diff --git "a/2024-11-15-16-41-14/splats/5f04b5e3/transforms.json" "b/2024-11-15-16-41-14/splats/5f04b5e3/transforms.json"
new file mode 100644--- /dev/null
+++ "b/2024-11-15-16-41-14/splats/5f04b5e3/transforms.json"
@@ -0,0 +1,13740 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_01501.png",
+      "transform_matrix": [
+        [
+          0.9944437742233276,
+          -0.02292163483798504,
+          -0.10274282097816467,
+          28.724897384643555
+        ],
+        [
+          0.10330134630203247,
+          0.024680189788341522,
+          0.9943438172340393,
+          14.6558256149292
+        ],
+        [
+          -0.020256273448467255,
+          -0.9994326233863831,
+          0.026910899206995964,
+          0.9919435977935791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1501,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_183769464",
+      "mask_path": "../../mask/hdr_front_01501.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01502.png",
+      "transform_matrix": [
+        [
+          0.993709146976471,
+          -0.02565046213567257,
+          -0.1090150699019432,
+          28.73451042175293
+        ],
+        [
+          0.1096208468079567,
+          0.023528292775154114,
+          0.9936949610710144,
+          14.588167190551758
+        ],
+        [
+          -0.022923795506358147,
+          -0.9993940591812134,
+          0.02619210258126259,
+          1.0125327110290527
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1502,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_283769607",
+      "mask_path": "../../mask/hdr_front_01502.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01503.png",
+      "transform_matrix": [
+        [
+          0.9933671355247498,
+          -0.020609160885214806,
+          -0.11312399804592133,
+          28.743392944335938
+        ],
+        [
+          0.113535076379776,
+          0.020004088059067726,
+          0.9933326840400696,
+          14.530956268310547
+        ],
+        [
+          -0.018208807334303856,
+          -0.9995874762535095,
+          0.022211261093616486,
+          1.0132368803024292
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1503,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_383769512",
+      "mask_path": "../../mask/hdr_front_01503.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01504.png",
+      "transform_matrix": [
+        [
+          0.9929402470588684,
+          -0.018920177593827248,
+          -0.11709610372781754,
+          28.75633430480957
+        ],
+        [
+          0.1174268126487732,
+          0.017428787425160408,
+          0.9929285645484924,
+          14.461591720581055
+        ],
+        [
+          -0.016745541244745255,
+          -0.9996691346168518,
+          0.019527483731508255,
+          1.0139261484146118
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1504,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_483768224",
+      "mask_path": "../../mask/hdr_front_01504.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01505.png",
+      "transform_matrix": [
+        [
+          0.9918503761291504,
+          -0.02573269046843052,
+          -0.12478194385766983,
+          28.770414352416992
+        ],
+        [
+          0.12550236284732819,
+          0.028587672859430313,
+          0.9916813969612122,
+          14.388676643371582
+        ],
+        [
+          -0.021951405331492424,
+          -0.9992600083351135,
+          0.03158421069383621,
+          1.0002468824386597
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1505,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_583770036",
+      "mask_path": "../../mask/hdr_front_01505.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01506.png",
+      "transform_matrix": [
+        [
+          0.9913885593414307,
+          -0.025421900674700737,
+          -0.12846262753009796,
+          28.782236099243164
+        ],
+        [
+          0.1291661560535431,
+          0.028290899470448494,
+          0.9912193417549133,
+          14.332266807556152
+        ],
+        [
+          -0.021564356982707977,
+          -0.9992764592170715,
+          0.03133092448115349,
+          0.9909999966621399
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1506,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_683768749",
+      "mask_path": "../../mask/hdr_front_01506.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01507.png",
+      "transform_matrix": [
+        [
+          0.9913837313652039,
+          -0.022696010768413544,
+          -0.12900885939598083,
+          28.79177474975586
+        ],
+        [
+          0.1296486258506775,
+          0.02942589670419693,
+          0.9911232590675354,
+          14.271071434020996
+        ],
+        [
+          -0.01869834214448929,
+          -0.9993093013763428,
+          0.03211485967040062,
+          0.9873834252357483
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1507,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_783769607",
+      "mask_path": "../../mask/hdr_front_01507.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01508.png",
+      "transform_matrix": [
+        [
+          0.9919588565826416,
+          -0.027038592845201492,
+          -0.123638816177845,
+          28.802274703979492
+        ],
+        [
+          0.12454493343830109,
+          0.034879960119724274,
+          0.9916006922721863,
+          14.199432373046875
+        ],
+        [
+          -0.022498974576592445,
+          -0.9990257024765015,
+          0.0379670076072216,
+          0.9938864707946777
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1508,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_883769273",
+      "mask_path": "../../mask/hdr_front_01508.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01509.png",
+      "transform_matrix": [
+        [
+          0.9935849905014038,
+          -0.022057272493839264,
+          -0.11091514676809311,
+          28.802370071411133
+        ],
+        [
+          0.11148730665445328,
+          0.02666354551911354,
+          0.9934080839157104,
+          14.135366439819336
+        ],
+        [
+          -0.018954481929540634,
+          -0.9994010925292969,
+          0.028951607644557953,
+          1.0043890476226807
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1509,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_983769655",
+      "mask_path": "../../mask/hdr_front_01509.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01510.png",
+      "transform_matrix": [
+        [
+          0.9946169853210449,
+          -0.01589391380548477,
+          -0.1023935079574585,
+          28.813844680786133
+        ],
+        [
+          0.10270808637142181,
+          0.020428597927093506,
+          0.9945017695426941,
+          14.063676834106445
+        ],
+        [
+          -0.01371476985514164,
+          -0.9996650218963623,
+          0.021951062604784966,
+          1.0107367038726807
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1510,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_83766937",
+      "mask_path": "../../mask/hdr_front_01510.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01511.png",
+      "transform_matrix": [
+        [
+          0.9944850206375122,
+          -0.02014477178454399,
+          -0.1029260978102684,
+          28.827070236206055
+        ],
+        [
+          0.10339178889989853,
+          0.02362912707030773,
+          0.9943599700927734,
+          13.97641372680664
+        ],
+        [
+          -0.01759909838438034,
+          -0.9995178580284119,
+          0.025581613183021545,
+          1.0026930570602417
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1511,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_183772563",
+      "mask_path": "../../mask/hdr_front_01511.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01512.png",
+      "transform_matrix": [
+        [
+          0.9936860799789429,
+          -0.025129251182079315,
+          -0.10934614390134811,
+          28.839401245117188
+        ],
+        [
+          0.10995705425739288,
+          0.024368731305003166,
+          0.9936375617980957,
+          13.910862922668457
+        ],
+        [
+          -0.02230473794043064,
+          -0.9993872046470642,
+          0.026978006586432457,
+          0.9963826537132263
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1512,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_283771276",
+      "mask_path": "../../mask/hdr_front_01512.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01513.png",
+      "transform_matrix": [
+        [
+          0.993645191192627,
