589747846127, + -0.5534759163856506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4030, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_21544456", + "mask_path": "../../mask/hdr_left_04030.png" + }, + { + "file_path": "../../rgb/hdr_left_04031.png", + "transform_matrix": [ + [ + 0.913133442401886, + 0.0129436906427145, + 0.4074552059173584, + -7.712942600250244 + ], + [ + -0.40760567784309387, + 0.012561553157866001, + 0.9130716323852539, + 9.561318397521973 + ], + [ + 0.006700243800878525, + -0.9998374581336975, + 0.01674629934132099, + -0.5490047335624695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4031, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_121543645", + "mask_path": "../../mask/hdr_left_04031.png" + }, + { + "file_path": "../../rgb/hdr_left_04032.png", + "transform_matrix": [ + [ + 0.9100117683410645, + 0.017544008791446686, + 0.4142110049724579, + -7.648439884185791 + ], + [ + -0.4144955575466156, + 0.018054435029625893, + 0.9098722338676453, + 9.547428131103516 + ], + [ + 0.008484459482133389, + -0.9996830821037292, + 0.023701664060354233, + -0.5440981984138489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4032, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_221544265", + "mask_path": "../../mask/hdr_left_04032.png" + }, + { + "file_path": "../../rgb/hdr_left_04033.png", + "transform_matrix": [ + [ + 0.9055236577987671, + 0.022547004744410515, + 0.42369624972343445, + -7.579436779022217 + ], + [ + -0.4241795837879181, + 0.024738674983382225, + 0.9052401185035706, + 9.531850814819336 + ], + [ + 0.009928769432008266, + -0.9994397163391113, + 0.031965434551239014, + -0.5409228801727295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4033, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_321544170", + "mask_path": "../../mask/hdr_left_04033.png" + }, + { + "file_path": "../../rgb/hdr_left_04034.png", + "transform_matrix": [ + [ + 0.9042860865592957, + 0.017186535522341728, + 0.4265807867050171, + -7.491275787353516 + ], + [ + -0.426872581243515, + 0.02046787180006504, + 0.9040801525115967, + 9.518390655517578 + ], + [ + 0.006806802470237017, + -0.9996428489685059, + 0.025845276191830635, + -0.5426024198532104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4034, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_421546220", + "mask_path": "../../mask/hdr_left_04034.png" + }, + { + "file_path": "../../rgb/hdr_left_04035.png", + "transform_matrix": [ + [ + 0.906739354133606, + 0.012820006348192692, + 0.42149659991264343, + -7.417873382568359 + ], + [ + -0.42165470123291016, + 0.01435165572911501, + 0.9066428542137146, + 9.508431434631348 + ], + [ + 0.0055739921517670155, + -0.9998148679733276, + 0.018418828025460243, + -0.5482504367828369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4035, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_521544456", + "mask_path": "../../mask/hdr_left_04035.png" + }, + { + "file_path": "../../rgb/hdr_left_04036.png", + "transform_matrix": [ + [ + 0.9068098068237305, + 0.010221782140433788, + 0.4214160442352295, + -7.3577189445495605 + ], + [ + -0.42152389883995056, + 0.013246403075754642, + 0.9067205190658569, + 9.495591163635254 + ], + [ + 0.0036860513500869274, + -0.9998600482940674, + 0.016320696100592613, + -0.5515472888946533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4036, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_621544122", + "mask_path": "../../mask/hdr_left_04036.png" + }, + { + "file_path": "../../rgb/hdr_left_04037.png", + "transform_matrix": [ + [ + 0.9055782556533813, + 0.0094182463362813, + 0.42407453060150146, + -7.2807183265686035 + ], + [ + -0.42417600750923157, + 0.016298949718475342, + 0.9054330587387085, + 9.478340148925781 + ], + [ + 0.0016156203346326947, + -0.9998228549957275, + 0.018754974007606506, + -0.5534732341766357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4037, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_721544504", + "mask_path": "../../mask/hdr_left_04037.png" + }, + { + "file_path": "../../rgb/hdr_left_04038.png", + "transform_matrix": [ + [ + 0.9006356596946716, + 0.011457014828920364, + 0.4344239830970764, + -7.211666107177734 + ], + [ + -0.43455684185028076, + 0.014596006833016872, + 0.9005261063575745, + 9.458331108093262 + ], + [ + 0.003976484760642052, + -0.9998278617858887, + 0.018124409019947052, + -0.542441189289093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4038, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_821543931", + "mask_path": "../../mask/hdr_left_04038.png" + }, + { + "file_path": "../../rgb/hdr_left_04039.png", + "transform_matrix": [ + [ + 0.8953183889389038, + 0.01698150485754013, + 0.44510287046432495, + -7.142134189605713 + ], + [ + -0.4453147053718567, + 0.011718230322003365, + 0.8952974081039429, + 9.43736743927002 + ], + [ + 0.009987679310142994, + -0.9997872114181519, + 0.01805366389453411, + -0.5348968505859375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4039, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_921543836", + "mask_path": "../../mask/hdr_left_04039.png" + }, + { + "file_path": "../../rgb/hdr_left_04040.png", + "transform_matrix": [ + [ + 0.8907293081283569, + 0.01684441976249218, + 0.4542216360569, + -7.058751583099365 + ], + [ + -0.454341322183609, + 0.0039104288443923, + 0.8908190727233887, + 9.418173789978027 + ], + [ + 0.0132291279733181, + -0.9998505711555481, + 0.011136253364384174, + -0.5319515466690063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4040, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_21544456", + "mask_path": "../../mask/hdr_left_04040.png" + }, + { + "file_path": "../../rgb/hdr_left_04041.png", + "transform_matrix": [ + [ + 0.8925310969352722, + 0.008095726370811462, + 0.4509131610393524, + -6.967999458312988 + ], + [ + -0.45093369483947754, + 0.0008154907845892012, + 0.8925571441650391, + 9.393465995788574 + ], + [ + 0.006858182139694691, + -0.9999669790267944, + 0.004378486890345812, + -0.5398423671722412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4041, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_121543407", + "mask_path": "../../mask/hdr_left_04041.png" + }, + { + "file_path": "../../rgb/hdr_left_04042.png", + "transform_matrix": [ + [ + 0.8932329416275024, + 0.005287527106702328, + 0.44956284761428833, + -6.899312973022461 + ], + [ + -0.44954243302345276, + -0.004630471579730511, + 0.8932469487190247, + 9.371170043945312 + ], + [ + 0.00680475402623415, + -0.9999753832817078, + -0.0017591194482520223, + -0.5465153455734253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4042, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_221544027", + "mask_path": "../../mask/hdr_left_04042.png" + }, + { + "file_path": "../../rgb/hdr_left_04043.png", + "transform_matrix": [ + [ + 0.8920931220054626, + 0.006955121643841267, + 0.45179805159568787, + -6.828068733215332 + ], + [ + -0.4517522156238556, + -0.00723403412848711, + 0.8921140432357788, + 9.342496871948242 + ], + [ + 0.009473081678152084, + -0.9999496936798096, + -0.003311438485980034, + -0.5468013286590576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4043, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_321543931", + "mask_path": "../../mask/hdr_left_04043.png" + }, + { + "file_path": "../../rgb/hdr_left_04044.png", + "transform_matrix": [ + [ + 0.8880072832107544, + 0.003490312723442912, + 0.45981597900390625, + -6.755561351776123 + ], + [ + -0.4597844183444977, + -0.007212427444756031, + 0.8880012631416321, + 9.312009811401367 + ], + [ + 0.006415789481252432, + -0.9999679327011108, + -0.004799894988536835, + -0.5313572883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4044, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_421544313", + "mask_path": "../../mask/hdr_left_04044.png" + }, + { + "file_path": "../../rgb/hdr_left_04045.png", + "transform_matrix": [ + [ + 0.8818929195404053, + 0.008535514585673809, + 0.47137251496315, + -6.6989617347717285 + ], + [ + -0.4713595509529114, + -0.0036009650211781263, + 0.8819337487220764, + 9.286351203918457 + ], + [ + 0.009225154295563698, + -0.9999571442604065, + 0.0008476335206069052, + -0.5293441414833069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4045, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_521543979", + "mask_path": "../../mask/hdr_left_04045.png" + }, + { + "file_path": "../../rgb/hdr_left_04046.png", + "transform_matrix": [ + [ + 0.8765935897827148, + 0.011541984044015408, + 0.48109298944473267, + -6.63443660736084 + ], + [ + -0.4811018109321594, + -0.0021825155708938837, + 0.876662015914917, + 9.260124206542969 + ], + [ + 0.011168411001563072, + -0.9999310970306396, + 0.003639691974967718, + -0.5289263129234314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4046, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_621544599", + "mask_path": "../../mask/hdr_left_04046.png" + }, + { + "file_path": "../../rgb/hdr_left_04047.png", + "transform_matrix": [ + [ + 0.875231921672821, + 0.005451308097690344, + 0.4836726784706116, + -6.543920040130615 + ], + [ + -0.4836517572402954, + -0.004748192615807056, + 0.875247597694397, + 9.23066520690918 + ], + [ + 0.007067814003676176, + -0.9999738931655884, + -0.0015192321734502912, + -0.5268314480781555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4047, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_721544981", + "mask_path": "../../mask/hdr_left_04047.png" + }, + { + "file_path": "../../rgb/hdr_left_04048.png", + "transform_matrix": [ + [ + 0.8771346211433411, + 0.0006426071631722152, + 0.48024410009384155, + -6.471569538116455 + ], + [ + -0.4802003502845764, + -0.01238300371915102, + 0.8770713210105896, + 9.213737487792969 + ], + [ + 0.006510475184768438, + -0.9999231100082397, + -0.010552977211773396, + -0.5299919843673706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4048, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_821544885", + "mask_path": "../../mask/hdr_left_04048.png" + }, + { + "file_path": "../../rgb/hdr_left_04049.png", + "transform_matrix": [ + [ + 0.8774195313453674, + -0.00024732391466386616, + 0.4797237515449524, + -6.402515411376953 + ], + [ + -0.4796934127807617, + -0.011705269105732441, + 0.8773581385612488, + 9.192203521728516 + ], + [ + 0.005398301407694817, + -0.9999315142631531, + -0.010389065369963646, + -0.5360009670257568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4049, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_921544313", + "mask_path": "../../mask/hdr_left_04049.png" + }, + { + "file_path": "../../rgb/hdr_left_04050.png", + "transform_matrix": [ + [ + 0.8758774399757385, + 0.0008958280086517334, + 0.48253270983695984, + -6.316884994506836 + ], + [ + -0.4825105369091034, + -0.008153194561600685, + 0.8758522272109985, + 9.162610054016113 + ], + [ + 0.004718795418739319, + -0.9999664425849915, + -0.006708949338644743, + -0.5346336364746094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4050, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_21544694", + "mask_path": "../../mask/hdr_left_04050.png" + }, + { + "file_path": "../../rgb/hdr_left_04051.png", + "transform_matrix": [ + [ + 0.8693747520446777, + 0.0009259511134587228, + 0.4941525161266327, + -6.236772060394287 + ], + [ + -0.4941282570362091, + -0.008440210483968258, + 0.8693479895591736, + 9.131584167480469 + ], + [ + 0.0049757217057049274, + -0.9999639391899109, + -0.00688016414642334, + -0.5202966928482056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4051, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_121544599", + "mask_path": "../../mask/hdr_left_04051.png" + }, + { + "file_path": "../../rgb/hdr_left_04052.png", + "transform_matrix": [ + [ + 0.8623065948486328, + 0.007715416140854359, + 0.506327748298645, + -6.171303749084473 + ], + [ + -0.5063034296035767, + -0.004982913378626108, + 0.8623409271240234, + 9.104683876037598 + ], + [ + 0.009176305495202541, + -0.9999579191207886, + -0.00039045396260917187, + -0.5143634080886841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4052, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_221544504", + "mask_path": "../../mask/hdr_left_04052.png" + }, + { + "file_path": "../../rgb/hdr_left_04053.png", + "transform_matrix": [ + [ + 0.8582741618156433, + 0.007019875571131706, + 0.5131434202194214, + -6.081471920013428 + ], + [ + -0.5130820870399475, + -0.008905285969376564, + 0.858293354511261, + 9.077908515930176 + ], + [ + 0.010594800114631653, + -0.9999358057975769, + -0.004041401203721762, + -0.5164119005203247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4053, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_321543931", + "mask_path": "../../mask/hdr_left_04053.png" + }, + { + "file_path": "../../rgb/hdr_left_04054.png", + "transform_matrix": [ + [ + 0.8609325289726257, + 0.0007101690280251205, + 0.5087186694145203, + -5.992620468139648 + ], + [ + -0.5086905360221863, + -0.009411046281456947, + 0.8608980178833008, + 9.054783821105957 + ], + [ + 0.005398957058787346, + -0.9999555349349976, + -0.007741015870124102, + -0.5277829766273499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4054, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_421545028", + "mask_path": "../../mask/hdr_left_04054.png" + }, + { + "file_path": "../../rgb/hdr_left_04055.png", + "transform_matrix": [ + [ + 0.8625026345252991, + -0.005349761340767145, + 0.5060241222381592, + -5.9257659912109375 + ], + [ + -0.5060463547706604, + -0.014031818136572838, + 0.8623921275138855, + 9.030723571777344 + ], + [ + 0.0024868445470929146, + -0.9998873472213745, + -0.014809700660407543, + -0.5276282429695129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4055, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_521544218", + "mask_path": "../../mask/hdr_left_04055.png" + }, + { + "file_path": "../../rgb/hdr_left_04056.png", + "transform_matrix": [ + [ + 0.8618454337120056, + -0.007440714631229639, + 0.5071163177490234, + -5.845742225646973 + ], + [ + -0.5071700215339661, + -0.010819862596690655, + 0.8617780208587646, + 9.002100944519043 + ], + [ + -0.0009253160678781569, + -0.9999138116836548, + -0.013098756782710552, + -0.5297300815582275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4056, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_621545314", + "mask_path": "../../mask/hdr_left_04056.png" + }, + { + "file_path": "../../rgb/hdr_left_04057.png", + "transform_matrix": [ + [ + 0.8559197187423706, + -0.011582848615944386, + 0.5169788002967834, + -5.7649359703063965 + ], + [ + -0.517084002494812, + -0.009420900605618954, + 0.8558828234672546, + 8.967501640319824 + ], + [ + -0.005043155048042536, + -0.9998885989189148, + -0.01405283622443676, + -0.5178400874137878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4057, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_721544504", + "mask_path": "../../mask/hdr_left_04057.png" + }, + { + "file_path": "../../rgb/hdr_left_04058.png", + "transform_matrix": [ + [ + 0.8490872979164124, + -0.0046022804453969, + 0.5282323956489563, + -5.703130722045898 + ], + [ + -0.5282518267631531, + -0.005829268600791693, + 0.849067747592926, + 8.939312934875488 + ], + [ + -0.0008284394280053675, + -0.9999724626541138, + -0.007380719296634197, + -0.512237548828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4058, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_821545839", + "mask_path": "../../mask/hdr_left_04058.png" + }, + { + "file_path": "../../rgb/hdr_left_04059.png", + "transform_matrix": [ + [ + 0.8449376821517944, + -0.0030068212654441595, + 0.5348562598228455, + -5.6274871826171875 + ], + [ + -0.5348615050315857, + -0.008204630576074123, + 0.8448998332023621, + 8.912177085876465 + ], + [ + 0.0018478331621736288, + -0.9999618530273438, + -0.008540630340576172, + -0.5122072100639343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4059, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_921544313", + "mask_path": "../../mask/hdr_left_04059.png" + }, + { + "file_path": "../../rgb/hdr_left_04060.png", + "transform_matrix": [ + [ + 0.8487414717674255, + -0.012838384136557579, + 0.528652012348175, + -5.537285804748535 + ], + [ + -0.5287873148918152, + -0.011775593273341656, + 0.8486726880073547, + 8.883461952209473 + ], + [ + -0.004670397378504276, + -0.9998483061790466, + -0.016783205792307854, + -0.5181348919868469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4060, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_21545886", + "mask_path": "../../mask/hdr_left_04060.png" + }, + { + "file_path": "../../rgb/hdr_left_04061.png", + "transform_matrix": [ + [ + 0.8516384363174438, + -0.01745646260678768, + 0.5238389372825623, + -5.46533203125 + ], + [ + -0.5240975618362427, + -0.01728193275630474, + 0.8514829277992249, + 8.855685234069824 + ], + [ + -0.005810931790620089, + -0.9996983408927917, + -0.023866839706897736, + -0.5256058573722839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4061, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_121546983", + "mask_path": "../../mask/hdr_left_04061.png" + }, + { + "file_path": "../../rgb/hdr_left_04062.png", + "transform_matrix": [ + [ + 0.8507049679756165, + -0.017214417457580566, + 0.5253615975379944, + -5.3853759765625 + ], + [ + -0.5256317257881165, + -0.021168844774365425, + 0.8504487872123718, + 8.814690589904785 + ], + [ + -0.0035186833702027798, + -0.9996277689933777, + -0.027056880295276642, + -0.523353636264801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4062, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_221544742", + "mask_path": "../../mask/hdr_left_04062.png" + }, + { + "file_path": "../../rgb/hdr_left_04063.png", + "transform_matrix": [ + [ + 0.8436810374259949, + -0.017157569527626038, + 0.5365703701972961, + -5.314640045166016 + ], + [ + -0.5368446111679077, + -0.026648063212633133, + 0.8432601690292358, + 8.770819664001465 + ], + [ + -0.00016973311721812934, + -0.999497652053833, + -0.031693413853645325, + -0.5081464052200317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4063, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_321543931", + "mask_path": "../../mask/hdr_left_04063.png" + }, + { + "file_path": "../../rgb/hdr_left_04064.png", + "transform_matrix": [ + [ + 0.8358049392700195, + -0.010436749085783958, + 0.5489273071289062, + -5.256402969360352 + ], + [ + -0.5490216016769409, + -0.02012348361313343, + 0.8355658054351807, + 8.738709449768066 + ], + [ + 0.002325739711523056, + -0.9997431039810181, + -0.022549303248524666, + -0.5048320293426514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4064, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_421544790", + "mask_path": "../../mask/hdr_left_04064.png" + }, + { + "file_path": "../../rgb/hdr_left_04065.png", + "transform_matrix": [ + [ + 0.8309800028800964, + -0.013140109367668629, + 0.5561469197273254, + -5.177933216094971 + ], + [ + -0.556302011013031, + -0.018936695531010628, + 0.8307644128799438, + 8.707721710205078 + ], + [ + -0.0003847501939162612, + -0.9997344613075256, + -0.02304587885737419, + -0.5087997317314148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4065, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_521544694", + "mask_path": "../../mask/hdr_left_04065.png" + }, + { + "file_path": "../../rgb/hdr_left_04066.png", + "transform_matrix": [ + [ + 0.8309776782989502, + -0.016446178779006004, + 0.5560625195503235, + -5.098334312438965 + ], + [ + -0.5562974810600281, + -0.019130917266011238, + 0.8307629823684692, + 8.67443561553955 + ], + [ + -0.003024888690561056, + -0.999681830406189, + -0.02504632994532585, + -0.5164930820465088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4066, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_621543645", + "mask_path": "../../mask/hdr_left_04066.png" + }, + { + "file_path": "../../rgb/hdr_left_04067.png", + "transform_matrix": [ + [ + 0.8292101621627808, + -0.019254157319664955, + 0.5586050152778625, + -5.031549453735352 + ], + [ + -0.5589283108711243, + -0.02303396351635456, + 0.8288960456848145, + 8.640280723571777 + ], + [ + -0.0030928084161132574, + -0.9995493292808533, + -0.0298616886138916, + -0.517450213432312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4067, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_721544742", + "mask_path": "../../mask/hdr_left_04067.png" + }, + { + "file_path": "../../rgb/hdr_left_04068.png", + "transform_matrix": [ + [ + 0.8227559328079224, + -0.022831980139017105, + 0.56793612241745, + -4.96310567855835 + ], + [ + -0.5683728456497192, + -0.02425353042781353, + 0.8224135637283325, + 8.601633071899414 + ], + [ + -0.005002875346690416, + -0.9994451403617859, + -0.03293180093169212, + -0.5141497850418091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4068, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_821544408", + "mask_path": "../../mask/hdr_left_04068.png" + }, + { + "file_path": "../../rgb/hdr_left_04069.png", + "transform_matrix": [ + [ + 0.8098007440567017, + -0.021192271262407303, + 0.5863219499588013, + -4.912268161773682 + ], + [ + -0.5867037177085876, + -0.031232960522174835, + 0.8091990947723389, + 8.560930252075195 + ], + [ + 0.0011638057185336947, + -0.999287486076355, + -0.037726059556007385, + -0.5025033354759216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4069, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_921544790", + "mask_path": "../../mask/hdr_left_04069.png" + }, + { + "file_path": "../../rgb/hdr_left_04070.png", + "transform_matrix": [ + [ + 0.7973893284797668, + -0.01548987627029419, + 0.6032663583755493, + -4.868218898773193 + ], + [ + -0.6034536957740784, + -0.026628674939274788, + 0.7969532608985901, + 8.531502723693848 + ], + [ + 