+          -0.028498191386461258,
+          -0.1088901162147522,
+          28.84314727783203
+        ],
+        [
+          0.10950539261102676,
+          0.02099776826798916,
+          0.9937644600868225,
+          13.850349426269531
+        ],
+        [
+          -0.02603403851389885,
+          -0.9993733167648315,
+          0.023985037580132484,
+          0.9786433577537537
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1513,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_383770465",
+      "mask_path": "../../mask/hdr_front_01513.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01514.png",
+      "transform_matrix": [
+        [
+          0.994493842124939,
+          -0.0382663868367672,
+          -0.09755867719650269,
+          28.840816497802734
+        ],
+        [
+          0.09847857058048248,
+          0.02293553575873375,
+          0.9948747754096985,
+          13.771899223327637
+        ],
+        [
+          -0.03583270683884621,
+          -0.9990043640136719,
+          0.026577666401863098,
+          0.9940096735954285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1514,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_483770608",
+      "mask_path": "../../mask/hdr_front_01514.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01515.png",
+      "transform_matrix": [
+        [
+          0.9958966970443726,
+          -0.032294899225234985,
+          -0.08453872799873352,
+          28.836984634399414
+        ],
+        [
+          0.08517412096261978,
+          0.018831508234143257,
+          0.9961881041526794,
+          13.710773468017578
+        ],
+        [
+          -0.030579805374145508,
+          -0.9993009567260742,
+          0.021504927426576614,
+          1.0084567070007324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1515,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_583769559",
+      "mask_path": "../../mask/hdr_front_01515.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01516.png",
+      "transform_matrix": [
+        [
+          0.9961498975753784,
+          -0.035690031945705414,
+          -0.08007233589887619,
+          28.8466796875
+        ],
+        [
+          0.08086533099412918,
+          0.021356094628572464,
+          0.9964962005615234,
+          13.645833015441895
+        ],
+        [
+          -0.03385494649410248,
+          -0.9991347193717957,
+          0.024159960448741913,
+          1.0072687864303589
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1516,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_683769941",
+      "mask_path": "../../mask/hdr_front_01516.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01517.png",
+      "transform_matrix": [
+        [
+          0.9956540465354919,
+          -0.034062087535858154,
+          -0.08667680621147156,
+          28.859663009643555
+        ],
+        [
+          0.08741988241672516,
+          0.020965253934264183,
+          0.9959509968757629,
+          13.573945045471191
+        ],
+        [
+          -0.03210696950554848,
+          -0.9991998076438904,
+          0.023851843550801277,
+          0.9848594665527344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1517,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_783770084",
+      "mask_path": "../../mask/hdr_front_01517.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01518.png",
+      "transform_matrix": [
+        [
+          0.9954110980033875,
+          -0.03675682097673416,
+          -0.08834981173276901,
+          28.86130142211914
+        ],
+        [
+          0.08908548951148987,
+          0.018880300223827362,
+          0.9958450198173523,
+          13.514480590820312
+        ],
+        [
+          -0.03493602201342583,
+          -0.9991459846496582,
+          0.02206815779209137,
+          0.9813972115516663
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1518,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_883768320",
+      "mask_path": "../../mask/hdr_front_01518.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01519.png",
+      "transform_matrix": [
+        [
+          0.9958362579345703,
+          -0.042350903153419495,
+          -0.08072470873594284,
+          28.858495712280273
+        ],
+        [
+          0.08173123747110367,
+          0.022596146911382675,
+          0.9963982105255127,
+          13.44609260559082
+        ],
+        [
+          -0.04037429019808769,
+          -0.998847246170044,
+          0.02596345543861389,
+          0.9933451414108276
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1519,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_983772277",
+      "mask_path": "../../mask/hdr_front_01519.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01520.png",
+      "transform_matrix": [
+        [
+          0.9969345927238464,
+          -0.04069168493151665,
+          -0.06682460755109787,
+          28.85396385192871
+        ],
+        [
+          0.06760723888874054,
+          0.018169231712818146,
+          0.9975466132164001,
+          13.386658668518066
+        ],
+        [
+          -0.03937770053744316,
+          -0.9990066289901733,
+          0.020864591002464294,
+          1.002238392829895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1520,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_83770036",
+      "mask_path": "../../mask/hdr_front_01520.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01521.png",
+      "transform_matrix": [
+        [
+          0.9972778558731079,
+          -0.03929169476032257,
+          -0.06239259988069534,
+          28.85999298095703
+        ],
+        [
+          0.06326304376125336,
+          0.021313052624464035,
+          0.9977693557739258,
+          13.324469566345215
+        ],
+        [
+          -0.03787427023053169,
+          -0.9990005493164062,
+          0.023740751668810844,
+          1.0121018886566162
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1521,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_183771133",
+      "mask_path": "../../mask/hdr_front_01521.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01522.png",
+      "transform_matrix": [
+        [
+          0.9970316290855408,
+          -0.0364210307598114,
+          -0.06783405691385269,
+          28.86808204650879
+        ],
+        [
+          0.06870638579130173,
+          0.023257695138454437,
+          0.9973658919334412,
+          13.26262378692627
+        ],
+        [
+          -0.0347474180161953,
+          -0.9990658760070801,
+          0.025691013783216476,
+          0.990109384059906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1522,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_283770084",
+      "mask_path": "../../mask/hdr_front_01522.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01523.png",
+      "transform_matrix": [
+        [
+          0.9969075322151184,
+          -0.03640297055244446,
+          -0.06964392960071564,
+          28.87040901184082
+        ],
+        [
+          0.07045534998178482,
+          0.021502330899238586,
+          0.9972832202911377,
+          13.207130432128906
+        ],
+        [
+          -0.03480656072497368,
+          -0.9991058707237244,
+          0.0240006186068058,
+          0.984595000743866
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1523,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_383770465",
+      "mask_path": "../../mask/hdr_front_01523.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01524.png",
+      "transform_matrix": [
+        [
+          0.9972459077835083,
+          -0.03697369620203972,
+          -0.06429260224103928,
+          28.865957260131836
+        ],
+        [
+          0.06508416682481766,
+          0.020618285983800888,
+          0.9976667761802673,
+          13.142340660095215
+        ],
+        [
+          -0.03556182235479355,
+          -0.9991035461425781,
+          0.022967902943491936,
+          0.9885984063148499
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1524,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_483771800",
+      "mask_path": "../../mask/hdr_front_01524.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01525.png",
+      "transform_matrix": [
+        [
+          0.9980016946792603,
+          -0.03402761369943619,
+          -0.05324207618832588,
+          28.861007690429688
+        ],
+        [
+          0.05388408899307251,
+          0.01823698915541172,
+          0.9983806610107422,
+          13.08516788482666
+        ],
+        [
+          -0.03300153836607933,
+          -0.9992545247077942,
+          0.020034095272421837,
+          0.9955356121063232