0.0037194767501205206, + -0.9995254278182983, + -0.03058084473013878, + -0.4930698871612549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4070, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662605_21544456", + "mask_path": "../../mask/hdr_left_04070.png" + }, + { + "file_path": "../../rgb/hdr_right_00485.png", + "transform_matrix": [ + [ + 0.6770073175430298, + -0.02264314703643322, + 0.7356280088424683, + -5.227023124694824 + ], + [ + -0.7356343269348145, + 0.009652714245021343, + 0.6773101687431335, + 8.911028861999512 + ], + [ + -0.022437240928411484, + -0.9996970295906067, + -0.010122117586433887, + -0.5055971741676331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 485, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662247_621544837", + "mask_path": "../../mask/hdr_right_00485.png" + }, + { + "file_path": "../../rgb/hdr_right_00486.png", + "transform_matrix": [ + [ + 0.6861640810966492, + -0.01195337250828743, + 0.7273487448692322, + -5.271298885345459 + ], + [ + -0.7273138761520386, + 0.007842334918677807, + 0.6862602233886719, + 8.963699340820312 + ], + [ + -0.0139072360470891, + -0.9998977780342102, + -0.0033127269707620144, + -0.5050441026687622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 486, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662247_721544265", + "mask_path": "../../mask/hdr_right_00486.png" + }, + { + "file_path": "../../rgb/hdr_right_00487.png", + "transform_matrix": [ + [ + 0.6990959048271179, + -0.004874373786151409, + 0.7150112986564636, + -5.304760932922363 + ], + [ + -0.7149637937545776, + 0.00862645823508501, + 0.699108362197876, + 9.00075626373291 + ], + [ + -0.009575729258358479, + -0.9999508857727051, + 0.0025457206647843122, + -0.5137345790863037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 487, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662247_821544885", + "mask_path": "../../mask/hdr_right_00487.png" + }, + { + "file_path": "../../rgb/hdr_right_00488.png", + "transform_matrix": [ + [ + 0.7139091491699219, + -0.004903296008706093, + 0.7002213001251221, + -5.339689254760742 + ], + [ + -0.7002021670341492, + 0.0051698097959160805, + 0.7139257788658142, + 9.043803215026855 + ], + [ + -0.007120601367205381, + -0.9999746084213257, + 0.00025747378822416067, + -0.5220892429351807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 488, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662247_921545743", + "mask_path": "../../mask/hdr_right_00488.png" + }, + { + "file_path": "../../rgb/hdr_right_00489.png", + "transform_matrix": [ + [ + 0.7262787818908691, + -0.008397150784730911, + 0.6873489618301392, + -5.386995315551758 + ], + [ + -0.6873878836631775, + -0.0028864785563200712, + 0.7262847423553467, + 9.096084594726562 + ], + [ + -0.004114705137908459, + -0.9999606013298035, + -0.007868489250540733, + -0.5205497741699219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 489, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_21545171", + "mask_path": "../../mask/hdr_right_00489.png" + }, + { + "file_path": "../../rgb/hdr_right_00490.png", + "transform_matrix": [ + [ + 0.7348667979240417, + -0.007504289038479328, + 0.6781700253486633, + -5.427173137664795 + ], + [ + -0.6781994104385376, + -0.0021752051543444395, + 0.7348747253417969, + 9.139999389648438 + ], + [ + -0.004039553925395012, + -0.9999695420265198, + -0.006687892135232687, + -0.5094170570373535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 490, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_121544837", + "mask_path": "../../mask/hdr_right_00490.png" + }, + { + "file_path": "../../rgb/hdr_right_00492.png", + "transform_matrix": [ + [ + 0.7488791942596436, + -0.01932927966117859, + 0.6624245643615723, + -5.489659309387207 + ], + [ + -0.6625121235847473, + 0.0023784185759723186, + 0.7490474581718445, + 9.221092224121094 + ], + [ + -0.016054071485996246, + -0.9998103976249695, + -0.011024735867977142, + -0.5154297351837158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 492, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_321544885", + "mask_path": "../../mask/hdr_right_00492.png" + }, + { + "file_path": "../../rgb/hdr_right_00493.png", + "transform_matrix": [ + [ + 0.7594053149223328, + -0.018671933561563492, + 0.6503498554229736, + -5.546591281890869 + ], + [ + -0.650386393070221, + 0.004878779873251915, + 0.7595880031585693, + 9.270956993103027 + ], + [ + -0.017355890944600105, + -0.9998137354850769, + -0.008438998833298683, + -0.5167556405067444 + ], + [ + 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": "1731662248_421544790", + "mask_path": "../../mask/hdr_right_00493.png" + }, + { + "file_path": "../../rgb/hdr_right_00494.png", + "transform_matrix": [ + [ + 0.7781256437301636, + -0.010107063688337803, + 0.6280273795127869, + -5.610010623931885 + ], + [ + -0.6279937624931335, + 0.006602653302252293, + 0.7781903743743896, + 9.31445026397705 + ], + [ + -0.01201186515390873, + -0.9999271035194397, + -0.001209480338729918, + -0.5156378149986267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 494, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_521546125", + "mask_path": "../../mask/hdr_right_00494.png" + }, + { + "file_path": "../../rgb/hdr_right_00496.png", + "transform_matrix": [ + [ + 0.81205153465271, + -0.010454313829541206, + 0.5834921598434448, + -5.703897953033447 + ], + [ + -0.58350670337677, + 0.0019130341242998838, + 0.8121060729026794, + 9.378283500671387 + ], + [ + -0.009606252424418926, + -0.9999435544013977, + -0.004546681419014931, + -0.5259519219398499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 496, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_721544265", + "mask_path": "../../mask/hdr_right_00496.png" + }, + { + "file_path": "../../rgb/hdr_right_00497.png", + "transform_matrix": [ + [ + 0.8241557478904724, + -0.009090414270758629, + 0.5662902593612671, + -5.752768039703369 + ], + [ + -0.5663549304008484, + -0.00781932845711708, + 0.8241243362426758, + 9.419429779052734 + ], + [ + -0.003063622396439314, + -0.9999281167984009, + -0.011592746712267399, + -0.5203299522399902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 497, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662248_821545362", + "mask_path": "../../mask/hdr_right_00497.png" + }, + { + "file_path": "../../rgb/hdr_right_00500.png", + "transform_matrix": [ + [ + 0.8544410467147827, + -0.02932155132293701, + 0.518720269203186, + -5.891783237457275 + ], + [ + -0.5190705060958862, + -0.00536493631079793, + 0.854714572429657, + 9.513673782348633 + ], + [ + -0.02227865345776081, + -0.9995556473731995, + -0.019803976640105247, + -0.5179420709609985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 500, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_121544837", + "mask_path": "../../mask/hdr_right_00500.png" + }, + { + "file_path": "../../rgb/hdr_right_00501.png", + "transform_matrix": [ + [ + 0.8687547445297241, + -0.02065395563840866, + 0.49481168389320374, + -5.953614234924316 + ], + [ + -0.4949685037136078, + -0.0029738303273916245, + 0.8689059019088745, + 9.553149223327637 + ], + [ + -0.016474859789013863, + -0.9997823238372803, + -0.012806587852537632, + -0.5212541818618774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 501, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_221544265", + "mask_path": "../../mask/hdr_right_00501.png" + }, + { + "file_path": "../../rgb/hdr_right_00502.png", + "transform_matrix": [ + [ + 0.8821125626564026, + -0.015482188202440739, + 0.4707842469215393, + -6.002518653869629 + ], + [ + -0.47084495425224304, + -0.00031379968277178705, + 0.8822160363197327, + 9.573806762695312 + ], + [ + -0.013510903343558311, + -0.9998800754547119, + -0.007566518150269985, + -0.528274655342102 + ], + [ + 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": "1731662249_321544170", + "mask_path": "../../mask/hdr_right_00502.png" + }, + { + "file_path": "../../rgb/hdr_right_00503.png", + "transform_matrix": [ + [ + 0.8925369381904602, + -0.013273539021611214, + 0.4507788419723511, + -6.053442478179932 + ], + [ + -0.45087313652038574, + -0.005105195101350546, + 0.8925734758377075, + 9.597892761230469 + ], + [ + -0.009546294808387756, + -0.9998988509178162, + -0.010541259311139584, + -0.5300979614257812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 503, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_421543598", + "mask_path": "../../mask/hdr_right_00503.png" + }, + { + "file_path": "../../rgb/hdr_right_00504.png", + "transform_matrix": [ + [ + 0.8995975852012634, + -0.008002850227057934, + 0.4366464912891388, + -6.104673862457275 + ], + [ + -0.43671977519989014, + -0.015914028510451317, + 0.8994569182395935, + 9.623067855834961 + ], + [ + -0.0002494137443136424, + -0.9998413324356079, + -0.017811227589845657, + -0.5275765657424927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 504, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_521543979", + "mask_path": "../../mask/hdr_right_00504.png" + }, + { + "file_path": "../../rgb/hdr_right_00505.png", + "transform_matrix": [ + [ + 0.9023141264915466, + -0.007114277686923742, + 0.43102046847343445, + -6.148801326751709 + ], + [ + -0.43107908964157104, + -0.014333623461425304, + 0.9022002816200256, + 9.65327262878418 + ], + [ + -0.00024041830329224467, + -0.9998719692230225, + -0.016000250354409218, + -0.5215848088264465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 505, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_621545076", + "mask_path": "../../mask/hdr_right_00505.png" + }, + { + "file_path": "../../rgb/hdr_right_00507.png", + "transform_matrix": [ + [ + 0.9062578082084656, + -0.01815211772918701, + 0.4223357141017914, + -6.250265598297119 + ], + [ + -0.4225580394268036, + -0.010771211236715317, + 0.9062719345092773, + 9.716072082519531 + ], + [ + -0.011901686899363995, + -0.9997771978378296, + -0.017431817948818207, + -0.5226517915725708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 507, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_821544647", + "mask_path": "../../mask/hdr_right_00507.png" + }, + { + "file_path": "../../rgb/hdr_right_00508.png", + "transform_matrix": [ + [ + 0.9113124012947083, + -0.005398878362029791, + 0.4116801619529724, + -6.311855792999268 + ], + [ + -0.41171330213546753, + -0.008692084811627865, + 0.9112719893455505, + 9.748368263244629 + ], + [ + -0.0013414885615929961, + -0.999947726726532, + -0.010143998079001904, + -0.5254343152046204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 508, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662249_921544075", + "mask_path": "../../mask/hdr_right_00508.png" + }, + { + "file_path": "../../rgb/hdr_right_00509.png", + "transform_matrix": [ + [ + 0.9160182476043701, + -0.003117670537903905, + 0.40112459659576416, + -6.357280731201172 + ], + [ + -0.4011363685131073, + -0.006094132550060749, + 0.9159981608390808, + 9.77131462097168 + ], + [ + -0.00041127519216388464, + -0.9999765753746033, + -0.006832948420196772, + -0.5339020490646362 + ], + [ + 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": "1731662250_21544933", + "mask_path": "../../mask/hdr_right_00509.png" + }, + { + "file_path": "../../rgb/hdr_right_00510.png", + "transform_matrix": [ + [ + 0.9184821248054504, + -0.0011558168334886432, + 0.39546093344688416, + -6.406953811645508 + ], + [ + -0.3954528570175171, + -0.009678559377789497, + 0.9184353351593018, + 9.798921585083008 + ], + [ + 0.002765948185697198, + -0.9999525547027588, + -0.009346656501293182, + -0.5384492874145508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 510, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_121544361", + "mask_path": "../../mask/hdr_right_00510.png" + }, + { + "file_path": "../../rgb/hdr_right_00511.png", + "transform_matrix": [ + [ + 0.9165589809417725, + 0.0072264415211975574, + 0.3998342454433441, + -6.460076808929443 + ], + [ + -0.39969465136528015, + -0.015449351631104946, + 0.9165182113647461, + 9.834662437438965 + ], + [ + 0.012800343334674835, + -0.9998545050621033, + -0.011271873489022255, + -0.538929283618927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 511, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_221544504", + "mask_path": "../../mask/hdr_right_00511.png" + }, + { + "file_path": "../../rgb/hdr_right_00512.png", + "transform_matrix": [ + [ + 0.9125106334686279, + 0.008020411245524883, + 0.4089743494987488, + -6.507787704467773 + ], + [ + -0.40887776017189026, + -0.011371592059731483, + 0.912518322467804, + 9.86950397491455 + ], + [ + 0.011969462037086487, + -0.99990314245224, + -0.007097332738339901, + -0.5331489443778992 + ], + [ + 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": "1731662250_321544170", + "mask_path": "../../mask/hdr_right_00512.png" + }, + { + "file_path": "../../rgb/hdr_right_00513.png", + "transform_matrix": [ + [ + 0.9082038402557373, + 0.0017373128794133663, + 0.4185246229171753, + -6.553266525268555 + ], + [ + -0.41850078105926514, + -0.007674178574234247, + 0.9081841111183167, + 9.903178215026855 + ], + [ + 0.004789631348103285, + -0.9999690651893616, + -0.006242651958018541, + -0.5302591919898987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 513, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_421544075", + "mask_path": "../../mask/hdr_right_00513.png" + }, + { + "file_path": "../../rgb/hdr_right_00514.png", + "transform_matrix": [ + [ + 0.9046356678009033, + -0.0018203066429123282, + 0.4261820316314697, + -6.610957145690918 + ], + [ + -0.42618539929389954, + -0.0022795265540480614, + 0.9046329259872437, + 9.951567649841309 + ], + [ + -0.0006752160843461752, + -0.9999957084655762, + -0.0028379312716424465, + -0.536455512046814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 514, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_521543979", + "mask_path": "../../mask/hdr_right_00514.png" + }, + { + "file_path": "../../rgb/hdr_right_00515.png", + "transform_matrix": [ + [ + 0.9059137105941772, + 0.007932533510029316, + 0.42338818311691284, + -6.686820983886719 + ], + [ + -0.42340806126594543, + 0.0009408207261003554, + 0.9059386849403381, + 9.999434471130371 + ], + [ + 0.006788057275116444, + -0.9999681115150452, + 0.004210999701172113, + -0.541749119758606 + ], + [ + 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": "1731662250_621540784", + "mask_path": "../../mask/hdr_right_00515.png" + }, + { + "file_path": "../../rgb/hdr_right_00516.png", + "transform_matrix": [ + [ + 0.9069958925247192, + 0.010489687323570251, + 0.42100903391838074, + -6.743485927581787 + ], + [ + -0.4210466742515564, + 0.0015822512796148658, + 0.9070376753807068, + 10.030946731567383 + ], + [ + 0.008848397061228752, + -0.999943733215332, + 0.00585174048319459, + -0.5521026253700256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 516, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_721544742", + "mask_path": "../../mask/hdr_right_00516.png" + }, + { + "file_path": "../../rgb/hdr_right_00517.png", + "transform_matrix": [ + [ + 0.9083099961280823, + 0.011143816635012627, + 0.41814950108528137, + -6.804958343505859 + ], + [ + -0.4181746542453766, + -7.811420073267072e-05, + 0.9083666205406189, + 10.068948745727539 + ], + [ + 0.010155335068702698, + -0.999937891960144, + 0.0045891087502241135, + -0.5559799671173096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 517, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_821544885", + "mask_path": "../../mask/hdr_right_00517.png" + }, + { + "file_path": "../../rgb/hdr_right_00518.png", + "transform_matrix": [ + [ + 0.9067981839179993, + 0.01642686314880848, + 0.42124485969543457, + -6.862590789794922 + ], + [ + -0.421195924282074, + -0.006502230651676655, + 0.9069463610649109, + 10.115999221801758 + ], + [ + 0.017637314274907112, + -0.999843955039978, + 0.0010227154707536101, + -0.5521921515464783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 518, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662250_921544313", + "mask_path": "../../mask/hdr_right_00518.png" + }, + { + "file_path": "../../rgb/hdr_right_00519.png", + "transform_matrix": [ + [ + 0.9035056233406067, + 0.014424634166061878, + 0.42833349108695984, + -6.908910751342773 + ], + [ + -0.42830535769462585, + -0.005140966270118952, + 0.9036195278167725, + 10.153240203857422 + ], + [ + 0.015236428938806057, + -0.9998827576637268, + 0.0015332556795328856, + -0.5473505258560181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 519, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_21544456", + "mask_path": "../../mask/hdr_right_00519.png" + }, + { + "file_path": "../../rgb/hdr_right_00520.png", + "transform_matrix": [ + [ + 0.9003167748451233, + 0.008614984340965748, + 0.4351500868797302, + -6.961131572723389 + ], + [ + -0.43513935804367065, + -0.003164556808769703, + 0.9003575444221497, + 10.192117691040039 + ], + [ + 0.009133623912930489, + -0.9999579191207886, + 0.0008996132528409362, + -0.5466100573539734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 520, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_121544599", + "mask_path": "../../mask/hdr_right_00520.png" + }, + { + "file_path": "../../rgb/hdr_right_00521.png", + "transform_matrix": [ + [ + 0.9015516638755798, + 0.009027588181197643, + 0.43257731199264526, + -7.036063194274902 + ], + [ + -0.4325481653213501, + -0.0050622629933059216, + 0.9015966653823853, + 10.238041877746582 + ], + [ + 0.01032906211912632, + -0.9999464154243469, + -0.0006590266712009907, + -0.5505948066711426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 521, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_221544265", + "mask_path": "../../mask/hdr_right_00521.png" + }, + { + "file_path": "../../rgb/hdr_right_00522.png", + "transform_matrix": [ + [ + 0.9059462547302246, + 0.011512505821883678, + 0.423236221075058, + -7.096090793609619 + ], + [ + -0.4232219457626343, + -0.0037709432654082775, + 0.9060181975364685, + 10.266066551208496 + ], + [ + 0.012026539072394371, + -0.9999266266822815, + 0.001456072204746306, + -0.5600180625915527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 522, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_321543693", + "mask_path": "../../mask/hdr_right_00522.png" + }, + { + "file_path": "../../rgb/hdr_right_00523.png", + "transform_matrix": [ + [ + 0.9090100526809692, + 0.012897768057882786, + 0.4165746569633484, + -7.1466569900512695 + ], + [ + -0.416532427072525, + -0.005932519678026438, + 0.9091015458106995, + 10.293611526489258 + ], + [ + 0.01419671718031168, + -0.9998992681503296, + -2.038244747382123e-05, + -0.5647397041320801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 523, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_421543598", + "mask_path": "../../mask/hdr_right_00523.png" + }, + { + "file_path": "../../rgb/hdr_right_00524.png", + "transform_matrix": [ + [ + 0.9113783240318298, + 0.01727181300520897, + 0.4112072288990021, + -7.207173824310303 + ], + [ + -0.4110391438007355, + -0.012523164041340351, + 0.9115316867828369, + 10.334061622619629 + ], + [ + 0.02089342102408409, + -0.9997723698616028, + -0.004313948564231396, + -0.5652097463607788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 524, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_521543979", + "mask_path": "../../mask/hdr_right_00524.png" + }, + { + "file_path": "../../rgb/hdr_right_00525.png", + "transform_matrix": [ + [ + 0.9132323861122131, + 0.017173415049910545, + 0.4070771038532257, + -7.262977123260498 + ], + [ + -0.40692251920700073, + -0.011852853000164032, + 0.9133858680725098, + 10.369604110717773 + ], + [ + 0.020510980859398842, + -0.9997822046279907, + -0.0038361612241715193, + -0.5611135959625244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 525, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_621543884", + "mask_path": "../../mask/hdr_right_00525.png" + }, + { + "file_path": "../../rgb/hdr_right_00526.png", + "transform_matrix": [ + [ + 0.9151207208633423, + 0.01030384935438633, + 0.4030483663082123, + -7.314457893371582 + ], + [ + -0.40295976400375366, + -0.00966060534119606, + 0.9151666760444641, + 10.398323059082031 + ], + [ + 0.013323431834578514, + -0.999900221824646, + -0.00468858378008008, + -0.5583174824714661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 526, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_721543550", + "mask_path": "../../mask/hdr_right_00526.png" + }, + { + "file_path": "../../rgb/hdr_right_00527.png", + "transform_matrix": [ + [ + 0.9193442463874817, + 0.008570258505642414, + 0.39336085319519043, + -7.388272762298584 + ], + [ + -0.3932865560054779, + -0.00916224718093872, + 0.9193704128265381, + 10.437972068786621 + ], + [ + 0.011483310721814632, + -0.9999212622642517, + -0.005052691325545311, + -0.5621711611747742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 527, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_821545124", + "mask_path": "../../mask/hdr_right_00527.png" + }, + { + "file_path": "../../rgb/hdr_right_00528.png", + "transform_matrix": [ + [ + 0.9267106652259827, + 0.00946776382625103, + 0.375656396150589, + -7.46675443649292 + ], + [ + -0.3755640983581543, + -0.010202396661043167, + 0.9267402291297913, + 10.467671394348145 + ], + [ + 0.012606753967702389, + -0.9999030828475952, + -0.005898917559534311, + -0.5690559148788452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 528, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662251_921544075", + "mask_path": "../../mask/hdr_right_00528.png" + }, + { + "file_path": "../../rgb/hdr_right_00529.png", + "transform_matrix": [ + [ + 0.9330995678901672, + 0.00835337769240141, + 0.35952121019363403, + -7.5224080085754395 + ], + [ + -0.3594221770763397, + -0.011347553692758083, + 0.9331060647964478, + 10.49482250213623 + ], + [ + 0.011874272488057613, + -0.9999006986618042, + -0.0075860102660954, + -0.5752884149551392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 529, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662252_21544456", + "mask_path": "../../mask/hdr_right_00529.png" + }, + { + "file_path": "../../rgb/hdr_right_00530.png", + "transform_matrix": [ + [ + 0.9368420243263245, + 0.009880167432129383, + 0.3496131896972656, + -7.587614059448242 + ], + [ + -0.34950146079063416, + -0.011445160955190659, + 0.9368659853935242, + 10.531770706176758 + ], + [ + 0.013257773593068123, + -0.9998857378959656, + -0.007269175723195076, + -0.5732415914535522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 530, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662252_121543645", + "mask_path": "../../mask/hdr_right_00530.png" + }, + { + "file_path": "../../rgb/hdr_right_00531.png", + "transform_matrix": [ + [ + 0.9381160736083984, + 0.008167588151991367, + 0.3462245464324951, + -7.643674850463867 + ], + [ + -0.3461644947528839, + -0.007926182821393013, + 0.938140332698822, + 10.571783065795898 + ], + [ + 0.010406583547592163, + -0.9999352693557739, + -0.004608352202922106, + -0.5630249977111816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 531, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662252_221543788", + "mask_path": "../../mask/hdr_right_00531.png" + }, + { + "file_path": "../../rgb/hdr_right_00532.png", + "transform_matrix": [ + [ + 0.9396490454673767, + 0.00036507120239548385, + 0.3421396017074585, + -7.700188159942627 + ], + [ + -0.34212249517440796, + -0.009041239507496357, + 0.9396119117736816, + 10.600412368774414 + ], + [ + 0.003436390543356538, + -0.9999590516090393, + -0.008370693773031235, + -0.5603909492492676 + ], + [ + 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": "1731662252_321544408", + "mask_path": "../../mask/hdr_right_00532.png" + }, + { + "file_path": "../../rgb/hdr_right_00533.png", + "transform_matrix": [ + [ + 0.9430042505264282, + -0.0031206028070300817, + 0.3327661156654358, + -7.779239177703857 + ], + [ + -0.3327799439430237, + -0.011018481105566025, + 0.9429401159286499, + 10.636258125305176 + ], + [ + 0.0007240352570079267, + -0.9999344348907471, + -0.011428950354456902, + -0.565357506275177 + ], + [ + 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": "1731662252_421545505", + "mask_path": "../../mask/hdr_right_00533.png" + }, + { + "file_path": "../../rgb/hdr_right_00534.png", + "transform_matrix": [ + [ + 0.9484209418296814, + 0.001340286573395133, + 0.31701090931892395, + -7.864094257354736 + ], + [ + -0.31698480248451233, + -0.009493404068052769, + 0.948383092880249, + 10.665315628051758 + ], + [ + 0.0042806160636246204, + -0.9999540448188782, + -0.008578892797231674, + -0.5753785967826843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 534, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662252_521543979", + "mask_path": "../../mask/hdr_right_00534.png" + }, + { + "file_path": "../../rgb/hdr_right_00535.png", + "transform_matrix": [ + [ + 0.9520717859268188, + 0.0022211431059986353, + 0.30586645007133484, + -7.9284234046936035 + ], + [ + -0.30584514141082764, + -0.006928262300789356, + 0.9520561099052429, + 10.695260047912598 + ], + [ + 0.004233775194734335, + -0.9999735355377197, + -0.005916879512369633, + -0.5803589820861816 + ], + [ + 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": "1731662252_621544122", + "mask_path": "../../mask/hdr_right_00535.png" + }, + { + "file_path": "../../rgb/hdr_right_00536.png", + "transform_matrix": [ + [ + 0.9530994892120361, + 0.005123270209878683, + 0.302613765001297, + -8.00422477722168 + ], + [ + -0.3025835156440735, + -0.005924229975789785, + 0.9531044363975525, + 10.740248680114746 + ], + [ + 0.006675764452666044, + -0.9999693036079407, + -0.004096165299415588, + -0.5778192281723022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 536, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662252_721545219", + "mask_path": "../../mask/hdr_right_00536.png" + }, + { + "file_path": "../../rgb/hdr_right_00537.png", + "transform_matrix": [ + [ + 0.9510366320610046, + 0.0028312504291534424, + 0.30906549096107483, + -8.068760871887207 + ], + [ + -0.3090576231479645, + -0.002880451502278447, + 0.9510390162467957, + 10.779351234436035 + ], + [ + 0.0035828780382871628, + -0.9999918341636658, + -0.0018643946386873722, + -0.5717827081680298 + ], + [ + 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": "1731662252_821544170", + "mask_path": "../../mask/hdr_right_00537.png" + }, + { + "file_path": "../../rgb/hdr_right_00538.png", + "transform_matrix": [ + [ + 0.9496206641197205, + -0.000726692087482661, + 0.3134009540081024, + -8.134811401367188 + ], + [ + -0.31340163946151733, + -0.001207371591590345, + 0.9496198892593384, + 10.812112808227539 + ], + [ + -0.0003116900916211307, + -0.9999989867210388, + -0.0013742930022999644, + -0.5686834454536438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 538, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662252_921544313", + "mask_path": "../../mask/hdr_right_00538.png" + }, + { + "file_path": "../../rgb/hdr_right_00539.png", + "transform_matrix": [ + [ + 0.9514038562774658, + 0.004668136592954397, + 0.3079107105731964, + -8.222640991210938 + ], + [ + -0.3079036772251129, + -0.002157553331926465, + 0.9514151215553284, + 10.850234985351562 + ], + [ + 0.005105669144541025, + -0.9999867677688599, + -0.0006153680151328444, + -0.5736172199249268 + ], + [ + 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": "1731662253_21544694", + "mask_path": "../../mask/hdr_right_00539.png" + }, + { + "file_path": "../../rgb/hdr_right_00540.png", + "transform_matrix": [ + [ + 0.9531170129776001, + 0.006856943015009165, + 0.3025243282318115, + -8.293342590332031 + ], + [ + -0.30252909660339355, + -0.0003613552253227681, + 0.9531400799751282, + 10.87707233428955 + ], + [ + 0.006644945591688156, + -0.999976396560669, + 0.0017300097970291972, + -0.5878278017044067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 540, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662253_121544122", + "mask_path": "../../mask/hdr_right_00540.png" + }, + { + "file_path": "../../rgb/hdr_right_00541.png", + "transform_matrix": [ + [ + 0.9528263807296753, + 0.007271891459822655, + 0.30342885851860046, + -8.360685348510742 + ], + [ + -0.30344119668006897, + 0.0006263251416385174, + 0.9528500437736511, + 10.9151029586792 + ], + [ + 0.006738975178450346, + -0.999973475933075, + 0.0028033703565597534, + -0.5896003246307373 + ], + [ + 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": "1731662253_221545696", + "mask_path": "../../mask/hdr_right_00541.png" + }, + { + "file_path": "../../rgb/hdr_right_00542.png", + "transform_matrix": [ + [ + 0.9501469731330872, + 0.017143165692687035, + 0.31133079528808594, + -8.431567192077637 + ], + [ + -0.3113151490688324, + -0.0036423809360712767, + 0.9502997398376465, + 10.966185569763184 + ], + [ + 0.017425134778022766, + -0.9998464584350586, + 0.0018761298852041364, + -0.5831930041313171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 542, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662253_321544647", + "mask_path": "../../mask/hdr_right_00542.png" + }, + { + "file_path": "../../rgb/hdr_right_00543.png", + "transform_matrix": [ + [ + 0.9474205374717712, + 0.014540760777890682, + 0.31966063380241394, + -8.49190616607666 + ], + [ + -0.31964099407196045, + -0.003712533973157406, + 0.9475315809249878, + 10.999502182006836 + ], + [ + 0.014964579604566097, + -0.9998873472213745, + 0.0011304938234388828, + -0.5809286832809448 + ], + [ + 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": "1731662253_421545743", + "mask_path": "../../mask/hdr_right_00543.png" + }, + { + "file_path": "../../rgb/hdr_right_00544.png", + "transform_matrix": [ + [ + 0.9472529292106628, + 0.010041402652859688, + 0.3203297257423401, + -8.566622734069824 + ], + [ + -0.32031115889549255, + -0.0034452311228960752, + 0.9473061561584473, + 11.030693054199219 + ], + [ + 0.010615890845656395, + -0.9999436736106873, + -4.7132551117101684e-05, + -0.5843285322189331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 544, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662253_521544456", + "mask_path": "../../mask/hdr_right_00544.png" + }, + { + "file_path": "../../rgb/hdr_right_00545.png", + "transform_matrix": [ + [ + 0.9509837627410889, + 0.018939996138215065, + 0.3086603879928589, + -8.65135669708252 + ], + [ + -0.30863267183303833, + -0.004440581426024437, + 0.9511709809303284, + 11.068493843078613 + ], + [ + 0.0193858053535223, + -0.9998106956481934, + 0.0016225794097408652, + -0.6003481149673462 + ], + [ + 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": "1731662253_621544361", + "mask_path": "../../mask/hdr_right_00545.png" + }, + { + "file_path": "../../rgb/hdr_right_00546.png", + "transform_matrix": [ + [ + 0.954220712184906, + 0.021030941978096962, + 0.2983633279800415, + -8.721170425415039 + ], + [ + -0.2983778715133667, + -0.0025145106483250856, + 0.9544445276260376, + 11.092382431030273 + ], + [ + 0.020823104307055473, + -0.9997755885124207, + 0.003875768044963479, + -0.6120978593826294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 546, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662253_721544265", + "mask_path": "../../mask/hdr_right_00546.png" + }, + { + "file_path": "../../rgb/hdr_right_00547.png", + "transform_matrix": [ + [ + 0.9563088417053223, + 0.019868891686201096, + 0.291682630777359, + -8.79109001159668 + ], + [ + -0.29166659712791443, + -0.003763768821954727, + 0.9565125703811646, + 11.128734588623047 + ], + [ + 0.020102672278881073, + -0.9997954964637756, + 0.002195765031501651, + -0.615957498550415 + ], + [ + 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": "1731662253_821543931", + "mask_path": "../../mask/hdr_right_00547.png" + }, + { + "file_path": "../../rgb/hdr_right_00548.png", + "transform_matrix": [ + [ + 0.9584369659423828, + 0.02902377024292946, + 0.28382444381713867, + -8.875460624694824 + ], + [ + -0.28368523716926575, + -0.008891073986887932, + 0.9588762521743774, + 11.171663284301758 + ], + [ + 0.030353711917996407, + -0.9995391964912415, + -0.00028792020748369396, + -0.6082097887992859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 548, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662253_921543836", + "mask_path": "../../mask/hdr_right_00548.png" + }, + { + "file_path": "../../rgb/hdr_right_00549.png", + "transform_matrix": [ + [ + 0.9606599807739258, + 0.024465039372444153, + 0.27664756774902344, + -8.936568260192871 + ], + [ + -0.27650347352027893, + -0.00915489997714758, + 0.9609693288803101, + 11.19545841217041 + ], + [ + 0.026042835786938667, + -0.9996587634086609, + -0.0020300790201872587, + -0.6088319420814514 + ], + [ + 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": "1731662254_21545171", + "mask_path": "../../mask/hdr_right_00549.png" + }, + { + "file_path": "../../rgb/hdr_right_00550.png", + "transform_matrix": [ + [ + 0.9636359214782715, + 0.018053898587822914, + 0.26660826802253723, + -9.014284133911133 + ], + [ + -0.26648786664009094, + -0.008817299269139767, + 0.9637979865074158, + 11.223740577697754 + ], + [ + 0.01975107751786709, + -0.999798059463501, + -0.0036855211947113276, + -0.6131279468536377 + ], + [ + 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": "1731662254_121544599", + "mask_path": "../../mask/hdr_right_00550.png" + }, + { + "file_path": "../../rgb/hdr_right_00551.png", + "transform_matrix": [ + [ + 0.9695296287536621, + 0.03047879971563816, + 0.24307100474834442, + -9.101391792297363 + ], + [ + -0.24290387332439423, + -0.009127247147262096, + 0.9700074791908264, + 11.252898216247559 + ], + [ + 0.03178323060274124, + -0.9994937181472778, + -0.001445716479793191, + -0.628344714641571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 551, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662254_221545457", + "mask_path": "../../mask/hdr_right_00551.png" + }, + { + "file_path": "../../rgb/hdr_right_00552.png", + "transform_matrix": [ + [ + 0.9747066497802734, + 0.030908621847629547, + 0.2213406264781952, + -9.173272132873535 + ], + [ + -0.22127258777618408, + -0.00564753171056509, + 0.9751956462860107, + 11.266956329345703 + ], + [ + 0.03139198198914528, + -0.9995062351226807, + 0.0013345425250008702, + -0.6409100890159607 + ], + [ + 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": "1731662254_321544170", + "mask_path": "../../mask/hdr_right_00552.png" + }, + { + "file_path": "../../rgb/hdr_right_00553.png", + "transform_matrix": [ + [ + 0.9787548780441284, + 0.02729864791035652, + 0.2032085806131363, + -9.248764038085938 + ], + [ + -0.20309188961982727, + -0.007007771171629429, + 0.9791346192359924, + 11.292845726013184 + ], + [ + 0.02815309539437294, + -0.999602735042572, + -0.0013147576246410608, + -0.6436485052108765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 553, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662254_421543598", + "mask_path": "../../mask/hdr_right_00553.png" + }, + { + "file_path": "../../rgb/hdr_right_00554.png", + "transform_matrix": [ + [ + 0.9797878861427307, + 0.03766784444451332, + 0.19646109640598297, + -9.338994979858398 + ], + [ + -0.19624659419059753, + -0.009345228783786297, + 0.9805100560188293, + 11.332117080688477 + ], + [ + 0.0387696735560894, + -0.9992465972900391, + -0.0017641556914895773, + -0.6407137513160706 + ], + [ + 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": "1731662254_521543979", + "mask_path": "../../mask/hdr_right_00554.png" + }, + { + "file_path": "../../rgb/hdr_right_00555.png", + "transform_matrix": [ + [ + 0.9799841046333313, + 0.034684937447309494, + 0.19603104889392853, + -9.398780822753906 + ], + [ + -0.1958324909210205, + -0.009064734913408756, + 0.9805954694747925, + 11.356759071350098 + ], + [ + 0.03578886389732361, + -0.9993571639060974, + -0.0020908592268824577, + -0.634692907333374 + ], + [ + 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": "1731662254_621543884", + "mask_path": "../../mask/hdr_right_00555.png" + }, + { + "file_path": "../../rgb/hdr_right_00556.png", + "transform_matrix": [ + [ + 0.9797781109809875, + 0.028816508129239082, + 0.19800148904323578, + -9.469724655151367 + ], + [ + -0.19778558611869812, + -0.010187354870140553, + 0.9801924228668213, + 11.380355834960938 + ], + [ + 0.03026283159852028, + -0.9995328187942505, + -0.00428185798227787, + -0.6382661461830139 + ], + [ + 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": "1731662254_721543073", + "mask_path": "../../mask/hdr_right_00556.png" + }, + { + "file_path": "../../rgb/hdr_right_00557.png", + "transform_matrix": [ + [ + 0.9800152778625488, + 0.03440626338124275, + 0.19592398405075073, + -9.557459831237793 + ], + [ + -0.19567227363586426, + -0.010568002238869667, + 0.9806125164031982, + 11.406070709228516 + ], + [ + 0.03580973297357559, + -0.9993520975112915, + -0.0036244511138647795, + -0.6495097279548645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 557, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662254_821543931", + "mask_path": "../../mask/hdr_right_00557.png" + }, + { + "file_path": "../../rgb/hdr_right_00558.png", + "transform_matrix": [ + [ + 0.9812136888504028, + 0.034121256321668625, + 0.1898828148841858, + -9.638151168823242 + ], + [ + -0.1896260678768158, + -0.010637927800416946, + 0.9817988276481628, + 11.42616081237793 + ], + [ + 0.03552016615867615, + -0.9993610978126526, + -0.003967801574617624, + -0.6595430374145508 + ], + [ + 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": "1731662254_921544790", + "mask_path": "../../mask/hdr_right_00558.png" + }, + { + "file_path": "../../rgb/hdr_right_00559.png", + "transform_matrix": [ + [ + 0.9818322062492371, + 0.03148350492119789, + 0.1871214061975479, + -9.713501930236816 + ], + [ + -0.1868779957294464, + -0.010527906939387321, + 0.9823267459869385, + 11.450278282165527 + ], + [ + 0.032897088676691055, + -0.999448835849762, + -0.0044530644081532955, + -0.6653949618339539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 559, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662255_21544218", + "mask_path": "../../mask/hdr_right_00559.png" + }, + { + "file_path": "../../rgb/hdr_right_00560.png", + "transform_matrix": [ + [ + 0.9817131757736206, + 0.03756841644644737, + 0.1866224706172943, + -9.791374206542969 + ], + [ + -0.18633994460105896, + -0.010917194187641144, + 0.9824247360229492, + 11.482232093811035 + ], + [ + 0.03894553706049919, + -0.9992344379425049, + -0.0037170557770878077, + -0.6657894849777222 + ], + [ + 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": "1731662255_121544122", + "mask_path": "../../mask/hdr_right_00560.png" + }, + { + "file_path": "../../rgb/hdr_right_00561.png", + "transform_matrix": [ + [ + 0.9822511076927185, + 0.0316278338432312, + 0.1848851442337036, + -9.862592697143555 + ], + [ + -0.18461762368679047, + -0.011203964240849018, + 0.9827465415000916, + 11.505656242370605 + ], + [ + 0.03315358981490135, + -0.9994369149208069, + -0.005166052840650082, + -0.6622066497802734 + ], + [ + 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": "1731662255_221544027", + "mask_path": "../../mask/hdr_right_00561.png" + }, + { + "file_path": "../../rgb/hdr_right_00562.png", + "transform_matrix": [ + [ + 0.9838223457336426, + 0.023432185873389244, + 0.17760808765888214, + -9.939713478088379 + ], + [ + -0.17741329967975616, + -0.010161717422306538, + 0.9840840101242065, + 11.529888153076172 + ], + [ + 0.024864040315151215, + -0.9996737837791443, + -0.005840144585818052, + -0.6595171689987183 + ], + [ + 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": "1731662255_321544170", + "mask_path": "../../mask/hdr_right_00562.png" + }, + { + "file_path": "../../rgb/hdr_right_00563.png", + "transform_matrix": [ + [ + 0.9876390099525452, + 0.029548531398177147, + 0.1539357751607895, + -10.035741806030273 + ], + [ + -0.15375758707523346, + -0.008224202319979668, + 0.9880743622779846, + 11.550750732421875 + ], + [ + 0.030462151393294334, + -0.9995295405387878, + -0.003579234005883336, + -0.6742582321166992 + ], + [ + 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": "1731662255_421543836", + "mask_path": "../../mask/hdr_right_00563.png" + }, + { + "file_path": "../../rgb/hdr_right_00564.png", + "transform_matrix": [ + [ + 0.991933286190033, + 0.031806621700525284, + 0.12270565330982208, + -10.112626075744629 + ], + [ + -0.12262231856584549, + -0.004562574904412031, + 0.9924429655075073, + 11.554682731628418 + ], + [ + 0.032126110047101974, + -0.9994836449623108, + -0.0006255676271393895, + -0.69009929895401 + ], + [ + 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": "1731662255_521543979", + "mask_path": "../../mask/hdr_right_00564.png" + }, + { + "file_path": "../../rgb/hdr_right_00565.png", + "transform_matrix": [ + [ + 0.9943954944610596, + 0.02907230332493782, + 0.10164865106344223, + -10.187971115112305 + ], + [ + -0.10152117908000946, + -0.005831926129758358, + 0.9948163032531738, + 11.57027530670166 + ], + [ + 0.029514409601688385, + -0.9995602965354919, + -0.0028477893210947514, + -0.6949567794799805 + ], + [ + 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": "1731662255_621544122", + "mask_path": "../../mask/hdr_right_00565.png" + }, + { + "file_path": "../../rgb/hdr_right_00566.png", + "transform_matrix": [ + [ + 0.9950112104415894, + 0.03457723185420036, + 0.09357938915491104, + -10.275411605834961 + ], + [ + -0.09334651380777359, + -0.008291063830256462, + 0.9955992102622986, + 11.606429100036621 + ], + [ + 0.03520093858242035, + -0.9993676543235779, + -0.00502203730866313, + -0.6908026933670044 + ], + [ + 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": "1731662255_721544027", + "mask_path": "../../mask/hdr_right_00566.png" + }, + { + "file_path": "../../rgb/hdr_right_00567.png", + "transform_matrix": [ + [ + 0.9951155781745911, + 0.030538447201251984, + 0.09387464076280594, + -10.340822219848633 + ], + [ + -0.0936674177646637, + -0.008148422464728355, + 0.9955702424049377, + 11.624700546264648 + ], + [ + 0.031168092042207718, + -0.9995004534721375, + -0.005248165223747492, + -0.6900431513786316 + ], + [ + 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": "1731662255_821543693", + "mask_path": "../../mask/hdr_right_00567.png" + }, + { + "file_path": "../../rgb/hdr_right_00568.png", + "transform_matrix": [ + [ + 0.995510458946228, + 0.02366599813103676, + 0.09164552390575409, + -10.415351867675781 + ], + [ + -0.09149117022752762, + -0.007525368127971888, + 0.9957776069641113, + 11.640006065368652 + ], + [ + 0.02425573021173477, + -0.9996916055679321, + -0.005326353013515472, + -0.691279947757721 + ], + [ + 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": "1731662255_921543836", + "mask_path": "../../mask/hdr_right_00568.png" + }, + { + "file_path": "../../rgb/hdr_right_00569.png", + "transform_matrix": [ + [ + 0.996410071849823, + 0.02953794039785862, + 0.07933850586414337, + -10.506131172180176 + ], + [ + -0.07919664680957794, + -0.005942606832832098, + 0.996841311454773, + 11.654836654663086 + ], + [ + 0.02991611883044243, + -0.9995459318161011, + -0.00358196790330112, + -0.7037778496742249 + ], + [ + 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": "1731662256_21543502", + "mask_path": "../../mask/hdr_right_00569.png" + }, + { + "file_path": "../../rgb/hdr_right_00570.png", + "transform_matrix": [ + [ + 0.9974414706230164, + 0.031774431467056274, + 0.06403875350952148, + -10.581485748291016 + ], + [ + -0.06391641497612, + -0.0048517645336687565, + 0.9979434609413147, + 11.660149574279785 + ], + [ + 0.032019782811403275, + -0.9994832277297974, + -0.002808443270623684, + -0.7149569392204285 + ], + [ + 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": "1731662256_121543884", + "mask_path": "../../mask/hdr_right_00570.png" + }, + { + "file_path": "../../rgb/hdr_right_00571.png", + "transform_matrix": [ + [ + 0.9980307817459106, + 0.03196330368518829, + 0.05397279933094978, + -10.658280372619629 + ], + [ + -0.05383709818124771, + -0.0050908783450722694, + 0.9985368251800537, + 11.664143562316895 + ], + [ + 0.03219129890203476, + -0.9994760751724243, + -0.003360043279826641, + -0.7179669141769409 + ], + [ + 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": "1731662256_221544027", + "mask_path": "../../mask/hdr_right_00571.png" + }, + { + "file_path": "../../rgb/hdr_right_00572.png", + "transform_matrix": [ + [ + 0.9978244304656982, + 0.04217952489852905, + 0.050669025629758835, + -10.742877006530762 + ], + [ + -0.05020035803318024, + -0.012097100727260113, + 0.9986659288406372, + 11.684043884277344 + ], + [ + 0.04273620620369911, + -0.9990368485450745, + -0.009953356347978115, + -0.7243902683258057 + ], + [ + 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": "1731662256_321543931", + "mask_path": "../../mask/hdr_right_00572.png" + }, + { + "file_path": "../../rgb/hdr_right_00573.png", + "transform_matrix": [ + [ + 0.9974362254142761, + 0.043649449944496155, + 0.05670697242021561, + -10.812824249267578 + ], + [ + -0.05618943274021149, + -0.012994705699384212, + 0.9983356595039368, + 11.70009994506836 + ], + [ + 0.04431368410587311, + -0.99896240234375, + -0.010508754290640354, + -0.7231349349021912 + ], + [ + 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": "1731662256_421544075", + "mask_path": "../../mask/hdr_right_00573.png" + }, + { + "file_path": "../../rgb/hdr_right_00574.png", + "transform_matrix": [ + [ + 0.9969869256019592, + 0.03711586445569992, + 0.06811348348855972, + -10.888643264770508 + ], + [ + -0.06760196387767792, + -0.014867361634969711, + 0.9976016283035278, + 11.718233108520508 + ], + [ + 0.03803951293230057, + -0.9992003440856934, + -0.012313460931181908, + -0.7248947620391846 + ], + [ + 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": "1731662256_521544456", + "mask_path": "../../mask/hdr_right_00574.png" + }, + { + "file_path": "../../rgb/hdr_right_00575.png", + "transform_matrix": [ + [ + 0.9968222975730896, + 0.038220785558223724, + 0.0698898658156395, + -10.998130798339844 + ], + [ + -0.0695163905620575, + -0.011016000993549824, + 0.9975199699401855, + 11.742680549621582 + ], + [ + 0.03889590501785278, + -0.9992085695266724, + -0.008324024267494678, + -0.7353724241256714 + ], + [ + 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": "1731662256_621544361", + "mask_path": "../../mask/hdr_right_00575.png" + }, + { + "file_path": "../../rgb/hdr_right_00576.png", + "transform_matrix": [ + [ + 0.9970940947532654, + 0.040868792682886124, + 0.064289890229702, + -11.082124710083008 + ], + [ + -0.06402357667684555, + -0.007793240249156952, + 0.9979180097579956, + 11.753034591674805 + ], + [ + 0.041284725069999695, + -0.9991341829299927, + -0.005154028069227934, + -0.751680314540863 + ], + [ + 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": "1731662256_721544265", + "mask_path": "../../mask/hdr_right_00576.png" + }, + { + "file_path": "../../rgb/hdr_right_00577.png", + "transform_matrix": [ + [ + 0.9972184300422668, + 0.03958561271429062, + 0.06315261125564575, + -11.165120124816895 + ], + [ + -0.06294011324644089, + -0.006592052057385445, + 0.9979956150054932, + 11.768075942993164 + ], + [ + 0.0399225689470768, + -0.9991944432258606, + -0.004082194529473782, + -0.7542566061019897 + ], + [ + 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": "1731662256_821544170", + "mask_path": "../../mask/hdr_right_00577.png" + }, + { + "file_path": "../../rgb/hdr_right_00578.png", + "transform_matrix": [ + [ + 0.9963604807853699, + 0.04991551488637924, + 0.06909626722335815, + -11.255681037902832 + ], + [ + -0.06883479654788971, + -0.006940003950148821, + 0.9976039528846741, + 11.791234970092773 + ], + [ + 0.05027544125914574, + -0.9987292885780334, + -0.003478820901364088, + -0.7576950788497925 + ], + [ + 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": "1731662256_921545028", + "mask_path": "../../mask/hdr_right_00578.png" + }, + { + "file_path": "../../rgb/hdr_right_00579.png", + "transform_matrix": [ + [ + 0.9955998063087463, + 0.047967199236154556, + 0.08049962669610977, + -11.338277816772461 + ], + [ + -0.08042946457862854, + -0.003393320133909583, + 0.99675452709198, + 11.816662788391113 + ], + [ + 0.04808467999100685, + -0.9988431930541992, + 0.000479586684377864, + -0.753642201423645 + ], + [ + 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": "1731662257_21543741", + "mask_path": "../../mask/hdr_right_00579.png" + }, + { + "file_path": "../../rgb/hdr_right_00580.png", + "transform_matrix": [ + [ + 0.9947790503501892, + 0.04147276282310486, + 0.0932450145483017, + -11.420183181762695 + ], + [ + -0.09332700073719025, + 4.119622099096887e-05, + 0.9956355690956116, + 11.837059020996094 + ], + [ + 0.04128791019320488, + -0.9991396069526672, + 0.003911506850272417, + -0.7546687126159668 + ], + [ + 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": "1731662257_121543884", + "mask_path": "../../mask/hdr_right_00580.png" + }, + { + "file_path": "../../rgb/hdr_right_00581.png", + "transform_matrix": [ + [ + 0.9943094849586487, + 0.043729089200496674, + 0.09714137762784958, + -11.526593208312988 + ], + [ + -0.09739970415830612, + 0.003811327274888754, + 0.9952380061149597, + 11.862103462219238 + ], + [ + 0.04315061867237091, + -0.9990361928939819, + 0.008048837073147297, + -0.7693960070610046 + ], + [ + 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": "1731662257_221544027", + "mask_path": "../../mask/hdr_right_00581.png" + }, + { + "file_path": "../../rgb/hdr_right_00582.png", + "transform_matrix": [ + [ + 0.9947038888931274, + 0.04524482786655426, + 0.09228803962469101, + -11.619994163513184 + ], + [ + -0.09257408231496811, + 0.0042643556371331215, + 0.9956966638565063, + 11.87728500366211 + ], + [ + 0.04465658217668533, + -0.9989668130874634, + 0.008430270478129387, + -0.7812506556510925 + ], + [ + 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": "1731662257_321543931", + "mask_path": "../../mask/hdr_right_00582.png" + }, + { + "file_path": "../../rgb/hdr_right_00583.png", + "transform_matrix": [ + [ + 0.9951639175415039, + 0.04194978252053261, + 0.08882032334804535, + -11.699346542358398 + ], + [ + -0.0890808254480362, + 0.004378891550004482, + 0.9960148334503174, + 11.894468307495117 + ], + [ + 0.041393667459487915, + -0.999110221862793, + 0.008094636723399162, + -0.7875723838806152 + ], + [ + 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": "1731662257_421543836", + "mask_path": "../../mask/hdr_right_00583.png" + }, + { + "file_path": "../../rgb/hdr_right_00584.png", + "transform_matrix": [ + [ + 0.9946497082710266, + 0.04667041823267937, + 0.09216225892305374, + -11.7909574508667 + ], + [ + -0.0922175720334053, + -0.0009702402749098837, + 0.9957383871078491, + 11.924164772033691 + ], + [ + 0.046560946851968765, + -0.9989098906517029, + 0.0033387832809239626, + -0.7903698086738586 + ], + [ + 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": "1731662257_521540880", + "mask_path": "../../mask/hdr_right_00584.png" + }, + { + "file_path": "../../rgb/hdr_right_00585.png", + "transform_matrix": [ + [ + 0.9938506484031677, + 0.04666195064783096, + 0.10041730105876923, + -11.874021530151367 + ], + [ + -0.10050220042467117, + -0.0005285623483359814, + 0.9949367046356201, + 11.955671310424805 + ], + [ + 0.046478766947984695, + -0.998910665512085, + 0.0041643171571195126, + -0.7870268225669861 + ], + [ + 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": "1731662257_621540307", + "mask_path": "../../mask/hdr_right_00585.png" + }, + { + "file_path": "../../rgb/hdr_right_00586.png", + "transform_matrix": [ + [ + 0.9935102462768555, + 0.03883352875709534, + 0.10690845549106598, + -11.954549789428711 + ], + [ + -0.1069549173116684, + -0.0008850904414430261, + 0.9942635297775269, + 11.979927062988281 + ], + [ + 0.038705386221408844, + -0.9992453455924988, + 0.003274088492617011, + -0.7895252704620361 + ], + [ + 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": "1731662257_721540689", + "mask_path": "../../mask/hdr_right_00586.png" + }, + { + "file_path": "../../rgb/hdr_right_00587.png", + "transform_matrix": [ + [ + 0.9935780763626099, + 0.037641361355781555, + 0.10670457780361176, + -12.05289077758789 + ], + [ + -0.1068246066570282, + 0.0011865603737533092, + 0.9942771792411804, + 12.003101348876953 + ], + [ + 0.03729933500289917, + -0.9992905855178833, + 0.005199963692575693, + -0.7997690439224243 + ], + [ + 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": "1731662257_821543931", + "mask_path": "../../mask/hdr_right_00587.png" + }, + { + "file_path": "../../rgb/hdr_right_00588.png", + "transform_matrix": [ + [ + 0.9945478439331055, + 0.042671602219343185, + 0.09515111893415451, + -12.148858070373535 + ], + [ + -0.09536080062389374, + 0.0029014889150857925, + 0.9954386949539185, + 12.021379470825195 + ], + [ + 0.042200878262519836, + -0.9990849494934082, + 0.006954868324100971, + -0.8145761489868164 + ], + [ + 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": "1731662257_921545028", + "mask_path": "../../mask/hdr_right_00588.png" + }, + { + "file_path": "../../rgb/hdr_right_00589.png", + "transform_matrix": [ + [ + 0.995620846748352, + 0.039091698825359344, + 0.0849180519580841, + -12.228974342346191 + ], + [ + -0.08514614403247833, + 0.004205385688692331, + 0.996359646320343, + 12.036425590515137 + ], + [ + 0.03859228640794754, + -0.9992267489433289, + 0.007515477482229471, + -0.8210170865058899 + ], + [ + 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": "1731662258_21544694", + "mask_path": "../../mask/hdr_right_00589.png" + }, + { + "file_path": "../../rgb/hdr_right_00590.png", + "transform_matrix": [ + [ + 0.9960972666740417, + 0.037789762020111084, + 0.07976347953081131, + -12.317204475402832 + ], + [ + -0.07980085164308548, + -0.0005197916179895401, + 0.9968107342720032, + 12.062263488769531 + ], + [ + 0.037710703909397125, + -0.9992855787277222, + 0.0024978916626423597, + -0.8267104029655457 + ], + [ + 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": "1731662258_121546745", + "mask_path": "../../mask/hdr_right_00590.png" + }, + { + "file_path": "../../rgb/hdr_right_00591.png", + "transform_matrix": [ + [ + 0.9957578182220459, + 0.043355442583560944, + 0.08115934580564499, + -12.404431343078613 + ], + [ + -0.08136585354804993, + 0.003017179202288389, + 0.9966797232627869, + 12.091912269592285 + ], + [ + 0.04296661913394928, + -0.9990551471710205, + 0.006532030645757914, + -0.8195123672485352 + ], + [ + 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": "1731662258_221544027", + "mask_path": "../../mask/hdr_right_00591.png" + }, + { + "file_path": "../../rgb/hdr_right_00592.png", + "transform_matrix": [ + [ + 0.9957043528556824, + 0.03726542741060257, + 0.08475878834724426, + -12.471292495727539 + ], + [ + -0.08480675518512726, + -0.0002938548568636179, + 0.9963974356651306, + 12.11435317993164 + ], + [ + 0.037156086415052414, + -0.9993053078651428, + 0.0028677661903202534, + -0.8185495734214783 + ], + [ + 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": "1731662258_321545600", + "mask_path": "../../mask/hdr_right_00592.png" + }, + { + "file_path": "../../rgb/hdr_right_00593.png", + "transform_matrix": [ + [ + 0.9960712790489197, + 0.0331464558839798, + 0.08211741596460342, + -12.564031600952148 + ], + [ + -0.08219286799430847, + 0.0009182134526781738, + 0.9966160655021667, + 12.130549430847168 + ], + [ + 0.03295889496803284, + -0.9994500875473022, + 0.003639007220044732, + -0.826164186000824 + ], + [ + 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": "1731662258_421544790", + "mask_path": "../../mask/hdr_right_00593.png" + }, + { + "file_path": "../../rgb/hdr_right_00594.png", + "transform_matrix": [ + [ + 0.9971792101860046, + 0.04252894967794418, + 0.06184505298733711, + -12.651442527770996 + ], + [ + -0.062046438455581665, + 0.003430983517318964, + 0.9980674982070923, + 12.140535354614258 + ], + [ + 0.04223456233739853, + -0.9990893602371216, + 0.006060074549168348, + -0.8387377262115479 + ], + [ + 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": "1731662258_521544933", + "mask_path": "../../mask/hdr_right_00594.png" + }, + { + "file_path": "../../rgb/hdr_right_00595.png", + "transform_matrix": [ + [ + 0.998217761516571, + 0.041945211589336395, + 0.042449478060007095, + -12.725714683532715 + ], + [ + -0.04264586791396141, + 0.003798118559643626, + 0.9990830421447754, + 12.14344310760498 + ], + [ + 0.04174552485346794, + -0.9991127252578735, + 0.005580137949436903, + -0.8467496633529663 + ], + [ + 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": "1731662258_621544599", + "mask_path": "../../mask/hdr_right_00595.png" + }, + { + "file_path": "../../rgb/hdr_right_00596.png", + "transform_matrix": [ + [ + 0.9987149238586426, + 0.04133707284927368, + 0.029321085661649704, + -12.809715270996094 + ], + [ + -0.029170414432883263, + -0.004243060946464539, + 0.9995654821395874, + 12.157395362854004 + ], + [ + 0.04144351929426193, + -0.9991362690925598, + -0.003031789092347026, + -0.8509454131126404 + ], + [ + 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": "1731662258_721544265", + "mask_path": "../../mask/hdr_right_00596.png" + }, + { + "file_path": "../../rgb/hdr_right_00597.png", + "transform_matrix": [ + [ + 0.998607337474823, + 0.046320896595716476, + 0.02525460161268711, + -12.894579887390137 + ], + [ + -0.025132909417152405, + -0.003206611145287752, + 0.9996790289878845, + 12.183609008789062 + ], + [ + 0.04638700932264328, + -0.9989214539527893, + -0.002037967322394252, + -0.8504012823104858 + ], + [ + 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": "1731662258_821543931", + "mask_path": "../../mask/hdr_right_00597.png" + }, + { + "file_path": "../../rgb/hdr_right_00598.png", + "transform_matrix": [ + [ + 0.9988735318183899, + 0.04201636090874672, + 0.022051895037293434, + -12.967093467712402 + ], + [ + -0.02175280451774597, + -0.007561864797025919, + 0.9997348785400391, + 12.193347930908203 + ], + [ + 0.04217197000980377, + -0.9990882873535156, + -0.006639372557401657, + -0.8503784537315369 + ], + [ + 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": "1731662258_921544551", + "mask_path": "../../mask/hdr_right_00598.png" + }, + { + "file_path": "../../rgb/hdr_right_00599.png", + "transform_matrix": [ + [ + 0.9992185235023499, + 0.037603672593832016, + 0.012179373763501644, + -13.061614990234375 + ], + [ + -0.011810900643467903, + -0.010005326941609383, + 0.9998801946640015, + 12.198338508605957 + ], + [ + 0.03772103041410446, + -0.9992426633834839, + -0.009553375653922558, + -0.8609110116958618 + ], + [ + 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": "1731662259_21544694", + "mask_path": "../../mask/hdr_right_00599.png" + }, + { + "file_path": "../../rgb/hdr_right_00600.png", + "transform_matrix": [ + [ + 0.9990110397338867, + 0.04333498328924179, + -0.009956046007573605, + -13.151293754577637 + ], + [ + 0.010255804285407066, + -0.006699591875076294, + 0.9999250769615173, + 12.194971084594727 + ], + [ + 0.04326502978801727, + -0.9990381002426147, + -0.007137401029467583, + -0.8766631484031677 + ], + [ + 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": "1731662259_121544599", + "mask_path": "../../mask/hdr_right_00600.png" + }, + { + "file_path": "../../rgb/hdr_right_00601.png", + "transform_matrix": [ + [ + 0.9985722303390503, + 0.04487530514597893, + -0.028981372714042664, + -13.226702690124512 + ], + [ + 0.029250094667077065, + -0.005342563614249229, + 0.9995579123497009, + 12.196675300598145 + ], + [ + 0.04470063000917435, + -0.9989783763885498, + -0.006647543050348759, + -0.8807586431503296 + ], + [ + 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": "1731662259_221545219", + "mask_path": "../../mask/hdr_right_00601.png" + }, + { + "file_path": "../../rgb/hdr_right_00602.png", + "transform_matrix": [ + [ + 0.9978824257850647, + 0.05256286635994911, + -0.03831052407622337, + -13.31576919555664 + ], + [ + 0.03884291276335716, + -0.009143768809735775, + 0.9992035031318665, + 12.207817077636719 + ], + [ + 0.05217069387435913, + -0.9985758066177368, + -0.011166103184223175, + -0.884458065032959 + ], + [ + 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": "1731662259_321543931", + "mask_path": "../../mask/hdr_right_00602.png" + }, + { + "file_path": "../../rgb/hdr_right_00603.png", + "transform_matrix": [ + [ + 0.997992753982544, + 0.05298043414950371, + -0.034692153334617615, + -13.388891220092773 + ], + [ + 0.03522825241088867, + -0.009218457154929638, + 0.999336838722229, + 12.220043182373047 + ], + [ + 0.05262548848986626, + -0.9985530376434326, + -0.01106636319309473, + -0.8825401067733765 + ], + [ + 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": "1731662259_421544313", + "mask_path": "../../mask/hdr_right_00603.png" + }, + { + "file_path": "../../rgb/hdr_right_00604.png", + "transform_matrix": [ + [ + 0.9985964298248291, + 0.046844232827425, + -0.024715600535273552, + -13.468819618225098 + ], + [ + 0.025314683094620705, + -0.012238407507538795, + 0.9996045827865601, + 12.233513832092285 + ], + [ + 0.046523239463567734, + -0.9988272190093994, + -0.013407077640295029, + -0.8792396783828735 + ], + [ + 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": "1731662259_521544694", + "mask_path": "../../mask/hdr_right_00604.png" + }, + { + "file_path": "../../rgb/hdr_right_00605.png", + "transform_matrix": [ + [ + 0.9985682964324951, + 0.04686211794614792, + -0.02579481713473797, + -13.567572593688965 + ], + [ + 0.026319658383727074, + -0.010617153719067574, + 0.9995971918106079, + 12.238658905029297 + ], + [ + 0.046569373458623886, + -0.9988449811935425, + -0.01183534786105156, + -0.896112322807312 + ], + [ + 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": "1731662259_621546983", + "mask_path": "../../mask/hdr_right_00605.png" + }, + { + "file_path": "../../rgb/hdr_right_00606.png", + "transform_matrix": [ + [ + 0.9983366131782532, + 0.04832824319601059, + -0.03144008666276932, + -13.64883804321289 + ], + [ + 0.03194764629006386, + -0.009764911606907845, + 0.999441921710968, + 12.241996765136719 + ], + [ + 0.047994259744882584, + -0.9987837672233582, + -0.01129264198243618, + -0.910996675491333 + ], + [ + 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": "1731662259_721544981", + "mask_path": "../../mask/hdr_right_00606.png" + }, + { + "file_path": "../../rgb/hdr_right_00607.png", + "transform_matrix": [ + [ + 0.9983245134353638, + 0.048859938979148865, + -0.030997589230537415, + -13.723877906799316 + ], + [ + 0.03135756775736809, + -0.006617569364607334, + 0.9994863271713257, + 12.255071640014648 + ], + [ + 0.04862971603870392, + -0.9987837076187134, + -0.008138611912727356, + -0.9184097051620483 + ], + [ + 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": "1731662259_821544647", + "mask_path": "../../mask/hdr_right_00607.png" + }, + { + "file_path": "../../rgb/hdr_right_00608.png", + "transform_matrix": [ + [ + 0.9978280663490295, + 0.061945073306560516, + -0.022406520321965218, + -13.79992961883545 + ], + [ + 0.022676954045891762, + -0.003665681229904294, + 0.9997362494468689, + 12.270930290222168 + ], + [ + 0.061846598982810974, + -0.9980728626251221, + -0.005062443669885397, + -0.9180325865745544 + ], + [ + 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": "1731662259_921544551", + "mask_path": "../../mask/hdr_right_00608.png" + }, + { + "file_path": "../../rgb/hdr_right_00609.png", + "transform_matrix": [ + [ + 0.9982143044471741, + 0.05908655747771263, + -0.008767087943851948, + -13.869261741638184 + ], + [ + 0.008881108835339546, + -0.0016666034935042262, + 0.9999592304229736, + 12.289355278015137 + ], + [ + 0.05906954035162926, + -0.9982514977455139, + -0.0021883805748075247, + -0.9157325029373169 + ], + [ + 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": "1731662260_21544694", + "mask_path": "../../mask/hdr_right_00609.png" + }, + { + "file_path": "../../rgb/hdr_right_00610.png", + "transform_matrix": [ + [ + 0.9983447194099426, + 0.057512570172548294, + -0.0003237902419641614, + -13.938526153564453 + ], + [ + 0.0003391220816411078, + -0.0002566363546065986, + 1.0, + 12.299188613891602 + ], + [ + 0.05751248449087143, + -0.9983447194099426, + -0.0002757153124548495, + -0.91993647813797 + ], + [ + 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": "1731662260_121543884", + "mask_path": "../../mask/hdr_right_00610.png" + }, + { + "file_path": "../../rgb/hdr_right_00611.png", + "transform_matrix": [ + [ + 0.9979801774024963, + 0.06312024593353271, + -0.007158544845879078, + -14.026167869567871 + ], + [ + 0.007146988529711962, + 0.0004091458104085177, + 0.9999743700027466, + 12.305781364440918 + ], + [ + 0.06312155723571777, + -0.9980058073997498, + -4.2799340008059517e-05, + -0.9385662078857422 + ], + [ + 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": "1731662260_221545219", + "mask_path": "../../mask/hdr_right_00611.png" + }, + { + "file_path": "../../rgb/hdr_right_00612.png", + "transform_matrix": [ + [ + 0.998014509677887, + 0.061861552298069, + -0.011843298561871052, + -14.104656219482422 + ], + [ + 0.011815063655376434, + 0.0008227892685681581, + 0.9999298453330994, + 12.31119155883789 + ], + [ + 0.06186694651842117, + -0.9980843663215637, + 9.025829785969108e-05, + -0.9511235356330872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 612, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662260_321545124", + "mask_path": "../../mask/hdr_right_00612.png" + }, + { + "file_path": "../../rgb/hdr_right_00613.png", + "transform_matrix": [ + [ + 0.9979095458984375, + 0.06393987685441971, + -0.009390314109623432, + -14.18812370300293 + ], + [ + 0.009599059820175171, + -0.0029580877162516117, + 0.9999496340751648, + 12.33284854888916 + ], + [ + 0.0639088824391365, + -0.9979494214057922, + -0.0035656678956001997, + -0.9547514319419861 + ], + [ + 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": "1731662260_421544313", + "mask_path": "../../mask/hdr_right_00613.png" + }, + { + "file_path": "../../rgb/hdr_right_00614.png", + "transform_matrix": [ + [ + 0.9977790117263794, + 0.06652939319610596, + -0.0033047597389668226, + -14.262481689453125 + ], + [ + 0.003288330975919962, + 0.0003569369437173009, + 0.9999945163726807, + 12.353052139282227 + ], + [ + 0.06653020530939102, + -0.9977843761444092, + 0.00013737358676735312, + -0.9535613059997559 + ], + [ + 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": "1731662260_521546363", + "mask_path": "../../mask/hdr_right_00614.png" + }, + { + "file_path": "../../rgb/hdr_right_00615.png", + "transform_matrix": [ + [ + 0.9981417655944824, + 0.060907866805791855, + 0.0017861288506537676, + -14.34282398223877 + ], + [ + -0.00175097503233701, + -0.0006303244736045599, + 0.9999982714653015, + 12.364285469055176 + ], + [ + 0.060908883810043335, + -0.998143196105957, + -0.0005225070053711534, + -0.949273943901062 + ], + [ + 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": "1731662260_621545314", + "mask_path": "../../mask/hdr_right_00615.png" + }, + { + "file_path": "../../rgb/hdr_right_00616.png", + "transform_matrix": [ + [ + 0.9982804656028748, + 0.05843259021639824, + -0.004671968519687653, + -14.439789772033691 + ], + [ + 0.004826352000236511, + -0.0025008029770106077, + 0.9999852776527405, + 12.371034622192383 + ], + [ + 0.05842004716396332, + -0.9982882142066956, + -0.0027785201091319323, + -0.9612060189247131 + ], + [ + 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": "1731662260_721544742", + "mask_path": "../../mask/hdr_right_00616.png" + }, + { + "file_path": "../../rgb/hdr_right_00617.png", + "transform_matrix": [ + [ + 0.9979816675186157, + 0.0596732497215271, + -0.021718809381127357, + -14.52749252319336 + ], + [ + 0.021732943132519722, + 0.00041278006392531097, + 0.9997637867927551, + 12.371647834777832 + ], + [ + 0.05966811627149582, + -0.9982178211212158, + -0.000884927052538842, + -0.977509081363678 + ], + [ + 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": "1731662260_821544647", + "mask_path": "../../mask/hdr_right_00617.png" + }, + { + "file_path": "../../rgb/hdr_right_00618.png", + "transform_matrix": [ + [ + 0.9978444576263428, + 0.05744409188628197, + -0.03172783553600311, + -14.597548484802246 + ], + [ + 0.03181160241365433, + -0.0005436788778752089, + 0.9994937777519226, + 12.37869930267334 + ], + [ + 0.0573977567255497, + -0.998348593711853, + -0.002369893714785576, + -0.9888283014297485 + ], + [ + 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": "1731662260_921544790", + "mask_path": "../../mask/hdr_right_00618.png" + }, + { + "file_path": "../../rgb/hdr_right_00619.png", + "transform_matrix": [ + [ + 0.9974682331085205, + 0.06428291648626328, + -0.03041050024330616, + -14.68065071105957 + ], + [ + 0.030464347451925278, + 0.00014287538942880929, + 0.9995359182357788, + 12.395773887634277 + ], + [ + 0.0642574280500412, + -0.9979316592216492, + -0.0018158226739615202, + -0.9925065040588379 + ], + [ + 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": "1731662261_21544456", + "mask_path": "../../mask/hdr_right_00619.png" + }, + { + "file_path": "../../rgb/hdr_right_00620.png", + "transform_matrix": [ + [ + 0.9977977871894836, + 0.06364751607179642, + -0.01866958476603031, + -14.75550651550293 + ], + [ + 0.018625440075993538, + 0.0012875024694949389, + 0.9998257160186768, + 12.410750389099121 + ], + [ + 0.06366045773029327, + -0.9979715943336487, + 9.920470620272681e-05, + -0.9889509677886963 + ], + [ + 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": "1731662261_121545076", + "mask_path": "../../mask/hdr_right_00620.png" + }, + { + "file_path": "../../rgb/hdr_right_00621.png", + "transform_matrix": [ + [ + 0.998104989528656, + 0.06039984151721001, + -0.01176362857222557, + -14.843221664428711 + ], + [ + 0.011862442828714848, + -0.0012778003001585603, + 0.9999288320541382, + 12.421374320983887 + ], + [ + 0.06038050726056099, + -0.9981734752655029, + -0.0019918677862733603, + -0.9971264004707336 + ], + [ + 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": "1731662261_221544504", + "mask_path": "../../mask/hdr_right_00621.png" + }, + { + "file_path": "../../rgb/hdr_right_00622.png", + "transform_matrix": [ + [ + 0.998196542263031, + 0.0574168935418129, + -0.01752479188144207, + -14.92184829711914 + ], + [ + 0.017841730266809464, + -0.005011992063373327, + 0.9998282194137573, + 12.424335479736328 + ], + [ + 0.05731919780373573, + -0.9983377456665039, + -0.006027369759976864, + -1.0103936195373535 + ], + [ + 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": "1731662261_321544170", + "mask_path": "../../mask/hdr_right_00622.png" + }, + { + "file_path": "../../rgb/hdr_right_00623.png", + "transform_matrix": [ + [ + 0.9981011748313904, + 0.05737006291747093, + -0.02242281287908554, + -14.996689796447754 + ], + [ + 0.02264305017888546, + -0.0031913057900965214, + 0.9997385740280151, + 12.433249473571777 + ], + [ + 0.05728350579738617, + -0.9983479380607605, + -0.0044842795468866825, + -1.0206706523895264 + ], + [ + 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": "1731662261_421544313", + "mask_path": "../../mask/hdr_right_00623.png" + }, + { + "file_path": "../../rgb/hdr_right_00624.png", + "transform_matrix": [ + [ + 0.9979198575019836, + 0.06066961959004402, + -0.021797269582748413, + -15.077622413635254 + ], + [ + 0.021784735843539238, + 0.0008687945664860308, + 0.9997624158859253, + 12.448046684265137 + ], + [ + 0.060674138367176056, + -0.9981575608253479, + -0.0004546809650491923, + -1.0163187980651855 + ], + [ + 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": "1731662261_521544218", + "mask_path": "../../mask/hdr_right_00624.png" + }, + { + "file_path": "../../rgb/hdr_right_00625.png", + "transform_matrix": [ + [ + 0.998136579990387, + 0.05904918164014816, + -0.01538439653813839, + -15.145097732543945 + ], + [ + 0.015208366326987743, + 0.00342963682487607, + 0.9998785257339478, + 12.46568775177002 + ], + [ + 0.05909476801753044, + -0.9982491731643677, + 0.002525204559788108, + -1.0190216302871704 + ], + [ + 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": "1731662261_621544837", + "mask_path": "../../mask/hdr_right_00625.png" + }, + { + "file_path": "../../rgb/hdr_right_00626.png", + "transform_matrix": [ + [ + 0.9985634684562683, + 0.05177560821175575, + -0.013795597478747368, + -15.215044975280762 + ], + [ + 0.013824492692947388, + -0.00019949125999119133, + 0.9999045133590698, + 12.479756355285645 + ], + [ + 0.05176791176199913, + -0.9986587166786194, + -0.0009149762918241322, + -1.025618314743042 + ], + [ + 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": "1731662261_721544027", + "mask_path": "../../mask/hdr_right_00626.png" + }, + { + "file_path": "../../rgb/hdr_right_03913.png", + "transform_matrix": [ + [ + -0.995110034942627, + 0.04496888816356659, + -0.08794230967760086, + -14.678031921386719 + ], + [ + 0.08577194064855576, + -0.04811061918735504, + -0.9951525926589966, + 12.520071983337402 + ], + [ + -0.048981860280036926, + -0.9978291988372803, + 0.04401828348636627, + -1.0157607793807983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3913, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_421544075", + "mask_path": "../../mask/hdr_right_03913.png" + }, + { + "file_path": "../../rgb/hdr_right_03914.png", + "transform_matrix": [ + [ + -0.9954665303230286, + 0.04132595658302307, + -0.08566496521234512, + -14.609017372131348 + ], + [ + 0.08349863439798355, + -0.051572710275650024, + -0.9951725602149963, + 12.50053882598877 + ], + [ + -0.04554443433880806, + -0.9978138208389282, + 0.04788824915885925, + -1.0176465511322021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3914, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_521544218", + "mask_path": "../../mask/hdr_right_03914.png" + }, + { + "file_path": "../../rgb/hdr_right_03915.png", + "transform_matrix": [ + [ + -0.9952630400657654, + 0.04217508062720299, + -0.08759456127882004, + -14.53539752960205 + ], + [ + 0.08521389216184616, + -0.05527610704302788, + -0.9948282241821289, + 12.473470687866211 + ], + [ + -0.04679884761571884, + -0.9975799918174744, + 0.051420364528894424, + -1.0070886611938477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3915, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_621545553", + "mask_path": "../../mask/hdr_right_03915.png" + }, + { + "file_path": "../../rgb/hdr_right_03916.png", + "transform_matrix": [ + [ + -0.9944356083869934, + 0.040812745690345764, + -0.09711944311857224, + -14.46108627319336 + ], + [ + 0.09482625126838684, + -0.05480162799358368, + -0.9939842820167542, + 12.443206787109375 + ], + [ + -0.045889534056186676, + -0.9976628422737122, + 0.05062657222151756, + -0.9868968725204468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3916, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_721545457", + "mask_path": "../../mask/hdr_right_03916.png" + }, + { + "file_path": "../../rgb/hdr_right_03917.png", + "transform_matrix": [ + [ + -0.992922842502594, + 0.04950936511158943, + -0.10794954746961594, + -14.400965690612793 + ], + [ + 0.10570116341114044, + -0.045987654477357864, + -0.9933339953422546, + 12.425826072692871 + ], + [ + -0.05414367467164993, + -0.9977143406867981, + 0.04042899236083031, + -0.9817258715629578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3917, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_821544647", + "mask_path": "../../mask/hdr_right_03917.png" + }, + { + "file_path": "../../rgb/hdr_right_03918.png", + "transform_matrix": [ + [ + -0.99196457862854, + 0.055347442626953125, + -0.11376673728227615, + -14.331904411315918 + ], + [ + 0.11163514852523804, + -0.040199972689151764, + -0.992935836315155, + 12.409500122070312 + ], + [ + -0.059529878199100494, + -0.9976575374603271, + 0.03369823470711708, + -0.973937451839447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3918, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662590_921543359", + "mask_path": "../../mask/hdr_right_03918.png" + }, + { + "file_path": "../../rgb/hdr_right_03919.png", + "transform_matrix": [ + [ + -0.9927354454994202, + 0.052574120461940765, + -0.10822337120771408, + -14.250563621520996 + ], + [ + 0.10626822710037231, + -0.03866766393184662, + -0.9935854077339172, + 12.395861625671387 + ], + [ + -0.05642161890864372, + -0.9978681802749634, + 0.03279980272054672, + -0.9731094241142273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3919, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_21544218", + "mask_path": "../../mask/hdr_right_03919.png" + }, + { + "file_path": "../../rgb/hdr_right_03920.png", + "transform_matrix": [ + [ + -0.9933218359947205, + 0.05012338608503342, + -0.10392142087221146, + -14.190593719482422 + ], + [ + 0.10196774452924728, + -0.04008115455508232, + -0.9939799904823303, + 12.37984848022461 + ], + [ + -0.05398692563176155, + -0.9979385137557983, + 0.03470251336693764, + -0.9762855768203735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3920, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_121544361", + "mask_path": "../../mask/hdr_right_03920.png" + }, + { + "file_path": "../../rgb/hdr_right_03921.png", + "transform_matrix": [ + [ + -0.9932319521903992, + 0.04784082993865013, + -0.10583796352148056, + -14.133066177368164 + ], + [ + 0.10383541136980057, + -0.04257287457585335, + -0.9936829805374146, + 12.35771369934082 + ], + [ + -0.05204444006085396, + -0.9979473352432251, + 0.03731716796755791, + -0.9747442603111267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3921, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_221544981", + "mask_path": "../../mask/hdr_right_03921.png" + }, + { + "file_path": "../../rgb/hdr_right_03922.png", + "transform_matrix": [ + [ + -0.9924449324607849, + 0.0419338084757328, + -0.11530257761478424, + -14.073715209960938 + ], + [ + 0.11344678699970245, + -0.04423500970005989, + -0.9925588369369507, + 12.330343246459961 + ], + [ + -0.046722184866666794, + -0.9981406927108765, + 0.03914355859160423, + -0.9569587707519531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3922, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_321544647", + "mask_path": "../../mask/hdr_right_03922.png" + }, + { + "file_path": "../../rgb/hdr_right_03923.png", + "transform_matrix": [ + [ + -0.9905554056167603, + 0.0502849705517292, + -0.1275593638420105, + -14.014083862304688 + ], + [ + 0.1258278638124466, + -0.03622649982571602, + -0.9913904666900635, + 12.309341430664062 + ], + [ + -0.054473064839839935, + -0.9980776906013489, + 0.029557108879089355, + -0.9447097182273865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3923, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_421544075", + "mask_path": "../../mask/hdr_right_03923.png" + }, + { + "file_path": "../../rgb/hdr_right_03924.png", + "transform_matrix": [ + [ + -0.9892756342887878, + 0.05714922770857811, + -0.13441577553749084, + -13.954747200012207 + ], + [ + 0.13290907442569733, + -0.029412172734737396, + -0.9906917810440063, + 12.2899808883667 + ], + [ + -0.06057072803378105, + -0.9979323148727417, + 0.021501094102859497, + -0.9333710670471191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3924, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_521544694", + "mask_path": "../../mask/hdr_right_03924.png" + }, + { + "file_path": "../../rgb/hdr_right_03925.png", + "transform_matrix": [ + [ + -0.9898088574409485, + 0.051979146897792816, + -0.13257664442062378, + -13.888651847839355 + ], + [ + 0.13118179142475128, + -0.029401127249002457, + -0.990922212600708, + 12.273680686950684 + ], + [ + -0.05540519952774048, + -0.9982152581214905, + 0.022282781079411507, + -0.9293828010559082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3925, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_621545314", + "mask_path": "../../mask/hdr_right_03925.png" + }, + { + "file_path": "../../rgb/hdr_right_03926.png", + "transform_matrix": [ + [ + -0.990702211856842, + 0.04677332937717438, + -0.12775497138500214, + -13.834497451782227 + ], + [ + 0.12615425884723663, + -0.035721439868211746, + -0.9913672804832458, + 12.26198959350586 + ], + [ + -0.05093314126133919, + -0.9982665777206421, + 0.02948865294456482, + -0.9372714757919312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3926, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_721545457", + "mask_path": "../../mask/hdr_right_03926.png" + }, + { + "file_path": "../../rgb/hdr_right_03927.png", + "transform_matrix": [ + [ + -0.9908881783485413, + 0.0442298986017704, + -0.12721756100654602, + -13.78421401977539 + ], + [ + 0.12576699256896973, + -0.03417313098907471, + -0.9914711117744446, + 12.247476577758789 + ], + [ + -0.048200082033872604, + -0.9984367489814758, + 0.02829909324645996, + -0.9406688809394836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3927, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_821544170", + "mask_path": "../../mask/hdr_right_03927.png" + }, + { + "file_path": "../../rgb/hdr_right_03928.png", + "transform_matrix": [ + [ + -0.9903812408447266, + 0.03967707231640816, + -0.1325548142194748, + -13.73039722442627 + ], + [ + 0.13125528395175934, + -0.033748749643564224, + -0.9907740354537964, + 12.221485137939453 + ], + [ + -0.043784573674201965, + -0.9986425042152405, + 0.028216300532221794, + -0.9260537624359131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3928, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662591_921545028", + "mask_path": "../../mask/hdr_right_03928.png" + }, + { + "file_path": "../../rgb/hdr_right_03929.png", + "transform_matrix": [ + [ + -0.988341748714447, + 0.045416608452796936, + -0.14531992375850677, + -13.680721282958984 + ], + [ + 0.14384913444519043, + -0.03414562717080116, + -0.9890103340148926, + 12.197798728942871 + ], + [ + -0.0498795360326767, + -0.998384416103363, + 0.0272144116461277, + -0.9122284650802612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3929, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_21544456", + "mask_path": "../../mask/hdr_right_03929.png" + }, + { + "file_path": "../../rgb/hdr_right_03931.png", + "transform_matrix": [ + [ + -0.9854264259338379, + 0.051859308034181595, + -0.16200445592403412, + -13.58005428314209 + ], + [ + 0.16089144349098206, + -0.02498883567750454, + -0.9866557717323303, + 12.15804386138916 + ], + [ + -0.055215589702129364, + -0.9983416795730591, + 0.016280939802527428, + -0.8933858871459961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3931, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_221544504", + "mask_path": "../../mask/hdr_right_03931.png" + }, + { + "file_path": "../../rgb/hdr_right_03932.png", + "transform_matrix": [ + [ + -0.9864731431007385, + 0.04730407893657684, + -0.15694957971572876, + -13.524272918701172 + ], + [ + 0.15563857555389404, + -0.030250918120145798, + -0.9873507618904114, + 12.145495414733887 + ], + [ + -0.051453590393066406, + -0.998422384262085, + 0.022479377686977386, + -0.9013977646827698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3932, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_321545362", + "mask_path": "../../mask/hdr_right_03932.png" + }, + { + "file_path": "../../rgb/hdr_right_03933.png", + "transform_matrix": [ + [ + -0.9871686697006226, + 0.04284154996275902, + -0.1538265347480774, + -13.473335266113281 + ], + [ + 0.15250349044799805, + -0.03262379392981529, + -0.9877644181251526, + 12.134961128234863 + ], + [ + -0.04733576625585556, + -0.9985491037368774, + 0.0256717000156641, + -0.9090459942817688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3933, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_421544313", + "mask_path": "../../mask/hdr_right_03933.png" + }, + { + "file_path": "../../rgb/hdr_right_03934.png", + "transform_matrix": [ + [ + -0.9870883226394653, + 0.04090263321995735, + -0.1548665463924408, + -13.4136381149292 + ], + [ + 0.15365661680698395, + -0.03125034645199776, + -0.9876300692558289, + 12.11448860168457 + ], + [ + -0.04523630067706108, + -0.9986743330955505, + 0.024561895057559013, + -0.904621958732605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3934, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_521544694", + "mask_path": "../../mask/hdr_right_03934.png" + }, + { + "file_path": "../../rgb/hdr_right_03935.png", + "transform_matrix": [ + [ + -0.9862383008003235, + 0.036753635853528976, + -0.16119343042373657, + -13.36010456085205 + ], + [ + 0.16009457409381866, + -0.031119244173169136, + -0.9866111278533936, + 12.08493709564209 + ], + [ + -0.04127775505185127, + -0.998839795589447, + 0.024806933477520943, + -0.8887090682983398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3935, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_621544837", + "mask_path": "../../mask/hdr_right_03935.png" + }, + { + "file_path": "../../rgb/hdr_right_03936.png", + "transform_matrix": [ + [ + -0.9843671321868896, + 0.04442853108048439, + -0.1704331487417221, + -13.312368392944336 + ], + [ + 0.1694013774394989, + -0.026064474135637283, + -0.985202431678772, + 12.061322212219238 + ], + [ + -0.04821334779262543, + -0.9986724853515625, + 0.01813075877726078, + -0.8817238807678223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3936, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_721544981", + "mask_path": "../../mask/hdr_right_03936.png" + }, + { + "file_path": "../../rgb/hdr_right_03937.png", + "transform_matrix": [ + [ + -0.9827327728271484, + 0.05013900250196457, + -0.17810773849487305, + -13.258210182189941 + ], + [ + 0.17722953855991364, + -0.021483536809682846, + -0.9839349985122681, + 12.034951210021973 + ], + [ + -0.05315990373492241, + -0.9985111355781555, + 0.012226463295519352, + -0.8774759769439697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3937, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_821544170", + "mask_path": "../../mask/hdr_right_03937.png" + }, + { + "file_path": "../../rgb/hdr_right_03938.png", + "transform_matrix": [ + [ + -0.982135534286499, + 0.05239659175276756, + -0.18073312938213348, + -13.186373710632324 + ], + [ + 0.1799827218055725, + -0.018741324543952942, + -0.9834912419319153, + 12.009995460510254 + ], + [ + -0.054918766021728516, + -0.9984504580497742, + 0.008976035751402378, + -0.8695070743560791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3938, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662592_921544075", + "mask_path": "../../mask/hdr_right_03938.png" + }, + { + "file_path": "../../rgb/hdr_right_03939.png", + "transform_matrix": [ + [ + -0.9830266833305359, + 0.05057568475604057, + -0.17635370790958405, + -13.116216659545898 + ], + [ + 0.1752651482820511, + -0.025240624323487282, + -0.9841976761817932, + 11.992716789245605 + ], + [ + -0.05422774329781532, + -0.9984012246131897, + 0.01594804972410202, + -0.8653690814971924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3939, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_21544694", + "mask_path": "../../mask/hdr_right_03939.png" + }, + { + "file_path": "../../rgb/hdr_right_03940.png", + "transform_matrix": [ + [ + -0.983477771282196, + 0.04711637273430824, + -0.17478987574577332, + -13.061201095581055 + ], + [ + 0.17379702627658844, + -0.024435315281152725, + -0.984478235244751, + 11.978278160095215 + ], + [ + -0.050656091421842575, + -0.9985904693603516, + 