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1525,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_583770513",
+      "mask_path": "../../mask/hdr_front_01525.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01526.png",
+      "transform_matrix": [
+        [
+          0.9984524250030518,
+          -0.025531766936182976,
+          -0.04940398037433624,
+          28.86530876159668
+        ],
+        [
+          0.04980171099305153,
+          0.015183493494987488,
+          0.998643696308136,
+          13.034807205200195
+        ],
+        [
+          -0.024747014045715332,
+          -0.999558687210083,
+          0.016431519761681557,
+          1.0077431201934814
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1526,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_683770179",
+      "mask_path": "../../mask/hdr_front_01526.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01527.png",
+      "transform_matrix": [
+        [
+          0.9979485273361206,
+          -0.029048018157482147,
+          -0.05705110356211662,
+          28.87468719482422
+        ],
+        [
+          0.05783732235431671,
+          0.026985738426446915,
+          0.9979612827301025,
+          12.971701622009277
+        ],
+        [
+          -0.0274492260068655,
+          -0.9992137551307678,
+          0.028610439971089363,
+          0.9995215535163879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1527,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_783774614",
+      "mask_path": "../../mask/hdr_front_01527.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01528.png",
+      "transform_matrix": [
+        [
+          0.9968944787979126,
+          -0.02981378510594368,
+          -0.07288713753223419,
+          28.887126922607422
+        ],
+        [
+          0.07362343370914459,
+          0.024391749873757362,
+          0.9969878196716309,
+          12.918564796447754
+        ],
+        [
+          -0.02794612944126129,
+          -0.9992578625679016,
+          0.026510994881391525,
+          0.9786664247512817
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1528,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_883769750",
+      "mask_path": "../../mask/hdr_front_01528.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01530.png",
+      "transform_matrix": [
+        [
+          0.9954357743263245,
+          -0.026034023612737656,
+          -0.09181331098079681,
+          28.899965286254883
+        ],
+        [
+          0.09256462007761002,
+          0.029291559010744095,
+          0.9952757358551025,
+          12.819839477539062
+        ],
+        [
+          -0.02322167530655861,
+          -0.9992318749427795,
+          0.03156770020723343,
+          0.9747246503829956
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1530,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_83768606",
+      "mask_path": "../../mask/hdr_front_01530.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01532.png",
+      "transform_matrix": [
+        [
+          0.9948226809501648,
+          -0.00668847793713212,
+          -0.1014060378074646,
+          28.912168502807617
+        ],
+        [
+          0.10152456909418106,
+          0.020756324753165245,
+          0.9946164488792419,
+          12.73232364654541
+        ],
+        [
+          -0.004547652788460255,
+          -0.9997621774673462,
+          0.021327907219529152,
+          0.9871622323989868
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1532,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_283769130",
+      "mask_path": "../../mask/hdr_front_01532.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01533.png",
+      "transform_matrix": [
+        [
+          0.9939445853233337,
+          -0.010003860108554363,
+          -0.10942620784044266,
+          28.928312301635742
+        ],
+        [
+          0.1096733808517456,
+          0.028905222192406654,
+          0.9935473799705505,
+          12.677149772644043
+        ],
+        [
+          -0.00677631888538599,
+          -0.9995321035385132,
+          0.02982734888792038,
+          0.989089846611023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1533,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_383769750",
+      "mask_path": "../../mask/hdr_front_01533.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01534.png",
+      "transform_matrix": [
+        [
+          0.9918442964553833,
+          -0.009256115183234215,
+          -0.1271185576915741,
+          28.945655822753906
+        ],
+        [
+          0.12735547125339508,
+          0.03254722058773041,
+          0.991322934627533,
+          12.627808570861816
+        ],
+        [
+          -0.0050384425558149815,
+          -0.9994273781776428,
+          0.0334605909883976,
+          0.9635373950004578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1534,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_483770608",
+      "mask_path": "../../mask/hdr_front_01534.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01536.png",
+      "transform_matrix": [
+        [
+          0.9892786741256714,
+          -0.006727708037942648,
+          -0.14588500559329987,
+          28.97812843322754
+        ],
+        [
+          0.14603663980960846,
+          0.03874921426177025,
+          0.988520085811615,
+          12.553534507751465
+        ],
+        [
+          -0.000997542985714972,
+          -0.9992263317108154,
+          0.039316266775131226,
+          0.9608930349349976
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1536,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_683769702",
+      "mask_path": "../../mask/hdr_front_01536.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01538.png",
+      "transform_matrix": [
+        [
+          0.9915385842323303,
+          0.0022080661728978157,
+          -0.1297934651374817,
+          28.992950439453125
+        ],
+        [
+          0.12965646386146545,
+          0.032120246440172195,
+          0.9910386204719543,
+          12.463470458984375
+        ],
+        [
+          0.006357277277857065,
+          -0.9994816184043884,
+          0.03156217560172081,
+          0.9772233963012695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1538,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_883769512",
+      "mask_path": "../../mask/hdr_front_01538.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01539.png",
+      "transform_matrix": [
+        [
+          0.9922996759414673,
+          -0.003692101687192917,
+          -0.12380476295948029,
+          29.004674911499023
+        ],
+        [
+          0.12385831773281097,
+          0.03446751832962036,
+          0.9917011260986328,
+          12.400103569030762
+        ],
+        [
+          0.0006057820864953101,
+          -0.9993990063667297,
+          0.03465941175818443,
+          0.9873039722442627
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1539,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_983769655",
+      "mask_path": "../../mask/hdr_front_01539.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01540.png",
+      "transform_matrix": [
+        [
+          0.9912413358688354,
+          -0.0032995298970490694,
+          -0.13202181458473206,
+          29.02473258972168
+        ],
+        [
+          0.1320590078830719,
+          0.03258630633354187,
+          0.9907060861587524,
+          12.337629318237305
+        ],
+        [
+          0.0010332404635846615,
+          -0.9994634985923767,
+          0.032736629247665405,
+          0.9608861207962036
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1540,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_83770513",
+      "mask_path": "../../mask/hdr_front_01540.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01542.png",
+      "transform_matrix": [
+        [
+          0.9945650100708008,
+          -0.001908361678943038,
+          -0.10410004109144211,
+          29.019380569458008
+        ],
+        [
+          0.10410415381193161,
+          0.03425456956028938,
+          0.9939762949943542,
+          12.245428085327148
+        ],
+        [
+          0.0016690371558070183,
+          -0.999411404132843,
+          0.034267064183950424,
+          0.9524393677711487
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1542,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_283769845",
+      "mask_path": "../../mask/hdr_front_01542.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01544.png",
+      "transform_matrix": [
+        [
+          0.998997151851654,
+          -0.0024678404442965984,
+          -0.04470520466566086,
+          28.994895935058594
+        ],
+        [
+          0.04476037621498108,
+          0.03108922578394413,
+          0.9985138773918152,
+          12.16202163696289
+        ],
+        [
+          -0.0010743218008428812,
+          -0.9995136260986328,
+          0.031168513000011444,
+          0.9620290398597717
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1544,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_483769655",
+      "mask_path": "../../mask/hdr_front_01544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01545.png",
+      "transform_matrix": [
+        [
+          0.999912440776825,
+          -0.0025045457296073437,
+          -0.012992184609174728,
+          28.98453140258789
+        ],
+        [
+          0.01305757462978363,
+          0.028150327503681183,
+          0.9995185136795044,
+          12.111140251159668
+        ],
+        [
+          -0.002137605333700776,
+          -0.9996006488800049,
+          0.028180567547678947,
+          0.968985378742218
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1545,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_583769798",
+      "mask_path": "../../mask/hdr_front_01545.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01546.png",
+      "transform_matrix": [
+        [
+          0.9999516010284424,
+          -0.004073943477123976,
+          0.008952751755714417,
+          28.984495162963867
+        ],
+        [
+          -0.008794198743999004,
+          0.0374004952609539,
+          0.9992616772651672,
+          12.04837703704834
+        ],
+        [
+          -0.004405771382153034,
+          -0.9992920756340027,
+          0.03736285865306854,
+          0.9632633328437805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1546,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_683770656",
+      "mask_path": "../../mask/hdr_front_01546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01548.png",
+      "transform_matrix": [
+        [
+          0.9995043873786926,
+          -0.012148115783929825,
+          0.029040956869721413,
+          28.975669860839844
+        ],
+        [
+          -0.028608573600649834,
+          0.03436825051903725,
+          0.9989996552467346,
+          11.970355987548828
+        ],
+        [
+          -0.013134049251675606,
+          -0.9993354678153992,
+          0.03400367870926857,
+          0.9355709552764893
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1548,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_883770227",
+      "mask_path": "../../mask/hdr_front_01548.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01550.png",
+      "transform_matrix": [
+        [
+          0.9991410970687866,
+          -0.00863147433847189,
+          0.040526751428842545,
+          28.96628189086914
+        ],
+        [
+          -0.04020187258720398,
+          0.03496905788779259,
+          0.9985794425010681,
+          11.894336700439453
+        ],
+        [
+          -0.010036393068730831,
+          -0.9993511438369751,
+          0.034592024981975555,
+          0.9502715468406677
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1550,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_83770751",
+      "mask_path": "../../mask/hdr_front_01550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01552.png",
+      "transform_matrix": [
+        [
+          0.9986662268638611,
+          -0.00032366105006076396,
+          0.05162942782044411,
+          28.958986282348633
+        ],
+        [
+          -0.051598500460386276,
+          0.028911827132105827,
+          0.9982492923736572,
+          11.814281463623047
+        ],
+        [
+          -0.0018157940357923508,
+          -0.9995819330215454,
+          0.028856560587882996,
+          0.961952805519104
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1552,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_283769607",
+      "mask_path": "../../mask/hdr_front_01552.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01553.png",
+      "transform_matrix": [
+        [
+          0.9990047216415405,
+          -0.00287256739102304,
+          0.044510841369628906,
+          28.958730697631836
+        ],
+        [
+          -0.044434741139411926,
+          0.02261275239288807,
+          0.9987564086914062,
+          11.757126808166504
+        ],
+        [
+          -0.003875507041811943,
+          -0.9997401833534241,
+          0.022462602704763412,
+          0.9511850476264954
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1553,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_383770465",
+      "mask_path": "../../mask/hdr_front_01553.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01555.png",
+      "transform_matrix": [
+        [
+          0.9990916848182678,
+          -0.004287829622626305,
+          0.04239601269364357,
+          28.957693099975586
+        ],
+        [
+          -0.04226435348391533,
+          0.027169981971383095,
+          0.9987369775772095,
+          11.659643173217773
+        ],
+        [
+          -0.005434311460703611,
+          -0.9996216297149658,
+          0.026964081451296806,
+          0.9519320726394653
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1555,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_583770275",
+      "mask_path": "../../mask/hdr_front_01555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01557.png",
+      "transform_matrix": [
+        [
+          0.9981971383094788,
+          0.004330385010689497,
+          0.05986456945538521,
+          28.949974060058594
+        ],
+        [
+          -0.05990926921367645,
+          0.011059856973588467,
+          0.9981426000595093,
+          11.562356948852539
+        ],
+        [
+          0.003660248126834631,
+          -0.9999294877052307,
+          0.011299348436295986,
+          0.9749921560287476
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1557,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_783770799",
+      "mask_path": "../../mask/hdr_front_01557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01558.png",
+      "transform_matrix": [
+        [
+          0.9984129071235657,
+          0.0015763620613142848,
+          0.05629611015319824,
+          28.95367431640625
+        ],
+        [
+          -0.056310199201107025,
+          0.011122887022793293,
+          0.9983513951301575,
+          11.492358207702637
+        ],
+        [
+          0.0009475895203649998,
+          -0.9999368786811829,
+          0.011193999089300632,
+          0.9655500650405884
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1558,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_883770704",
+      "mask_path": "../../mask/hdr_front_01558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01561.png",
+      "transform_matrix": [
+        [
+          0.9979221224784851,
+          -0.0050563202239573,
+          0.06423326581716537,
+          28.9363956451416
+        ],
+        [
+          -0.06418675929307938,
+          0.0088764363899827,
+          0.9978984594345093,
+          11.336465835571289
+        ],
+        [
+          -0.005615855101495981,
+          -0.9999478459358215,
+          0.008533444255590439,
+          0.9539613723754883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1561,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_183770895",
+      "mask_path": "../../mask/hdr_front_01561.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01563.png",
+      "transform_matrix": [
+        [
+          0.997572124004364,
+          -0.003401480382308364,
+          0.06955772638320923,
+          28.93206787109375
+        ],
+        [
+          -0.06954605132341385,
+          0.0034357712138444185,
+          0.9975728392601013,
+          11.225151062011719
+        ],
+        [
+          -0.003632208565250039,
+          -0.999988317489624,
+          0.003190870163962245,
+          0.9665170311927795
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1563,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_383770465",
+      "mask_path": "../../mask/hdr_front_01563.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01564.png",
+      "transform_matrix": [
+        [
+          0.9978863000869751,
+          -0.008206203579902649,
+          0.06446326524019241,
+          28.92926788330078
+        ],
+        [
+          -0.06443901360034943,
+          0.0031870841048657894,
+          0.997916579246521,
+          11.17170524597168
+        ],
+        [
+          -0.008394554257392883,
+          -0.9999613165855408,
+          0.0026515480130910873,
+          0.9562365412712097