0.015842905268073082, + -0.8716220259666443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3940, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_121544599", + "mask_path": "../../mask/hdr_right_03940.png" + }, + { + "file_path": "../../rgb/hdr_right_03941.png", + "transform_matrix": [ + [ + -0.983423113822937, + 0.03991337865591049, + -0.17687822878360748, + -13.003177642822266 + ], + [ + 0.17593544721603394, + -0.026039911434054375, + -0.9840572476387024, + 11.95966911315918 + ], + [ + -0.04388294368982315, + -0.9988637566566467, + 0.018586067482829094, + -0.8713709115982056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3941, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_221545219", + "mask_path": "../../mask/hdr_right_03941.png" + }, + { + "file_path": "../../rgb/hdr_right_03942.png", + "transform_matrix": [ + [ + -0.981689989566803, + 0.04143339768052101, + -0.18592526018619537, + -12.945475578308105 + ], + [ + 0.1849387288093567, + -0.02652433142066002, + -0.9823920130729675, + 11.931608200073242 + ], + [ + -0.04563538730144501, + -0.9987891316413879, + 0.018376030027866364, + -0.8567981719970703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3942, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_321544885", + "mask_path": "../../mask/hdr_right_03942.png" + }, + { + "file_path": "../../rgb/hdr_right_03943.png", + "transform_matrix": [ + [ + -0.9796092510223389, + 0.04879310727119446, + -0.1948976069688797, + -12.888651847839355 + ], + [ + 0.19403518736362457, + -0.02187296189367771, + -0.9807507395744324, + 11.904495239257812 + ], + [ + -0.05211685970425606, + -0.9985693693161011, + 0.011959374882280827, + -0.845684289932251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3943, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_421545267", + "mask_path": "../../mask/hdr_right_03943.png" + }, + { + "file_path": "../../rgb/hdr_right_03944.png", + "transform_matrix": [ + [ + -0.9790220856666565, + 0.048975929617881775, + -0.19778010249137878, + -12.812845230102539 + ], + [ + 0.19698715209960938, + -0.020568573847413063, + -0.9801903367042542, + 11.880148887634277 + ], + [ + -0.05207378417253494, + -0.9985881447792053, + 0.010489458218216896, + -0.8402032852172852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3944, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_521544694", + "mask_path": "../../mask/hdr_right_03944.png" + }, + { + "file_path": "../../rgb/hdr_right_03945.png", + "transform_matrix": [ + [ + -0.9805668592453003, + 0.046718746423721313, + -0.1905413717031479, + -12.736505508422852 + ], + [ + 0.18951956927776337, + -0.025443674996495247, + -0.9815472960472107, + 11.858011245727539 + ], + [ + -0.05070473253726959, + -0.998583972454071, + 0.016095109283924103, + -0.8389744758605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3945, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_621544837", + "mask_path": "../../mask/hdr_right_03945.png" + }, + { + "file_path": "../../rgb/hdr_right_03946.png", + "transform_matrix": [ + [ + -0.9811905026435852, + 0.04267893731594086, + -0.18826507031917572, + -12.683231353759766 + ], + [ + 0.1872044801712036, + -0.027651946991682053, + -0.9819316864013672, + 11.83298397064209 + ], + [ + -0.04711369797587395, + -0.9987061619758606, + 0.019142137840390205, + -0.8441363573074341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3946, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_721546173", + "mask_path": "../../mask/hdr_right_03946.png" + }, + { + "file_path": "../../rgb/hdr_right_03947.png", + "transform_matrix": [ + [ + -0.9804624915122986, + 0.03942674770951271, + -0.19271473586559296, + -12.623043060302734 + ], + [ + 0.19153669476509094, + -0.031779468059539795, + -0.9809708595275879, + 11.79861068725586 + ], + [ + -0.044800855219364166, + -0.9987169504165649, + 0.023606907576322556, + -0.8362833857536316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3947, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_821543693", + "mask_path": "../../mask/hdr_right_03947.png" + }, + { + "file_path": "../../rgb/hdr_right_03948.png", + "transform_matrix": [ + [ + -0.9775394201278687, + 0.04253542050719261, + -0.20641614496707916, + -12.562051773071289 + ], + [ + 0.20507167279720306, + -0.033907271921634674, + -0.978159487247467, + 11.763917922973633 + ], + [ + -0.048605430871248245, + -0.9985194206237793, + 0.02442287839949131, + -0.8237619400024414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3948, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662593_921543598", + "mask_path": "../../mask/hdr_right_03948.png" + }, + { + "file_path": "../../rgb/hdr_right_03949.png", + "transform_matrix": [ + [ + -0.97434401512146, + 0.047891076654195786, + -0.2199094593524933, + -12.501351356506348 + ], + [ + 0.2186238169670105, + -0.030669275671243668, + -0.9753271341323853, + 11.734322547912598 + ], + [ + -0.053453925997018814, + -0.9983816742897034, + 0.019412294030189514, + -0.8172227740287781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3949, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_21544933", + "mask_path": "../../mask/hdr_right_03949.png" + }, + { + "file_path": "../../rgb/hdr_right_03950.png", + "transform_matrix": [ + [ + -0.9727830290794373, + 0.04622888192534447, + -0.22705930471420288, + -12.429086685180664 + ], + [ + 0.2258867621421814, + -0.029247209429740906, + -0.9737144708633423, + 11.706583023071289 + ], + [ + -0.05165458098053932, + -0.9985026717185974, + 0.018008699640631676, + -0.8128913640975952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3950, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_121544599", + "mask_path": "../../mask/hdr_right_03950.png" + }, + { + "file_path": "../../rgb/hdr_right_03951.png", + "transform_matrix": [ + [ + -0.9743943214416504, + 0.038457948714494705, + -0.22153271734714508, + -12.360857963562012 + ], + [ + 0.22031176090240479, + -0.0335683636367321, + -0.9748517870903015, + 11.685346603393555 + ], + [ + -0.044927287846803665, + -0.9986961483955383, + 0.024236083030700684, + -0.8151211738586426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3951, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_221544265", + "mask_path": "../../mask/hdr_right_03951.png" + }, + { + "file_path": "../../rgb/hdr_right_03952.png", + "transform_matrix": [ + [ + -0.9752057790756226, + 0.036200400441884995, + -0.21831880509853363, + -12.296597480773926 + ], + [ + 0.21712148189544678, + -0.034283772110939026, + -0.975542426109314, + 11.659771919250488 + ], + [ + -0.04279981553554535, + -0.9987562894821167, + 0.02557385340332985, + -0.8164650201797485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3952, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_321546792", + "mask_path": "../../mask/hdr_right_03952.png" + }, + { + "file_path": "../../rgb/hdr_right_03953.png", + "transform_matrix": [ + [ + -0.9751785397529602, + 0.0368301123380661, + -0.21833539009094238, + -12.22249698638916 + ], + [ + 0.217189759016037, + -0.03271730989217758, + -0.9755809903144836, + 11.63315486907959 + ], + [ + -0.0430741049349308, + -0.9987857937812805, + 0.023906096816062927, + -0.816130518913269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3953, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_421543836", + "mask_path": "../../mask/hdr_right_03953.png" + }, + { + "file_path": "../../rgb/hdr_right_03954.png", + "transform_matrix": [ + [ + -0.9730802774429321, + 0.03662065416574478, + -0.2275383025407791, + -12.148043632507324 + ], + [ + 0.22643625736236572, + -0.03191019222140312, + -0.9735032320022583, + 11.599764823913574 + ], + [ + -0.0429111123085022, + -0.9988196492195129, + 0.022758934646844864, + -0.7967427968978882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3954, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_521543979", + "mask_path": "../../mask/hdr_right_03954.png" + }, + { + "file_path": "../../rgb/hdr_right_03955.png", + "transform_matrix": [ + [ + -0.9703859686851501, + 0.043983343988657, + -0.23752166330814362, + -12.071937561035156 + ], + [ + 0.23654401302337646, + -0.026312200352549553, + -0.9712645411491394, + 11.571569442749023 + ], + [ + -0.04896917566657066, + -0.9986857175827026, + 0.01512899249792099, + -0.7873469591140747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3955, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_621542692", + "mask_path": "../../mask/hdr_right_03955.png" + }, + { + "file_path": "../../rgb/hdr_right_03956.png", + "transform_matrix": [ + [ + -0.9691708087921143, + 0.04318583011627197, + -0.2425757646560669, + -11.986629486083984 + ], + [ + 0.2415941208600998, + -0.026737309992313385, + -0.9700090289115906, + 11.54455280303955 + ], + [ + -0.04837647080421448, + -0.9987093210220337, + 0.015479574911296368, + -0.7835763096809387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3956, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_721543788", + "mask_path": "../../mask/hdr_right_03956.png" + }, + { + "file_path": "../../rgb/hdr_right_03957.png", + "transform_matrix": [ + [ + -0.9707643985748291, + 0.04153599217534065, + -0.2364133596420288, + -11.90700912475586 + ], + [ + 0.23540732264518738, + -0.02770828641951084, + -0.9715018272399902, + 11.522594451904297 + ], + [ + -0.04690289497375488, + -0.9987527132034302, + 0.01712033525109291, + -0.787973940372467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3957, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_821544170", + "mask_path": "../../mask/hdr_right_03957.png" + }, + { + "file_path": "../../rgb/hdr_right_03958.png", + "transform_matrix": [ + [ + -0.9717057347297668, + 0.03987667337059975, + -0.23280441761016846, + -11.840482711791992 + ], + [ + 0.23182527720928192, + -0.02769593894481659, + -0.9723631143569946, + 11.498627662658691 + ], + [ + -0.045222342014312744, + -0.9988206624984741, + 0.017667880281805992, + -0.7895733714103699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3958, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662594_921543836", + "mask_path": "../../mask/hdr_right_03958.png" + }, + { + "file_path": "../../rgb/hdr_right_03959.png", + "transform_matrix": [ + [ + -0.9716390371322632, + 0.03690240904688835, + -0.23357214033603668, + -11.770709037780762 + ], + [ + 0.232735738158226, + -0.025593342259526253, + -0.972203254699707, + 11.471879005432129 + ], + [ + -0.041854530572891235, + -0.9989911317825317, + 0.016278976574540138, + -0.7883834838867188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3959, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_21544456", + "mask_path": "../../mask/hdr_right_03959.png" + }, + { + "file_path": "../../rgb/hdr_right_03960.png", + "transform_matrix": [ + [ + -0.969890296459198, + 0.030727017670869827, + -0.2415962815284729, + -11.7000732421875 + ], + [ + 0.2407558560371399, + -0.0286660585552454, + -0.9701623320579529, + 11.440896034240723 + ], + [ + -0.03673580661416054, + -0.9991166591644287, + 0.020405221730470657, + -0.7713260650634766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3960, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_121544122", + "mask_path": "../../mask/hdr_right_03960.png" + }, + { + "file_path": "../../rgb/hdr_right_03961.png", + "transform_matrix": [ + [ + -0.9671655297279358, + 0.03922388330101967, + -0.25110238790512085, + -11.634075164794922 + ], + [ + 0.25026220083236694, + -0.02511327713727951, + -0.9678523540496826, + 11.408641815185547 + ], + [ + -0.044268928468227386, + -0.9989148378372192, + 0.014472437091171741, + -0.7628546357154846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3961, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_221544981", + "mask_path": "../../mask/hdr_right_03961.png" + }, + { + "file_path": "../../rgb/hdr_right_03962.png", + "transform_matrix": [ + [ + -0.9654147624969482, + 0.0429224967956543, + -0.2571614384651184, + -11.559643745422363 + ], + [ + 0.25640198588371277, + -0.022442389279603958, + -0.9663097262382507, + 11.373845100402832 + ], + [ + -0.0472477488219738, + -0.998826265335083, + 0.01066079642623663, + -0.7542609572410583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3962, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_321545600", + "mask_path": "../../mask/hdr_right_03962.png" + }, + { + "file_path": "../../rgb/hdr_right_03963.png", + "transform_matrix": [ + [ + -0.9669751524925232, + 0.030499933287501335, + -0.25303903222084045, + -11.483904838562012 + ], + [ + 0.25240370631217957, + -0.023200755938887596, + -0.9673438668251038, + 11.340211868286133 + ], + [ + -0.03537461906671524, + -0.9992655515670776, + 0.014736255630850792, + -0.7553503513336182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3963, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_421545505", + "mask_path": "../../mask/hdr_right_03963.png" + }, + { + "file_path": "../../rgb/hdr_right_03964.png", + "transform_matrix": [ + [ + -0.967976987361908, + 0.026279166340827942, + -0.2496597319841385, + -11.419157981872559 + ], + [ + 0.24893301725387573, + -0.028068525716662407, + -0.968113899230957, + 11.314566612243652 + ], + [ + -0.03244880586862564, + -0.9992604851722717, + 0.020627938210964203, + -0.76511150598526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3964, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_521545410", + "mask_path": "../../mask/hdr_right_03964.png" + }, + { + "file_path": "../../rgb/hdr_right_03965.png", + "transform_matrix": [ + [ + -0.9679266810417175, + 0.025406237691640854, + -0.24994491040706635, + -11.34717845916748 + ], + [ + 0.249187171459198, + -0.029614290222525597, + -0.968002438545227, + 11.279095649719238 + ], + [ + -0.03199524059891701, + -0.9992384910583496, + 0.022333553060889244, + -0.7634539604187012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3965, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_621544361", + "mask_path": "../../mask/hdr_right_03965.png" + }, + { + "file_path": "../../rgb/hdr_right_03966.png", + "transform_matrix": [ + [ + -0.9659048318862915, + 0.020499279722571373, + -0.25808456540107727, + -11.272550582885742 + ], + [ + 0.25746530294418335, + -0.02864760346710682, + -0.9658628702163696, + 11.237617492675781 + ], + [ + -0.027192994952201843, + -0.9993793964385986, + 0.022393008694052696, + -0.7443175911903381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3966, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_721543788", + "mask_path": "../../mask/hdr_right_03966.png" + }, + { + "file_path": "../../rgb/hdr_right_03967.png", + "transform_matrix": [ + [ + -0.9625899195671082, + 0.03102182224392891, + -0.26918095350265503, + -11.210480690002441 + ], + [ + 0.2685343325138092, + -0.023483142256736755, + -0.9629839062690735, + 11.206588745117188 + ], + [ + -0.03619472682476044, + -0.9992427825927734, + 0.01427420973777771, + -0.7376261949539185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3967, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_821543693", + "mask_path": "../../mask/hdr_right_03967.png" + }, + { + "file_path": "../../rgb/hdr_right_03968.png", + "transform_matrix": [ + [ + -0.9606175422668457, + 0.03779546916484833, + -0.27529144287109375, + -11.139660835266113 + ], + [ + 0.27472731471061707, + -0.019487785175442696, + -0.9613246917724609, + 11.172578811645508 + ], + [ + -0.04169853776693344, + -0.9990954399108887, + 0.00833685789257288, + -0.7316096425056458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3968, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662595_921544075", + "mask_path": "../../mask/hdr_right_03968.png" + }, + { + "file_path": "../../rgb/hdr_right_03969.png", + "transform_matrix": [ + [ + -0.9617468118667603, + 0.03218083083629608, + -0.2720433473587036, + -11.056846618652344 + ], + [ + 0.271488755941391, + -0.02058553323149681, + -0.9622215032577515, + 11.140632629394531 + ], + [ + -0.03656524047255516, + -0.9992700815200806, + 0.011061335913836956, + -0.7299873232841492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3969, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_21544218", + "mask_path": "../../mask/hdr_right_03969.png" + }, + { + "file_path": "../../rgb/hdr_right_03970.png", + "transform_matrix": [ + [ + -0.9631161093711853, + 0.029003584757447243, + -0.267518550157547, + -10.991580963134766 + ], + [ + 0.2668556272983551, + -0.024793211370706558, + -0.9634175896644592, + 11.114306449890137 + ], + [ + -0.0345752015709877, + -0.999271810054779, + 0.016138967126607895, + -0.7352166175842285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3970, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_121543884", + "mask_path": "../../mask/hdr_right_03970.png" + }, + { + "file_path": "../../rgb/hdr_right_03971.png", + "transform_matrix": [ + [ + -0.9630612134933472, + 0.028669113293290138, + -0.2677523195743561, + -10.923091888427734 + ], + [ + 0.26708555221557617, + -0.02506503090262413, + -0.9633467793464661, + 11.084710121154785 + ], + [ + -0.03432951122522354, + -0.9992746114730835, + 0.016482051461935043, + -0.7340874075889587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3971, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_221544265", + "mask_path": "../../mask/hdr_right_03971.png" + }, + { + "file_path": "../../rgb/hdr_right_03972.png", + "transform_matrix": [ + [ + -0.9606002569198608, + 0.02750621922314167, + -0.2765694856643677, + -10.851967811584473 + ], + [ + 0.27580365538597107, + -0.028628043830394745, + -0.9607875943183899, + 11.045173645019531 + ], + [ + -0.03434527665376663, + -0.9992116093635559, + 0.01991378515958786, + -0.7185471057891846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3972, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_321543931", + "mask_path": "../../mask/hdr_right_03972.png" + }, + { + "file_path": "../../rgb/hdr_right_03973.png", + "transform_matrix": [ + [ + -0.9567146301269531, + 0.036644041538238525, + -0.28871163725852966, + -10.785354614257812 + ], + [ + 0.287925660610199, + -0.0252812709659338, + -0.9573190212249756, + 11.007830619812012 + ], + [ + -0.04237903654575348, + -0.9990086555480957, + 0.01363619975745678, + -0.7055453062057495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3973, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_421544075", + "mask_path": "../../mask/hdr_right_03973.png" + }, + { + "file_path": "../../rgb/hdr_right_03974.png", + "transform_matrix": [ + [ + -0.9543573260307312, + 0.043585434556007385, + -0.29546964168548584, + -10.7152099609375 + ], + [ + 0.29470741748809814, + -0.023130370303988457, + -0.9553076028823853, + 10.97341537475586 + ], + [ + -0.04847181960940361, + -0.9987819790840149, + 0.009229686111211777, + -0.6960201263427734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3974, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_521544694", + "mask_path": "../../mask/hdr_right_03974.png" + }, + { + "file_path": "../../rgb/hdr_right_03975.png", + "transform_matrix": [ + [ + -0.9556722640991211, + 0.03960534557700157, + -0.29175665974617004, + -10.633206367492676 + ], + [ + 0.290925532579422, + -0.025464193895459175, + -0.9564067721366882, + 10.939746856689453 + ], + [ + -0.04530816152691841, + -0.9988909363746643, + 0.01281321607530117, + -0.6920737624168396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3975, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_621544361", + "mask_path": "../../mask/hdr_right_03975.png" + }, + { + "file_path": "../../rgb/hdr_right_03976.png", + "transform_matrix": [ + [ + -0.9571243524551392, + 0.03461170196533203, + -0.2876025438308716, + -10.57144546508789 + ], + [ + 0.2866407334804535, + -0.03022642619907856, + -0.9575612545013428, + 10.915111541748047 + ], + [ + -0.04183601588010788, + -0.9989436864852905, + 0.019009316340088844, + -0.6979541778564453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3976, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_721544504", + "mask_path": "../../mask/hdr_right_03976.png" + }, + { + "file_path": "../../rgb/hdr_right_03977.png", + "transform_matrix": [ + [ + -0.9567592740058899, + 0.033449072390794754, + -0.2889513075351715, + -10.506611824035645 + ], + [ + 0.2879658639431, + -0.031362902373075485, + -0.9571269154548645, + 10.879903793334961 + ], + [ + -0.04107736051082611, + -0.9989482164382935, + 0.02037455514073372, + -0.6922919750213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3977, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_821544170", + "mask_path": "../../mask/hdr_right_03977.png" + }, + { + "file_path": "../../rgb/hdr_right_03978.png", + "transform_matrix": [ + [ + -0.9538317322731018, + 0.029867565259337425, + -0.2988528609275818, + -10.447853088378906 + ], + [ + 0.29787343740463257, + -0.03322967514395714, + -0.9540268778800964, + 10.84090518951416 + ], + [ + -0.03842524066567421, + -0.9990013837814331, + 0.02279876172542572, + -0.6781689524650574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3978, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662596_921545028", + "mask_path": "../../mask/hdr_right_03978.png" + }, + { + "file_path": "../../rgb/hdr_right_03979.png", + "transform_matrix": [ + [ + -0.9497576355934143, + 0.03741862624883652, + -0.3107418715953827, + -10.39316463470459 + ], + [ + 0.30972999334335327, + -0.03048505261540413, + -0.9503358006477356, + 10.805195808410645 + ], + [ + -0.04503323510289192, + -0.9988345503807068, + 0.017363738268613815, + -0.6711359620094299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3979, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_21544218", + "mask_path": "../../mask/hdr_right_03979.png" + }, + { + "file_path": "../../rgb/hdr_right_03980.png", + "transform_matrix": [ + [ + -0.9474130272865295, + 0.038036737591028214, + -0.3177447021007538, + -10.319906234741211 + ], + [ + 0.3167364299297333, + -0.0302713755518198, + -0.9480304718017578, + 10.770094871520996 + ], + [ + -0.04567855969071388, + -0.9988177418708801, + 0.016631875187158585, + -0.6651960015296936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3980, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_121544599", + "mask_path": "../../mask/hdr_right_03980.png" + }, + { + "file_path": "../../rgb/hdr_right_03981.png", + "transform_matrix": [ + [ + -0.9496563076972961, + 0.028192946687340736, + -0.31202268600463867, + -10.250893592834473 + ], + [ + 0.3111625909805298, + -0.03109223023056984, + -0.949847936630249, + 10.737839698791504 + ], + [ + -0.03648049384355545, + -0.9991188645362854, + 0.020754339173436165, + -0.6713147759437561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3981, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_221544265", + "mask_path": "../../mask/hdr_right_03981.png" + }, + { + "file_path": "../../rgb/hdr_right_03982.png", + "transform_matrix": [ + [ + -0.9506723880767822, + 0.026104427874088287, + -0.3090965151786804, + -10.189626693725586 + ], + [ + 0.30822932720184326, + -0.032556988298892975, + -0.9507548809051514, + 10.711265563964844 + ], + [ + -0.034882161766290665, + -0.9991289377212524, + 0.022904880344867706, + -0.6773059368133545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3982, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_321544647", + "mask_path": "../../mask/hdr_right_03982.png" + }, + { + "file_path": "../../rgb/hdr_right_03983.png", + "transform_matrix": [ + [ + -0.9502917528152466, + 0.026845714077353477, + -0.31020161509513855, + -10.130383491516113 + ], + [ + 0.30929580330848694, + -0.033167656511068344, + -0.9503872990608215, + 10.67663288116455 + ], + [ + -0.035802487283945084, + -0.9990891814231873, + 0.023215681314468384, + -0.6765748262405396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3983, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_421544313", + "mask_path": "../../mask/hdr_right_03983.png" + }, + { + "file_path": "../../rgb/hdr_right_03984.png", + "transform_matrix": [ + [ + -0.9475938081741333, + 0.02137972041964531, + -0.31876131892204285, + -10.065146446228027 + ], + [ + 0.318067729473114, + -0.030494673177599907, + -0.9475775361061096, + 10.63784408569336 + ], + [ + -0.029979463666677475, + -0.999306321144104, + 0.022096363827586174, + -0.6566560864448547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3984, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_521544694", + "mask_path": "../../mask/hdr_right_03984.png" + }, + { + "file_path": "../../rgb/hdr_right_03985.png", + "transform_matrix": [ + [ + -0.9454224109649658, + 0.030272364616394043, + -0.32443809509277344, + -10.007208824157715 + ], + [ + 0.32362139225006104, + -0.028947988525032997, + -0.94574373960495, + 10.605756759643555 + ], + [ + -0.03802173212170601, + -0.9991224408149719, + 0.017571289092302322, + -0.6475182771682739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3985, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_621544837", + "mask_path": "../../mask/hdr_right_03985.png" + }, + { + "file_path": "../../rgb/hdr_right_03986.png", + "transform_matrix": [ + [ + -0.9459583759307861, + 0.033975858241319656, + -0.3225034177303314, + -9.940723419189453 + ], + [ + 0.32165661454200745, + -0.02813282050192356, + -0.9464383721351624, + 10.573473930358887 + ], + [ + -0.04122898727655411, + -0.9990265965461731, + 0.015683917328715324, + -0.642624020576477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3986, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_721545457", + "mask_path": "../../mask/hdr_right_03986.png" + }, + { + "file_path": "../../rgb/hdr_right_03987.png", + "transform_matrix": [ + [ + -0.9508163332939148, + 0.024291813373565674, + -0.3088012635707855, + -9.872167587280273 + ], + [ + 0.3081859052181244, + -0.026037033647298813, + -0.9509698152542114, + 10.538357734680176 + ], + [ + -0.031141050159931183, + -0.9993657469749451, + 0.01727004535496235, + -0.6450170278549194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3987, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_821544408", + "mask_path": "../../mask/hdr_right_03987.png" + }, + { + "file_path": "../../rgb/hdr_right_03988.png", + "transform_matrix": [ + [ + -0.9551676511764526, + 0.019991770386695862, + -0.29538971185684204, + -9.810937881469727 + ], + [ + 0.2947957515716553, + -0.02807844802737236, + -0.9551477432250977, + 10.509235382080078 + ], + [ + -0.027389178052544594, + -0.9994057416915894, + 0.020926136523485184, + -0.6508502960205078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3988, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662597_921544075", + "mask_path": "../../mask/hdr_right_03988.png" + }, + { + "file_path": "../../rgb/hdr_right_03989.png", + "transform_matrix": [ + [ + -0.9572343230247498, + 0.018918195739388466, + -0.28869447112083435, + -9.747302055358887 + ], + [ + 0.28816547989845276, + -0.026466231793165207, + -0.9572147727012634, + 10.476738929748535 + ], + [ + -0.025749433785676956, + -0.9994706511497498, + 0.0198828112334013, + -0.6518698930740356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3989, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_21545171", + "mask_path": "../../mask/hdr_right_03989.png" + }, + { + "file_path": "../../rgb/hdr_right_03990.png", + "transform_matrix": [ + [ + -0.9566442370414734, + 0.014407654292881489, + -0.2909025549888611, + -9.683359146118164 + ], + [ + 0.2904675304889679, + -0.02639181539416313, + -0.9565209150314331, + 10.432757377624512 + ], + [ + -0.021458668634295464, + -0.9995478987693787, + 0.02106262370944023, + -0.6352308988571167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3990, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_121544122", + "mask_path": "../../mask/hdr_right_03990.png" + }, + { + "file_path": "../../rgb/hdr_right_03991.png", + "transform_matrix": [ + [ + -0.9551690220832825, + 0.02378225140273571, + -0.29510435461997986, + -9.625486373901367 + ], + [ + 0.2946334779262543, + -0.0214107483625412, + -0.9553704857826233, + 10.397087097167969 + ], + [ + -0.02903926558792591, + -0.9994878172874451, + 0.013443835079669952, + -0.6298303008079529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3991, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_221544981", + "mask_path": "../../mask/hdr_right_03991.png" + }, + { + "file_path": "../../rgb/hdr_right_03992.png", + "transform_matrix": [ + [ + -0.9546745419502258, + 0.030173063278198242, + -0.29611849784851074, + -9.560443878173828 + ], + [ + 0.29571259021759033, + -0.017229700461030006, + -0.9551215767860413, + 10.360363960266113 + ], + [ + -0.033920977264642715, + -0.9993962049484253, + 0.007526197470724583, + -0.6249300837516785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3992, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_321545124", + "mask_path": "../../mask/hdr_right_03992.png" + }, + { + "file_path": "../../rgb/hdr_right_03993.png", + "transform_matrix": [ + [ + -0.9562079310417175, + 0.025389414280653, + -0.291584849357605, + -9.484756469726562 + ], + [ + 0.2912750542163849, + -0.015229225158691406, + -0.9565181136131287, + 10.325926780700684 + ], + [ + -0.02872604690492153, + -0.999561607837677, + 0.007167001720517874, + -0.6239983439445496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3993, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_421544790", + "mask_path": "../../mask/hdr_right_03993.png" + }, + { + "file_path": "../../rgb/hdr_right_03994.png", + "transform_matrix": [ + [ + -0.9582573771476746, + 0.020186850801110268, + -0.2851933240890503, + -9.422423362731934 + ], + [ + 0.28480666875839233, + -0.020023193210363388, + -0.9583759307861328, + 10.299453735351562 + ], + [ + -0.025057069957256317, + -0.9995957016944885, + 0.013438023626804352, + -0.6273842453956604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3994, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_521545171", + "mask_path": "../../mask/hdr_right_03994.png" + }, + { + "file_path": "../../rgb/hdr_right_03995.png", + "transform_matrix": [ + [ + -0.9589946269989014, + 0.01895354874432087, + -0.282789945602417, + -9.358109474182129 + ], + [ + 0.2824303209781647, + -0.019585737958550453, + -0.9590877890586853, + 10.268998146057129 + ], + [ + -0.023716771975159645, + -0.9996285438537598, + 0.013429559767246246, + -0.6285383105278015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3995, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_621545553", + "mask_path": "../../mask/hdr_right_03995.png" + }, + { + "file_path": "../../rgb/hdr_right_03996.png", + "transform_matrix": [ + [ + -0.957965075969696, + 0.018781226128339767, + -0.2862696647644043, + -9.286032676696777 + ], + [ + 0.28590190410614014, + -0.02004074491560459, + -0.9580493569374084, + 10.231010437011719 + ], + [ + -0.02373039908707142, + -0.9996227622032166, + 0.013828741386532784, + -0.6200037598609924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3996, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_721544504", + "mask_path": "../../mask/hdr_right_03996.png" + }, + { + "file_path": "../../rgb/hdr_right_03997.png", + "transform_matrix": [ + [ + -0.9540258646011353, + 0.028596550226211548, + -0.2983568012714386, + -9.217696189880371 + ], + [ + 0.2980404198169708, + -0.014850791543722153, + -0.954437792301178, + 10.194425582885742 + ], + [ + -0.031724460422992706, + -0.9994807243347168, + 0.005645112134516239, + -0.6076710224151611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3997, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_821545839", + "mask_path": "../../mask/hdr_right_03997.png" + }, + { + "file_path": "../../rgb/hdr_right_03998.png", + "transform_matrix": [ + [ + -0.9518511295318604, + 0.036232318729162216, + -0.30441203713417053, + -9.151148796081543 + ], + [ + 0.3042253851890564, + -0.01069166325032711, + -0.9525400400161743, + 10.165763854980469 + ], + [ + -0.037767402827739716, + -0.9992862343788147, + -0.0008459241944365203, + -0.5977270603179932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3998, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662598_921544313", + "mask_path": "../../mask/hdr_right_03998.png" + }, + { + "file_path": "../../rgb/hdr_right_03999.png", + "transform_matrix": [ + [ + -0.9545731544494629, + 0.02956004999577999, + -0.29650700092315674, + -9.074265480041504 + ], + [ + 0.2962740361690521, + -0.01207080576568842, + -0.9550267457962036, + 10.136726379394531 + ], + [ + -0.03180971369147301, + -0.9994902014732361, + 0.002764591481536627, + -0.5967032313346863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3999, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_21544456", + "mask_path": "../../mask/hdr_right_03999.png" + }, + { + "file_path": "../../rgb/hdr_right_04000.png", + "transform_matrix": [ + [ + -0.9592163562774658, + 0.02658057026565075, + -0.2814204692840576, + -9.014641761779785 + ], + [ + 0.28115805983543396, + -0.013218219392001629, + -0.9595704674720764, + 10.117941856384277 + ], + [ + -0.029225807636976242, + -0.9995593428611755, + 0.0052057900466024876, + -0.6018937826156616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4000, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_121544361", + "mask_path": "../../mask/hdr_right_04000.png" + }, + { + "file_path": "../../rgb/hdr_right_04001.png", + "transform_matrix": [ + [ + -0.9651150703430176, + 0.024247337132692337, + -0.2607007920742035, + -8.95778751373291 + ], + [ + 0.26048600673675537, + -0.011684654280543327, + -0.9654068946838379, + 10.10157585144043 + ], + [ + -0.0264547448605299, + -0.9996377229690552, + 0.004960943944752216, + -0.6022939085960388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4001, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_221545457", + "mask_path": "../../mask/hdr_right_04001.png" + }, + { + "file_path": "../../rgb/hdr_right_04002.png", + "transform_matrix": [ + [ + -0.9697871208190918, + 0.02534060925245285, + -0.24263311922550201, + -8.898504257202148 + ], + [ + 0.24246247112751007, + -0.009648281149566174, + -0.9701128602027893, + 10.079294204711914 + ], + [ + -0.026924241334199905, + -0.9996322393417358, + 0.0032126293517649174, + -0.5888274908065796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4002, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_321544647", + "mask_path": "../../mask/hdr_right_04002.png" + }, + { + "file_path": "../../rgb/hdr_right_04003.png", + "transform_matrix": [ + [ + -0.9727104902267456, + 0.03510485589504242, + -0.22935104370117188, + -8.844172477722168 + ], + [ + 0.22931404411792755, + -0.00513065792620182, + -0.9733390212059021, + 10.060503959655762 + ], + [ + -0.0353456512093544, + -0.9993704557418823, + -0.0030593930277973413, + -0.5813491344451904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4003, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_421545743", + "mask_path": "../../mask/hdr_right_04003.png" + }, + { + "file_path": "../../rgb/hdr_right_04004.png", + "transform_matrix": [ + [ + -0.9763090014457703, + 0.04248557239770889, + -0.2121693193912506, + -8.784444808959961 + ], + [ + 0.2124030739068985, + 0.0010148939909413457, + -0.9771817326545715, + 10.042732238769531 + ], + [ + -0.04130078852176666, + -0.9990965723991394, + -0.010014917701482773, + -0.5745759606361389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4004, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_521544694", + "mask_path": "../../mask/hdr_right_04004.png" + }, + { + "file_path": "../../rgb/hdr_right_04005.png", + "transform_matrix": [ + [ + -0.9818887114524841, + 0.035781379789114, + -0.18604916334152222, + -8.711856842041016 + ], + [ + 0.186354860663414, + 0.005377870053052902, + -0.9824678301811218, + 10.028193473815918 + ], + [ + -0.03415350243449211, + -0.9993451833724976, + -0.011948507279157639, + -0.5788263082504272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4005, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_621545791", + "mask_path": "../../mask/hdr_right_04005.png" + }, + { + "file_path": "../../rgb/hdr_right_04006.png", + "transform_matrix": [ + [ + -0.9862545132637024, + 0.030747082084417343, + -0.1623472422361374, + -8.645139694213867 + ], + [ + 0.16240297257900238, + -0.0006926128990016878, + -0.986724317073822, + 10.019883155822754 + ], + [ + -0.0304513368755579, + -0.9995270371437073, + -0.004310326185077429, + -0.584524929523468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4006, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_721545219", + "mask_path": "../../mask/hdr_right_04006.png" + }, + { + "file_path": "../../rgb/hdr_right_04007.png", + "transform_matrix": [ + [ + -0.9894872307777405, + 0.027903050184249878, + -0.14190278947353363, + -8.587871551513672 + ], + [ + 0.14194639027118683, + -0.0004202662385068834, + -0.9898743033409119, + 10.009146690368652 + ], + [ + -0.02768014930188656, + -0.9996105432510376, + -0.0035448914859443903, + -0.5840312242507935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4007, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_821545362", + "mask_path": "../../mask/hdr_right_04007.png" + }, + { + "file_path": "../../rgb/hdr_right_04008.png", + "transform_matrix": [ + [ + -0.991399347782135, + 0.025087730959057808, + -0.12844428420066833, + -8.518628120422363 + ], + [ + 0.1285489946603775, + 0.002602288732305169, + -0.991699755191803, + 9.991617202758789 + ], + [ + -0.024545246735215187, + -0.9996818900108337, + -0.005804912187159061, + -0.5789258480072021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4008, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662599_921545505", + "mask_path": "../../mask/hdr_right_04008.png" + }, + { + "file_path": "../../rgb/hdr_right_04009.png", + "transform_matrix": [ + [ + -0.9904389977455139, + 0.03174649178981781, + -0.13424913585186005, + -8.45379638671875 + ], + [ + 0.13431371748447418, + -9.788864554138854e-05, + -0.9909389019012451, + 9.96557903289795 + ], + [ + -0.03147197514772415, + -0.9994958639144897, + -0.004167038481682539, + -0.5666816234588623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4009, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_21545410", + "mask_path": "../../mask/hdr_right_04009.png" + }, + { + "file_path": "../../rgb/hdr_right_04010.png", + "transform_matrix": [ + [ + -0.9891647696495056, + 0.038683656603097916, + -0.1416214406490326, + -8.387124061584473 + ], + [ + 0.14187073707580566, + 0.0037639429792761803, + -0.9898780584335327, + 9.943070411682129 + ], + [ + -0.03775904327630997, + -0.9992443919181824, + -0.009211239404976368, + -0.5566613078117371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4010, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_121545314", + "mask_path": "../../mask/hdr_right_04010.png" + }, + { + "file_path": "../../rgb/hdr_right_04011.png", + "transform_matrix": [ + [ + -0.9892024993896484, + 0.03416650369763374, + -0.14251673221588135, + -8.299234390258789 + ], + [ + 0.1427275389432907, + 0.0038017111364752054, + -0.9897547364234924, + 9.919803619384766 + ], + [ + -0.03327464684844017, + -0.9994089603424072, + -0.008637165650725365, + -0.5569897294044495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4011, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_221545219", + "mask_path": "../../mask/hdr_right_04011.png" + }, + { + "file_path": "../../rgb/hdr_right_04012.png", + "transform_matrix": [ + [ + -0.9902592897415161, + 0.028318677097558975, + -0.13632559776306152, + -8.231724739074707 + ], + [ + 0.13627389073371887, + -0.0037556916940957308, + -0.9906641244888306, + 9.902535438537598 + ], + [ + -0.02856629341840744, + -0.9995918869972229, + -0.00013998820213600993, + -0.5663001537322998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4012, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_321544885", + "mask_path": "../../mask/hdr_right_04012.png" + }, + { + "file_path": "../../rgb/hdr_right_04013.png", + "transform_matrix": [ + [ + -0.9909155368804932, + 0.02587776444852352, + -0.1319725215435028, + -8.169468879699707 + ], + [ + 0.13185009360313416, + -0.006387040019035339, + -0.991249144077301, + 9.879206657409668 + ], + [ + -0.026494227349758148, + -0.9996447563171387, + 0.002917029894888401, + -0.5694334506988525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4013, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_421545743", + "mask_path": "../../mask/hdr_right_04013.png" + }, + { + "file_path": "../../rgb/hdr_right_04014.png", + "transform_matrix": [ + [ + -0.9913641214370728, + 0.022890925407409668, + -0.12912482023239136, + -8.094400405883789 + ], + [ + 0.12892378866672516, + -0.010056396014988422, + -0.9916036128997803, + 9.856982231140137 + ], + [ + -0.02399725280702114, + -0.9996873736381531, + 0.00701836496591568, + -0.556503176689148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4014, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_521543264", + "mask_path": "../../mask/hdr_right_04014.png" + }, + { + "file_path": "../../rgb/hdr_right_04015.png", + "transform_matrix": [ + [ + -0.9913017749786377, + 0.03262174502015114, + -0.12750181555747986, + -8.024781227111816 + ], + [ + 0.12738069891929626, + -0.005772304255515337, + -0.991837203502655, + 9.834099769592285 + ], + [ + -0.03309143707156181, + -0.9994511008262634, + 0.0015667128609493375, + -0.5457305908203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4015, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_621544122", + "mask_path": "../../mask/hdr_right_04015.png" + }, + { + "file_path": "../../rgb/hdr_right_04016.png", + "transform_matrix": [ + [ + -0.9921640753746033, + 0.036430757492780685, + -0.11951300501823425, + -7.9525146484375 + ], + [ + 0.11950376629829407, + -0.0024381023831665516, + -0.9928308129310608, + 9.818025588989258 + ], + [ + -0.036460958421230316, + -0.9993332028388977, + -0.0019346161279827356, + -0.5388107299804688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4016, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_721544504", + "mask_path": "../../mask/hdr_right_04016.png" + }, + { + "file_path": "../../rgb/hdr_right_04017.png", + "transform_matrix": [ + [ + -0.9944328665733337, + 0.02527114748954773, + -0.10229689627885818, + -7.876321315765381 + ], + [ + 0.10221318155527115, + -0.0045843953266739845, + -0.9947519898414612, + 9.805595397949219 + ], + [ + -0.025607489049434662, + -0.999670147895813, + 0.0019758278504014015, + -0.5479066967964172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4017, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_821543931", + "mask_path": "../../mask/hdr_right_04017.png" + }, + { + "file_path": "../../rgb/hdr_right_04018.png", + "transform_matrix": [ + [ + -0.9960305690765381, + 0.023109644651412964, + -0.08596031367778778, + -7.811827659606934 + ], + [ + 0.085793636739254, + -0.008109956979751587, + -0.9962800145149231, + 9.796662330627441 + ], + [ + -0.023720812052488327, + -0.9997000694274902, + 0.006095102988183498, + -0.5543559789657593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4018, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662600_921543598", + "mask_path": "../../mask/hdr_right_04018.png" + }, + { + "file_path": "../../rgb/hdr_right_04019.png", + "transform_matrix": [ + [ + -0.9969349503517151, + 0.021841207519173622, + -0.07512596249580383, + -7.7394185066223145 + ], + [ + 0.07506504654884338, + -0.003596358234062791, + -0.9971722364425659, + 9.781229019165039 + ], + [ + -0.022049622610211372, + -0.9997550249099731, + 0.0019458211027085781, + -0.5521215796470642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4019, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_21544456", + "mask_path": "../../mask/hdr_right_04019.png" + }, + { + "file_path": "../../rgb/hdr_right_04020.png", + "transform_matrix": [ + [ + -0.9973142147064209, + 0.015317610464990139, + -0.07162287086248398, + -7.661679744720459 + ], + [ + 