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1564,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_483770847",
+      "mask_path": "../../mask/hdr_front_01564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01566.png",
+      "transform_matrix": [
+        [
+          0.9981432557106018,
+          -0.015751106664538383,
+          0.05883900448679924,
+          28.912036895751953
+        ],
+        [
+          -0.058683253824710846,
+          0.010174212977290154,
+          0.9982247948646545,
+          11.069448471069336
+        ],
+        [
+          -0.016321783885359764,
+          -0.9998241662979126,
+          0.009230995550751686,
+          0.9572141170501709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1566,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_683770656",
+      "mask_path": "../../mask/hdr_front_01566.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01568.png",
+      "transform_matrix": [
+        [
+          0.9985944628715515,
+          -0.011006897315382957,
+          0.05184553563594818,
+          28.910682678222656
+        ],
+        [
+          -0.051785655319690704,
+          0.005657521076500416,
+          0.9986422657966614,
+          10.977742195129395
+        ],
+        [
+          -0.01128526870161295,
+          -0.9999234080314636,
+          0.005079569760710001,
+          0.9697092771530151
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1568,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_883771181",
+      "mask_path": "../../mask/hdr_front_01568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01569.png",
+      "transform_matrix": [
+        [
+          0.999487042427063,
+          -0.012271569110453129,
+          0.029580166563391685,
+          28.916643142700195
+        ],
+        [
+          -0.029534656554460526,
+          0.0038730984088033438,
+          0.999556303024292,
+          10.912249565124512
+        ],
+        [
+          -0.0123806893825531,
+          -0.999917209148407,
+          0.0035086749121546745,
+          0.9559153914451599
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1569,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_983770847",
+      "mask_path": "../../mask/hdr_front_01569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01571.png",
+      "transform_matrix": [
+        [
+          0.9998528957366943,
+          -0.01609969325363636,
+          -0.0059214443899691105,
+          28.921829223632812
+        ],
+        [
+          0.006102012470364571,
+          0.011189751327037811,
+          0.9999187588691711,
+          10.836653709411621
+        ],
+        [
+          -0.016032123938202858,
+          -0.9998077750205994,
+          0.011286345310509205,
+          0.9482464790344238
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1571,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685436_183770895",
+      "mask_path": "../../mask/hdr_front_01571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01573.png",
+      "transform_matrix": [
+        [
+          0.9996495842933655,
+          -0.017003972083330154,
+          -0.02028692327439785,
+          28.9255428314209
+        ],
+        [
+          0.02035171166062355,
+          0.00364578771404922,
+          0.9997862577438354,
+          10.782687187194824
+        ],
+        [
+          -0.016926376149058342,
+          -0.9998488426208496,
+          0.0039905705489218235,
+          0.9645021557807922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1573,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685436_383769750",
+      "mask_path": "../../mask/hdr_front_01573.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01582.png",
+      "transform_matrix": [
+        [
+          0.9536754488945007,
+          0.007777116727083921,
+          -0.30073684453964233,
+          29.04684066772461
+        ],
+        [
+          0.3007452189922333,
+          9.371487976750359e-05,
+          0.9537045955657959,
+          10.7943115234375
+        ],
+        [
+          0.007445255294442177,
+          -0.9999698400497437,
+          -0.0022495570592582226,
+          0.9740482568740845
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1582,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685437_283770799",
+      "mask_path": "../../mask/hdr_front_01582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01588.png",
+      "transform_matrix": [
+        [
+          0.8318104147911072,
+          0.01564146764576435,
+          -0.5548394918441772,
+          29.15831184387207
+        ],
+        [
+          0.5546215176582336,
+          0.01629992015659809,
+          0.8319430947303772,
+          10.866673469543457
+        ],
+        [
+          0.02205665037035942,
+          -0.9997448325157166,
+          0.004883346613496542,
+          0.9640465974807739
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1588,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685437_883769989",
+      "mask_path": "../../mask/hdr_front_01588.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01593.png",
+      "transform_matrix": [
+        [
+          0.652306318283081,
+          0.0373120978474617,
+          -0.757036566734314,
+          29.24683952331543
+        ],
+        [
+          0.7558091282844543,
+          0.0430920347571373,
+          0.653372585773468,
+          10.966293334960938
+        ],
+        [
+          0.05700094252824783,
+          -0.9983741641044617,
+          -9.16198841878213e-05,
+          0.9621497392654419
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1593,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685438_383769989",
+      "mask_path": "../../mask/hdr_front_01593.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01598.png",
+      "transform_matrix": [
+        [
+          0.3910728096961975,
+          0.023208897560834885,
+          -0.9200670719146729,
+          29.310762405395508
+        ],
+        [
+          0.9189687967300415,
+          0.0450933463871479,
+          0.3917434513568878,
+          11.08711051940918
+        ],
+        [
+          0.05058084428310394,
+          -0.9987131953239441,
+          -0.0036934735253453255,
+          0.9507516622543335
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1598,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685438_883769750",
+      "mask_path": "../../mask/hdr_front_01598.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01603.png",
+      "transform_matrix": [
+        [
+          0.13123303651809692,
+          0.029218535870313644,
+          -0.990920901298523,
+          29.353588104248047
+        ],
+        [
+          0.9890199303627014,
+          0.0646563470363617,
+          0.13288776576519012,
+          11.223554611206055
+        ],
+        [
+          0.06795210391283035,
+          -0.9974797964096069,
+          -0.020412662997841835,
+          0.9598238468170166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1603,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685439_383770942",
+      "mask_path": "../../mask/hdr_front_01603.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01607.png",
+      "transform_matrix": [
+        [
+          -0.12459182739257812,
+          0.0029528653249144554,
+          -0.9922037124633789,
+          29.340171813964844
+        ],
+        [
+          0.9909802079200745,
+          0.050104059278964996,
+          -0.12428908795118332,
+          11.331623077392578
+        ],
+        [
+          0.049346424639225006,
+          -0.9987397193908691,
+          -0.00916878879070282,
+          0.9510533213615417
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1607,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685439_783769369",
+      "mask_path": "../../mask/hdr_front_01607.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01611.png",
+      "transform_matrix": [
+        [
+          -0.33429455757141113,
+          -0.0046052271500229836,
+          -0.9424574375152588,
+          29.306886672973633
+        ],
+        [
+          0.9404430389404297,
+          0.06389675289392471,
+          -0.333892285823822,
+          11.447686195373535
+        ],
+        [
+          0.06175761669874191,
+          -0.9979459047317505,
+          -0.017029378563165665,
+          0.9580398201942444
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1611,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685440_183770656",
+      "mask_path": "../../mask/hdr_front_01611.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01615.png",
+      "transform_matrix": [
+        [
+          -0.5582998991012573,
+          -0.0038311013486236334,
+          -0.829630434513092,
+          29.251405715942383
+        ],
+        [
+          0.8289357423782349,
+          0.038597941398620605,
+          -0.5580105185508728,
+          11.553628921508789
+        ],
+        [
+          0.0341598205268383,
+          -0.9992474913597107,
+          -0.018373487517237663,
+          0.9469626545906067
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1615,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685440_583770036",
+      "mask_path": "../../mask/hdr_front_01615.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01620.png",
+      "transform_matrix": [
+        [
+          -0.7613098621368408,
+          -0.018602389842271805,
+          -0.6481212377548218,
+          29.154170989990234
+        ],
+        [
+          0.647292971611023,
+          0.03626791015267372,
+          -0.7613779902458191,
+          11.655367851257324
+        ],
+        [
+          0.03766945004463196,
+          -0.9991689324378967,
+          -0.01556992158293724,
+          0.9588351249694824
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1620,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685441_83770513",
+      "mask_path": "../../mask/hdr_front_01620.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01624.png",
+      "transform_matrix": [
+        [
+          -0.8926774859428406,
+          -0.0392073392868042,
+          -0.44898733496665955,
+          29.041223526000977
+        ],
+        [
+          0.4482870399951935,
+          0.025620099157094955,
+          -0.8935224413871765,
+          11.693330764770508
+        ],
+        [
+          0.046535737812519073,
+          -0.9989026784896851,
+          -0.005294342990964651,
+          0.9478223919868469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1624,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685441_483770847",
+      "mask_path": "../../mask/hdr_front_01624.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01629.png",
+      "transform_matrix": [
+        [
+          -0.9592459201812744,
+          -0.027567530050873756,
+          -0.2812245488166809,
+          28.97658348083496
+        ],
+        [
+          0.28102898597717285,
+          0.010806983336806297,
+          -0.9596384763717651,
+          11.759658813476562
+        ],
+        [
+          0.02949404902756214,
+          -0.9995615482330322,
+          -0.002619279781356454,
+          0.9534926414489746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1629,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685441_983769178",
+      "mask_path": "../../mask/hdr_front_01629.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01632.png",
+      "transform_matrix": [
+        [
+          -0.9722188711166382,
+          -0.03096388839185238,
+          -0.23201651871204376,
+          28.969757080078125
+        ],
+        [
+          0.23206615447998047,
+          0.002030967967584729,
+          -0.972697913646698,
+          11.838287353515625
+        ],
+        [
+          0.030589725822210312,
+          -0.9995184540748596,
+          0.005211124662309885,
+          0.9487479329109192
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1632,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685442_283770799",
+      "mask_path": "../../mask/hdr_front_01632.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01634.png",
+      "transform_matrix": [
+        [
+          -0.9750493168830872,
+          -0.03301732987165451,
+          -0.21951916813850403,
+          28.976842880249023
+        ],
+        [
+          0.21959897875785828,
+          0.0012338353553786874,
+          -0.9755894541740417,
+          11.895578384399414
+        ],
+        [
+          0.03248220682144165,
+          -0.9994540214538574,
+          0.006047522183507681,
+          0.9434154629707336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1634,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685442_483770847",
+      "mask_path": "../../mask/hdr_front_01634.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01636.png",
+      "transform_matrix": [
+        [
+          -0.9816372990608215,
+          -0.01644040271639824,
+          -0.19004695117473602,
+          28.979997634887695
+        ],
+        [
+          0.1901208907365799,
+          -0.0030433700885623693,
+          -0.9817560315132141,
+          11.98594856262207
+        ],
+        [
+          0.015562080778181553,
+          -0.9998602867126465,
+          0.00611314969137311,
+          0.9489780068397522
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1636,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685442_683769941",
+      "mask_path": "../../mask/hdr_front_01636.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01638.png",
+      "transform_matrix": [
+        [
+          -0.987822413444519,
+          -0.0144992396235466,
+          -0.15490858256816864,
+          28.970123291015625
+        ],
+        [
+          0.15496942400932312,
+          -0.0031667568255215883,
+          -0.9879142045974731,
+          12.060839653015137
+        ],
+        [
+          0.013833446428179741,
+          -0.9998898506164551,
+          0.005375132896006107,
+          0.9312992095947266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1638,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685442_883770465",
+      "mask_path": "../../mask/hdr_front_01638.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01640.png",
+      "transform_matrix": [
+        [
+          -0.9905997514724731,
+          -0.019778288900852203,
+          -0.13535545766353607,
+          28.9672794342041
+        ],
+        [
+          0.13533896207809448,
+          0.0021776289213448763,
+          -0.9907969832420349,
+          12.153172492980957
+        ],
+        [
+          0.01989102177321911,
+          -0.9998019933700562,
+          0.0005196145502850413,
+          0.9621960520744324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1640,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_83769798",
+      "mask_path": "../../mask/hdr_front_01640.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01642.png",
+      "transform_matrix": [
+        [
+          -0.9921106696128845,
+          -0.033391498029232025,
+          -0.12083657085895538,
+          28.96173095703125
+        ],
+        [
+          0.12054450809955597,
+          0.010632665827870369,
+          -0.992651104927063,
+          12.236258506774902
+        ],
+        [
+          0.034430909901857376,
+          -0.9993858337402344,
+          -0.006523619871586561,
+          0.9596350193023682
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1642,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_283769130",
+      "mask_path": "../../mask/hdr_front_01642.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01643.png",
+      "transform_matrix": [
+        [
+          -0.9946375489234924,
+          -0.022959355264902115,
+          -0.10084203630685806,
+          28.95416259765625
+        ],
+        [
+          0.1008150652050972,
+          0.002332079689949751,
+          -0.994902491569519,
+          12.295330047607422
+        ],
+        [
+          0.02307748980820179,
+          -0.9997336864471436,
+          -4.925011126033496e-06,
+          0.9598197937011719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1643,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_383769750",
+      "mask_path": "../../mask/hdr_front_01643.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01645.png",
+      "transform_matrix": [
+        [
+          -0.9978573322296143,
+          -0.016635701060295105,
+          -0.06327709555625916,
+          28.93583106994629
+        ],
+        [
+          0.06324254721403122,
+          0.00259448797442019,
+          -0.9979947805404663,
+          12.36318302154541
+        ],
+        [
+          0.016766514629125595,
+          -0.9998582601547241,
+          -0.0015368445310741663,
+          0.9421731233596802
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1645,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_583770036",
+      "mask_path": "../../mask/hdr_front_01645.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01647.png",
+      "transform_matrix": [
+        [
+          -0.9982872605323792,
+          -0.02826857566833496,
+          -0.051218289881944656,
+          28.9212646484375
+        ],
+        [
+          0.051249630749225616,
+          -0.00038505380507558584,
+          -0.998685896396637,
+          12.445951461791992
+        ],
+        [
+          0.028211701661348343,
+          -0.9996004104614258,
+          0.0018331484170630574,