0.07166314125061035, + 0.002098710974678397, + -0.9974267482757568, + 9.761994361877441 + ], + [ + -0.01512787863612175, + -0.9998805522918701, + -0.0031907837837934494, + -0.5468577742576599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4020, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_121543645", + "mask_path": "../../mask/hdr_right_04020.png" + }, + { + "file_path": "../../rgb/hdr_right_04021.png", + "transform_matrix": [ + [ + -0.9966704249382019, + 0.01983957551419735, + -0.07908515632152557, + -7.595684051513672 + ], + [ + 0.07924825698137283, + 0.00757443206384778, + -0.996826171875, + 9.747697830200195 + ], + [ + -0.01917758211493492, + -0.9997744560241699, + -0.009121467359364033, + -0.5405935049057007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4021, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_221544265", + "mask_path": "../../mask/hdr_right_04021.png" + }, + { + "file_path": "../../rgb/hdr_right_04022.png", + "transform_matrix": [ + [ + -0.9956722259521484, + 0.024731965735554695, + -0.08958332240581512, + -7.524582386016846 + ], + [ + 0.08995238691568375, + 0.014235773123800755, + -0.9958443641662598, + 9.73151969909668 + ], + [ + -0.023353904485702515, + -0.9995927810668945, + -0.01639886572957039, + -0.5357813835144043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4022, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_321544170", + "mask_path": "../../mask/hdr_right_04022.png" + }, + { + "file_path": "../../rgb/hdr_right_04023.png", + "transform_matrix": [ + [ + -0.9955098032951355, + 0.019339077174663544, + -0.0926617830991745, + -7.435794830322266 + ], + [ + 0.09286625683307648, + 0.009957853704690933, + -0.995628833770752, + 9.717912673950195 + ], + [ + -0.018331831321120262, + -0.9997634291648865, + -0.011709093116223812, + -0.5386013984680176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4023, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_421546220", + "mask_path": "../../mask/hdr_right_04023.png" + }, + { + "file_path": "../../rgb/hdr_right_04024.png", + "transform_matrix": [ + [ + -0.996094822883606, + 0.015032235532999039, + -0.08700115233659744, + -7.363520622253418 + ], + [ + 0.08706805109977722, + 0.003853547153994441, + -0.9961948990821838, + 9.708287239074707 + ], + [ + -0.014639773406088352, + -0.9998795986175537, + -0.005147327668964863, + -0.5457226037979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4024, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_521544456", + "mask_path": "../../mask/hdr_right_04024.png" + }, + { + "file_path": "../../rgb/hdr_right_04025.png", + "transform_matrix": [ + [ + -0.9961416125297546, + 0.012435306794941425, + -0.08687472343444824, + -7.303387641906738 + ], + [ + 0.08691516518592834, + 0.0027485336177051067, + -0.9962119460105896, + 9.695457458496094 + ], + [ + -0.012149421498179436, + -0.9999188780784607, + -0.0038187468890100718, + -0.5493818521499634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4025, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_621544122", + "mask_path": "../../mask/hdr_right_04025.png" + }, + { + "file_path": "../../rgb/hdr_right_04026.png", + "transform_matrix": [ + [ + -0.9958935379981995, + 0.011601067148149014, + -0.08978544175624847, + -7.225802421569824 + ], + [ + 0.08985690772533417, + 0.00579490140080452, + -0.9959378242492676, + 9.67803955078125 + ], + [ + -0.011033644899725914, + -0.9999159574508667, + -0.006813543848693371, + -0.5507383942604065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4026, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_721544504", + "mask_path": "../../mask/hdr_right_04026.png" + }, + { + "file_path": "../../rgb/hdr_right_04027.png", + "transform_matrix": [ + [ + -0.99477219581604, + 0.013519058004021645, + -0.10122055560350418, + -7.1544623374938965 + ], + [ + 0.10128366947174072, + 0.004067419562488794, + -0.9948493242263794, + 9.657390594482422 + ], + [ + -0.013037718832492828, + -0.9999003410339355, + -0.005415416322648525, + -0.5399176478385925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4027, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_821543931", + "mask_path": "../../mask/hdr_right_04027.png" + }, + { + "file_path": "../../rgb/hdr_right_04028.png", + "transform_matrix": [ + [ + -0.9934002757072449, + 0.018917333334684372, + -0.11312883347272873, + -7.082558631896973 + ], + [ + 0.11317092180252075, + 0.001165510737337172, + -0.993574857711792, + 9.635732650756836 + ], + [ + -0.018663933500647545, + -0.9998204112052917, + -0.003298712195828557, + -0.5325979590415955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4028, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662601_921543836", + "mask_path": "../../mask/hdr_right_04028.png" + }, + { + "file_path": "../../rgb/hdr_right_04029.png", + "transform_matrix": [ + [ + -0.99219810962677, + 0.018672436475753784, + -0.12326418608427048, + -6.997154235839844 + ], + [ + 0.1231594905257225, + -0.0066614472307264805, + -0.9923645853996277, + 9.615931510925293 + ], + [ + -0.019350983202457428, + -0.9998035430908203, + 0.0043097855523228645, + -0.5311782956123352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4029, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_21544456", + "mask_path": "../../mask/hdr_right_04029.png" + }, + { + "file_path": "../../rgb/hdr_right_04030.png", + "transform_matrix": [ + [ + -0.9927902817726135, + 0.00996424537152052, + -0.1194499135017395, + -6.907149314880371 + ], + [ + 0.11935366690158844, + -0.0097492141649127, + -0.9928040504455566, + 9.591456413269043 + ], + [ + -0.011057085357606411, + -0.9999028444290161, + 0.008489653468132019, + -0.5402260422706604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4030, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_121543407", + "mask_path": "../../mask/hdr_right_04030.png" + }, + { + "file_path": "../../rgb/hdr_right_04031.png", + "transform_matrix": [ + [ + -0.9929980635643005, + 0.007172316778451204, + -0.1179124116897583, + -6.838765621185303 + ], + [ + 0.11779359728097916, + -0.015191836282610893, + -0.9929218888282776, + 9.569247245788574 + ], + [ + -0.008912856690585613, + -0.9998589158058167, + 0.014240611344575882, + -0.5481501817703247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4031, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_221544027", + "mask_path": "../../mask/hdr_right_04031.png" + }, + { + "file_path": "../../rgb/hdr_right_04032.png", + "transform_matrix": [ + [ + -0.992684006690979, + 0.008813289925456047, + -0.12041937559843063, + -6.76702356338501 + ], + [ + 0.1202491819858551, + -0.017799735069274902, + -0.9925841689109802, + 9.540416717529297 + ], + [ + -0.010891363956034184, + -0.9998027682304382, + 0.01660972088575363, + -0.5488463640213013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4032, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_321543931", + "mask_path": "../../mask/hdr_right_04032.png" + }, + { + "file_path": "../../rgb/hdr_right_04033.png", + "transform_matrix": [ + [ + -0.9915896654129028, + 0.005253552924841642, + -0.129314124584198, + -6.692739963531494 + ], + [ + 0.12920266389846802, + -0.017794476822018623, + -0.991458535194397, + 9.509371757507324 + ], + [ + -0.007509756367653608, + -0.9998278617858887, + 0.016966048628091812, + -0.533599317073822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4033, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_421544313", + "mask_path": "../../mask/hdr_right_04033.png" + }, + { + "file_path": "../../rgb/hdr_right_04034.png", + "transform_matrix": [ + [ + -0.9897693991661072, + 0.010159902274608612, + -0.14231441915035248, + -6.633562088012695 + ], + [ + 0.14216452836990356, + -0.014205575920641422, + -0.9897411465644836, + 9.48288345336914 + ], + [ + -0.01207733154296875, + -0.9998474717140198, + 0.012615866027772427, + -0.5305314064025879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4034, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_521543979", + "mask_path": "../../mask/hdr_right_04034.png" + }, + { + "file_path": "../../rgb/hdr_right_04035.png", + "transform_matrix": [ + [ + -0.9880951046943665, + 0.013048644177615643, + -0.15328992903232574, + -6.566864013671875 + ], + [ + 0.15312527120113373, + -0.012804603204131126, + -0.9881238341331482, + 9.45592212677002 + ], + [ + -0.014856493100523949, + -0.9998328685760498, + 0.010654089972376823, + -0.5296115279197693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4035, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_621544599", + "mask_path": "../../mask/hdr_right_04035.png" + }, + { + "file_path": "../../rgb/hdr_right_04036.png", + "transform_matrix": [ + [ + -0.9877143502235413, + 0.006927410140633583, + -0.15611667931079865, + -6.4757795333862305 + ], + [ + 0.15599678456783295, + -0.015374389477074146, + -0.9876378774642944, + 9.426260948181152 + ], + [ + -0.009241972118616104, + -0.9998577833175659, + 0.01410484965890646, + -0.528426468372345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4036, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_721544981", + "mask_path": "../../mask/hdr_right_04036.png" + }, + { + "file_path": "../../rgb/hdr_right_04037.png", + "transform_matrix": [ + [ + -0.9883480668067932, + 0.0021606648806482553, + -0.1521955132484436, + -6.404200553894043 + ], + [ + 0.15210646390914917, + -0.023002222180366516, + -0.9880963563919067, + 9.409576416015625 + ], + [ + -0.0056357793509960175, + -0.999733030796051, + 0.02240554802119732, + -0.5334117412567139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4037, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_821544885", + "mask_path": "../../mask/hdr_right_04037.png" + }, + { + "file_path": "../../rgb/hdr_right_04038.png", + "transform_matrix": [ + [ + -0.9884411096572876, + 0.0012770857429131866, + -0.15160007774829865, + -6.335263729095459 + ], + [ + 0.15153419971466064, + -0.02232372760772705, + -0.9881999492645264, + 9.388083457946777 + ], + [ + -0.00464629428461194, + -0.9997499585151672, + 0.02187216281890869, + -0.5393483638763428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4038, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662602_921544313", + "mask_path": "../../mask/hdr_right_04038.png" + }, + { + "file_path": "../../rgb/hdr_right_04039.png", + "transform_matrix": [ + [ + -0.9879463315010071, + 0.002386132488027215, + -0.15477822721004486, + -6.24900484085083 + ], + [ + 0.154707133769989, + -0.018777046352624893, + -0.9877820014953613, + 9.358284950256348 + ], + [ + -0.005263256840407848, + -0.99982088804245, + 0.018181562423706055, + -0.5372060537338257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4039, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_21544694", + "mask_path": "../../mask/hdr_right_04039.png" + }, + { + "file_path": "../../rgb/hdr_right_04040.png", + "transform_matrix": [ + [ + -0.9857982397079468, + 0.0022746510803699493, + -0.16791893541812897, + -6.166292190551758 + ], + [ + 0.16784590482711792, + -0.019082922488451004, + -0.9856284856796265, + 9.326336860656738 + ], + [ + -0.005446342751383781, + -0.9998152852058411, + 0.018430117517709732, + -0.5229130387306213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4040, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_121544599", + "mask_path": "../../mask/hdr_right_04040.png" + }, + { + "file_path": "../../rgb/hdr_right_04041.png", + "transform_matrix": [ + [ + -0.9832870364189148, + 0.008913715369999409, + -0.181844100356102, + -6.09808349609375 + ], + [ + 0.18169192969799042, + -0.01564396731555462, + -0.9832310080528259, + 9.298436164855957 + ], + [ + -0.011609004810452461, + -0.9998379349708557, + 0.013762958347797394, + -0.5158016681671143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4041, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_221544504", + "mask_path": "../../mask/hdr_right_04041.png" + }, + { + "file_path": "../../rgb/hdr_right_04042.png", + "transform_matrix": [ + [ + -0.9818241596221924, + 0.008133754134178162, + -0.18961893022060394, + -6.006720066070557 + ], + [ + 0.1894325464963913, + -0.019574960693717003, + -0.9816985726356506, + 9.27106761932373 + ], + [ + -0.011696678586304188, + -0.9997753500938416, + 0.01767836883664131, + -0.518645167350769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4042, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_321543931", + "mask_path": "../../mask/hdr_right_04042.png" + }, + { + "file_path": "../../rgb/hdr_right_04043.png", + "transform_matrix": [ + [ + -0.9828329682350159, + 0.0018795030191540718, + -0.18448826670646667, + -5.918871879577637 + ], + [ + 0.18441428244113922, + -0.020074810832738876, + -0.9826436042785645, + 9.248320579528809 + ], + [ + -0.005550448317080736, + -0.9997967481613159, + 0.01938357762992382, + -0.5305898785591125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4043, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_421545028", + "mask_path": "../../mask/hdr_right_04043.png" + }, + { + "file_path": "../../rgb/hdr_right_04044.png", + "transform_matrix": [ + [ + -0.983408510684967, + -0.004146840423345566, + -0.18135765194892883, + -5.852628707885742 + ], + [ + 0.18140462040901184, + -0.024691138416528702, + -0.9830985069274902, + 9.224468231201172 + ], + [ + -0.00040117313619703054, + -0.9996865391731262, + 0.025033723562955856, + -0.5317763090133667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4044, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_521544218", + "mask_path": "../../mask/hdr_right_04044.png" + }, + { + "file_path": "../../rgb/hdr_right_04045.png", + "transform_matrix": [ + [ + -0.9831697940826416, + -0.006251279264688492, + -0.18258695304393768, + -5.7723612785339355 + ], + [ + 0.1826804280281067, + -0.02148132212460041, + -0.9829376339912415, + 9.195762634277344 + ], + [ + 0.002222408540546894, + -0.9997497200965881, + 0.02226177789270878, + -0.5334095358848572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4045, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_621545314", + "mask_path": "../../mask/hdr_right_04045.png" + }, + { + "file_path": "../../rgb/hdr_right_04046.png", + "transform_matrix": [ + [ + -0.9809775352478027, + -0.010515975765883923, + -0.1938362568616867, + -5.689338207244873 + ], + [ + 0.19401514530181885, + -0.020095588639378548, + -0.980792760848999, + 9.160307884216309 + ], + [ + 0.006418739911168814, + -0.9997428059577942, + 0.021753579378128052, + -0.5215702652931213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4046, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_721544504", + "mask_path": "../../mask/hdr_right_04046.png" + }, + { + "file_path": "../../rgb/hdr_right_04047.png", + "transform_matrix": [ + [ + -0.9783728122711182, + -0.0036763898096978664, + -0.20681658387184143, + -5.6249895095825195 + ], + [ + 0.20684918761253357, + -0.016517477110028267, + -0.9782334566116333, + 9.131121635437012 + ], + [ + 0.00018027900659944862, + -0.9998568296432495, + 0.016920708119869232, + -0.5147531032562256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4047, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_821545839", + "mask_path": "../../mask/hdr_right_04047.png" + }, + { + "file_path": "../../rgb/hdr_right_04048.png", + "transform_matrix": [ + [ + -0.9767271280288696, + -0.0021645911037921906, + -0.21447470784187317, + -5.547846794128418 + ], + [ + 0.21447686851024628, + -0.018899425864219666, + -0.9765462279319763, + 9.103364944458008 + ], + [ + -0.0019396251300349832, + -0.9998190402984619, + 0.018923835828900337, + -0.5150530934333801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4048, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662603_921544313", + "mask_path": "../../mask/hdr_right_04048.png" + }, + { + "file_path": "../../rgb/hdr_right_04049.png", + "transform_matrix": [ + [ + -0.9782165884971619, + -0.011917847208678722, + -0.20724445581436157, + -5.459055423736572 + ], + [ + 0.20746874809265137, + -0.022463509812951088, + -0.9779837727546692, + 9.075202941894531 + ], + [ + 0.00700002396479249, + -0.9996766448020935, + 0.024446755647659302, + -0.5224354863166809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4049, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_21545886", + "mask_path": "../../mask/hdr_right_04049.png" + }, + { + "file_path": "../../rgb/hdr_right_04050.png", + "transform_matrix": [ + [ + -0.9793119430541992, + -0.016475697979331017, + -0.20168472826480865, + -5.388190269470215 + ], + [ + 0.2020844966173172, + -0.02796349674463272, + -0.9789688587188721, + 9.047830581665039 + ], + [ + 0.010489382781088352, + -0.9994731545448303, + 0.03071446344256401, + -0.5313125848770142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4050, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_121546983", + "mask_path": "../../mask/hdr_right_04050.png" + }, + { + "file_path": "../../rgb/hdr_right_04051.png", + "transform_matrix": [ + [ + -0.9789531826972961, + -0.01625274494290352, + -0.20343683660030365, + -5.30789041519165 + ], + [ + 0.2038673460483551, + -0.03185117617249489, + -0.9784802794456482, + 9.006673812866211 + ], + [ + 0.009423287585377693, + -0.9993605017662048, + 0.03449421003460884, + -0.5297917127609253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4051, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_221544742", + "mask_path": "../../mask/hdr_right_04051.png" + }, + { + "file_path": "../../rgb/hdr_right_04052.png", + "transform_matrix": [ + [ + -0.9761748313903809, + -0.016337325796484947, + -0.21636930108070374, + -5.234620094299316 + ], + [ + 0.2168429046869278, + -0.037340473383665085, + -0.9754921793937683, + 8.961722373962402 + ], + [ + 0.00785760022699833, + -0.9991690516471863, + 0.039993468672037125, + -0.5156480073928833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4052, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_321543931", + "mask_path": "../../mask/hdr_right_04052.png" + }, + { + "file_path": "../../rgb/hdr_right_04053.png", + "transform_matrix": [ + [ + -0.9729663729667664, + -0.009773659519851208, + -0.23074017465114594, + -5.173578262329102 + ], + [ + 0.23093469440937042, + -0.030828524380922318, + -0.9724807143211365, + 8.928473472595215 + ], + [ + 0.0023913162294775248, + -0.999476969242096, + 0.032252196222543716, + -0.5105543732643127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4053, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_421544790", + "mask_path": "../../mask/hdr_right_04053.png" + }, + { + "file_path": "../../rgb/hdr_right_04054.png", + "transform_matrix": [ + [ + -0.9709026217460632, + -0.012569891288876534, + -0.2391444593667984, + -5.09346866607666 + ], + [ + 0.2394200712442398, + -0.029647402465343475, + -0.9704633951187134, + 8.896760940551758 + ], + [ + 0.0051086051389575005, + -0.9994814395904541, + 0.031794223934412, + -0.5145286321640015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4054, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_521544694", + "mask_path": "../../mask/hdr_right_04054.png" + }, + { + "file_path": "../../rgb/hdr_right_04055.png", + "transform_matrix": [ + [ + -0.9708819389343262, + -0.015875060111284256, + -0.23903203010559082, + -5.013890266418457 + ], + [ + 0.23941567540168762, + -0.029841573908925056, + -0.970458447933197, + 8.863473892211914 + ], + [ + 0.008272995240986347, + -0.9994286298751831, + 0.03277338296175003, + -0.5225380063056946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4055, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_621543645", + "mask_path": "../../mask/hdr_right_04055.png" + }, + { + "file_path": "../../rgb/hdr_right_04056.png", + "transform_matrix": [ + [ + -0.9700967073440552, + -0.018716078251600266, + -0.24199599027633667, + -4.946527481079102 + ], + [ + 0.24251340329647064, + -0.033745285123586655, + -0.9695610404014587, + 8.829026222229004 + ], + [ + 0.009980159811675549, + -0.9992552399635315, + 0.03727509081363678, + -0.5244756937026978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4056, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_721544742", + "mask_path": "../../mask/hdr_right_04056.png" + }, + { + "file_path": "../../rgb/hdr_right_04057.png", + "transform_matrix": [ + [ + -0.9672245383262634, + -0.02241533249616623, + -0.2529318034648895, + -4.8759565353393555 + ], + [ + 0.2535991072654724, + -0.034969866275787354, + -0.9666771292686462, + 8.789384841918945 + ], + [ + 0.012823397293686867, + -0.9991369843482971, + 0.039508212357759476, + -0.5217351913452148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4057, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_821544408", + "mask_path": "../../mask/hdr_right_04057.png" + }, + { + "file_path": "../../rgb/hdr_right_04058.png", + "transform_matrix": [ + [ + -0.9613145589828491, + -0.02101692371070385, + -0.27465003728866577, + -4.820910930633545 + ], + [ + 0.2753167152404785, + -0.04195333272218704, + -0.9604377150535583, + 8.746618270874023 + ], + [ + 0.00866296049207449, + -0.9988985061645508, + 0.0461166612803936, + -0.5112829804420471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4058, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662604_921544790", + "mask_path": "../../mask/hdr_right_04058.png" + }, + { + "file_path": "../../rgb/hdr_right_04059.png", + "transform_matrix": [ + [ + -0.9554111361503601, + -0.015540187247097492, + -0.294869601726532, + -4.7729620933532715 + ], + [ + 0.29525405168533325, + -0.03735189884901047, + -0.9546884298324585, + 8.715280532836914 + ], + [ + 0.0038220970891416073, + -0.99918133020401, + 0.040274728089571, + -0.5004804134368896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4059, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731662605_21544456", + "mask_path": "../../mask/hdr_right_04059.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file