+          0.9662408232688904
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1647,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_783770561",
+      "mask_path": "../../mask/hdr_front_01647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01649.png",
+      "transform_matrix": [
+        [
+          -0.9969313740730286,
+          -0.0395493246614933,
+          -0.06755510717630386,
+          28.930728912353516
+        ],
+        [
+          0.06732991337776184,
+          0.007000187411904335,
+          -0.9977062344551086,
+          12.512176513671875
+        ],
+        [
+          0.039931509643793106,
+          -0.9991931915283203,
+          -0.004315854050219059,
+          0.9578676223754883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1649,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_983767986",
+      "mask_path": "../../mask/hdr_front_01649.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01650.png",
+      "transform_matrix": [
+        [
+          -0.9969935417175293,
+          -0.029030166566371918,
+          -0.07184107601642609,
+          28.93195152282715
+        ],
+        [
+          0.07197935879230499,
+          -0.003745779162272811,
+          -0.9973991513252258,
+          12.562997817993164
+        ],
+        [
+          0.028685564175248146,
+          -0.9995715022087097,
+          0.005824089981615543,
+          0.9560455679893494
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1650,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_83768367",
+      "mask_path": "../../mask/hdr_front_01650.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01652.png",
+      "transform_matrix": [
+        [
+          -0.9976751804351807,
+          -0.013109187595546246,
+          -0.06687591969966888,
+          28.929903030395508
+        ],
+        [
+          0.06694750487804413,
+          -0.00509920297190547,
+          -0.997743546962738,
+          12.63996410369873
+        ],
+        [
+          0.012738593854010105,
+          -0.9999010562896729,
+          0.005964974872767925,
+          0.9407675266265869
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1652,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_283770561",
+      "mask_path": "../../mask/hdr_front_01652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01654.png",
+      "transform_matrix": [
+        [
+          -0.9977302551269531,
+          -0.004822173155844212,
+          -0.0671643316745758,
+          28.932058334350586
+        ],
+        [
+          0.0672120749950409,
+          -0.010535974986851215,
+          -0.997683048248291,
+          12.725557327270508
+        ],
+        [
+          0.004103358369320631,
+          -0.9999328851699829,
+          0.010836169123649597,
+          0.930766224861145
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1654,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_483769178",
+      "mask_path": "../../mask/hdr_front_01654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01656.png",
+      "transform_matrix": [
+        [
+          -0.9966468214988708,
+          -0.00594805832952261,
+          -0.08160766214132309,
+          28.947053909301758
+        ],
+        [
+          0.08165817707777023,
+          -0.008813207037746906,
+          -0.9966214895248413,
+          12.80871295928955
+        ],
+        [
+          0.00520873861387372,
+          -0.9999435544013977,
+          0.00926936138421297,
+          0.9395467042922974
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1656,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_683770179",
+      "mask_path": "../../mask/hdr_front_01656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01657.png",
+      "transform_matrix": [
+        [
+          -0.9959574937820435,
+          -0.007894450798630714,
+          -0.08947774022817612,
+          28.955028533935547
+        ],
+        [
+          0.08950752019882202,
+          -0.003501391038298607,
+          -0.9959799647331238,
+          12.871438980102539
+        ],
+        [
+          0.007549418602138758,
+          -0.9999627470970154,
+          0.004193849861621857,
+          0.9309704303741455
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1657,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_783771991",
+      "mask_path": "../../mask/hdr_front_01657.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01658.png",
+      "transform_matrix": [
+        [
+          -0.9960532188415527,
+          -0.0019191771280020475,
+          -0.0887366309762001,
+          28.96198844909668
+        ],
+        [
+          0.08874977380037308,
+          -0.008441940881311893,
+          -0.9960182309150696,
+          12.947941780090332
+        ],
+        [
+          0.0011624275939539075,
+          -0.999962568283081,
+          0.008578948676586151,
+          0.9457095265388489
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1658,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_883769273",
+      "mask_path": "../../mask/hdr_front_01658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01659.png",
+      "transform_matrix": [
+        [
+          -0.9962348341941833,
+          3.4107455576304346e-05,
+          -0.08669579774141312,
+          28.963882446289062
+        ],
+        [
+          0.08669532835483551,
+          -0.002895472338423133,
+          -0.9962306618690491,
+          13.002809524536133
+        ],
+        [
+          -0.0002850038290489465,
+          -0.9999958276748657,
+          0.0028816130943596363,
+          0.9398618936538696
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1659,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_983769893",
+      "mask_path": "../../mask/hdr_front_01659.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01660.png",
+      "transform_matrix": [
+        [
+          -0.9965196847915649,
+          -0.0007130182348191738,
+          -0.0833546370267868,
+          28.967510223388672
+        ],
+        [
+          0.08335559815168381,
+          -0.0014607608318328857,
+          -0.9965188503265381,
+          13.057624816894531
+        ],
+        [
+          0.0005887752631679177,
+          -0.9999987483024597,
+          0.001515110838226974,
+          0.9410379528999329
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1660,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_83768367",
+      "mask_path": "../../mask/hdr_front_01660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01661.png",
+      "transform_matrix": [
+        [
+          -0.9961620569229126,
+          0.0012922934256494045,
+          -0.08751833438873291,
+          28.974536895751953
+        ],
+        [
+          0.08751852810382843,
+          8.303784125018865e-05,
+          -0.9961629509925842,
+          13.133410453796387
+        ],
+        [
+          -0.0012800669064745307,
+          -0.9999991655349731,
+          -0.00019581870583351701,
+          0.937903106212616
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1661,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_183769702",
+      "mask_path": "../../mask/hdr_front_01661.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01662.png",
+      "transform_matrix": [
+        [
+          -0.9951884746551514,
+          -0.003369925543665886,
+          -0.0979207381606102,
+          28.986572265625
+        ],
+        [
+          0.09789915382862091,
+          0.006064064800739288,
+          -0.9951778650283813,
+          13.187692642211914
+        ],
+        [
+          0.003947473131120205,
+          -0.9999759197235107,
+          -0.005704975221306086,
+          0.9568428993225098
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1662,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_283770084",
+      "mask_path": "../../mask/hdr_front_01662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01664.png",
+      "transform_matrix": [
+        [
+          -0.9936410784721375,
+          -0.015132538974285126,
+          -0.11157267540693283,
+          28.997615814208984
+        ],
+        [
+          0.11128630489110947,
+          0.01860513538122177,
+          -0.9936141967773438,
+          13.278358459472656
+        ],
+        [
+          0.017111731693148613,
+          -0.9997124075889587,
+          -0.016802780330181122,
+          0.965770423412323
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1664,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_483769178",
+      "mask_path": "../../mask/hdr_front_01664.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01665.png",
+      "transform_matrix": [
+        [
+          -0.9937857985496521,
+          -0.005929355975240469,
+          -0.11115213483572006,
+          29.002328872680664
+        ],
+        [
+          0.11103221774101257,
+          0.017719624564051628,
+          -0.9936588406562805,
+          13.358562469482422
+        ],
+        [
+          0.007861332967877388,
+          -0.9998254179954529,
+          -0.01695115864276886,
+          0.9753328561782837
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1665,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_583769559",
+      "mask_path": "../../mask/hdr_front_01665.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01666.png",
+      "transform_matrix": [
+        [
+          -0.9942376613616943,
+          0.0023912894539535046,
+          -0.10717151314020157,
+          29.002737045288086
+        ],
+        [
+          0.10719817876815796,
+          0.02173866145312786,
+          -0.9940000176429749,
+          13.412314414978027
+        ],
+        [
+          -4.717701449408196e-05,
+          -0.9997608661651611,
+          -0.021869739517569542,
+          0.9675126075744629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1666,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_683768749",
+      "mask_path": "../../mask/hdr_front_01666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01668.png",
+      "transform_matrix": [
+        [
+          -0.9946794509887695,
+          0.0053060464560985565,
+          -0.10288161784410477,
+          28.999858856201172
+        ],
+        [
+          0.10298117995262146,
+          0.02438994310796261,
+          -0.994384229183197,
+          13.517252922058105
+        ],
+        [
+          -0.0027669721748679876,
+          -0.999688446521759,
+          -0.024806596338748932,
+          0.9659013152122498
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1668,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_883769035",
+      "mask_path": "../../mask/hdr_front_01668.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01669.png",
+      "transform_matrix": [
+        [
+          -0.9938046932220459,
+          0.006066692061722279,
+          -0.11097520589828491,
+          29.004030227661133
+        ],
+        [
+          0.11109846830368042,
+          0.026636777445673943,
+          -0.9934523701667786,
+          13.587728500366211
+        ],
+        [
+          -0.0030709465499967337,
+          -0.9996268153190613,
+          -0.0271457526832819,
+          0.9776585698127747
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1669,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_983770847",
+      "mask_path": "../../mask/hdr_front_01669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01671.png",
+      "transform_matrix": [
+        [
+          -0.9920303225517273,
+          -0.0029464541003108025,
+          -0.12596485018730164,
+          29.016454696655273
+        ],
+        [
+          0.12576696276664734,
+          0.03752550482749939,
+          -0.9913498163223267,
+          13.695939064025879
+        ],
+        [
+          0.007647862192243338,
+          -0.9992913007736206,
+          -0.036855876445770264,
+          0.9930626749992371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1671,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_183769702",
+      "mask_path": "../../mask/hdr_front_01671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01672.png",
+      "transform_matrix": [
+        [
+          -0.9920803308486938,
+          0.00565978791564703,
+          -0.12547704577445984,
+          29.021074295043945
+        ],
+        [
+          0.1255999654531479,
+          0.036104220896959305,
+          -0.9914237856864929,
+          13.772788047790527
+        ],
+        [
+          -0.0010809974046424031,
+          -0.999332070350647,
+          -0.03652914613485336,
+          0.9937418699264526
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1672,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_283768892",
+      "mask_path": "../../mask/hdr_front_01672.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01675.png",
+      "transform_matrix": [
+        [
+          -0.9924785494804382,
+          0.01508462242782116,
+          -0.12148521095514297,
+          29.04047393798828
+        ],
+        [
+          0.12185142189264297,
+          0.02635100483894348,
+          -0.9921985268592834,
+          13.924132347106934
+        ],
+        [
+          -0.011765679344534874,
+          -0.9995389580726624,
+          -0.02799089439213276,
+          0.9804584980010986
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1675,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_583770036",
+      "mask_path": "../../mask/hdr_front_01675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01676.png",
+      "transform_matrix": [
+        [
+          -0.9911220669746399,
+          0.02000892162322998,
+          -0.13144010305404663,
+          29.052215576171875
+        ],
+        [
+          0.1318904161453247,
+          0.023146210238337517,
+          -0.9909940361976624,
+          13.980020523071289
+        ],
+        [
+          -0.016786379739642143,
+          -0.9995318651199341,
+          -0.025579705834388733,
+          0.9947084784507751
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1676,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_683770895",
+      "mask_path": "../../mask/hdr_front_01676.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01678.png",
+      "transform_matrix": [
+        [
+          -0.9883782863616943,
+          0.011430821381509304,
+          -0.15158426761627197,
+          29.077232360839844
+        ],
+        [
+          0.1518591195344925,
+          0.029146622866392136,
+          -0.9879723191261292,
+          14.075544357299805
+        ],
+        [
+          -0.006875163875520229,
+          -0.9995098114013672,
+          -0.03054376132786274,
+          1.006259799003601
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1678,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_883770465",
+      "mask_path": "../../mask/hdr_front_01678.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01679.png",
+      "transform_matrix": [
+        [
+          -0.9881515502929688,
+          0.010368150658905506,
+          -0.15313047170639038,
+          29.084163665771484
+        ],
+        [
+          0.15330931544303894,
+          0.01949332281947136,
+          -0.9879859685897827,
+          14.14586067199707
+        ],
+        [
+          -0.007258564233779907,
+          -0.9997562766075134,
+          -0.020851891487836838,
+          1.007962703704834
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1679,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_983770370",
+      "mask_path": "../../mask/hdr_front_01679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01680.png",
+      "transform_matrix": [
+        [
+          -0.9886056780815125,
+          0.017811324447393417,
+          -0.14947079122066498,
+          29.08973503112793
+        ],
+        [
+          0.14975935220718384,
+          0.016142720356583595,
+          -0.9885907769203186,
+          14.196744918823242
+        ],
+        [
+          -0.015195243991911411,
+          -0.9997110962867737,
+          -0.018626196309924126,
+          0.9901362061500549
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1680,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685447_83769559",
+      "mask_path": "../../mask/hdr_front_01680.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01682.png",
+      "transform_matrix": [
+        [
+          -0.9875745177268982,
+          0.01824348233640194,
+          -0.15608899295330048,
+          29.11174964904785
+        ],
+        [
+          0.15624652802944183,
+          0.007547179237008095,
+          -0.9876893162727356,
+          14.285778999328613
+        ],
+        [
+          -0.016840860247612,
+          -0.9998050928115845,
+          -0.010303882881999016,
+          0.9951927661895752
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1682,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685447_283769607",
+      "mask_path": "../../mask/hdr_front_01682.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01684.png",
+      "transform_matrix": [
+        [
+          -0.9841452240943909,
+          0.010309277102351189,
+          -0.17706488072872162,
+          29.136619567871094
+        ],
+        [
+          0.17720229923725128,
+          0.014434528537094593,
+          -0.9840685725212097,
+          14.354340553283691
+        ],
+        [
+          -0.007589186076074839,
+          -0.9998427033424377,
+          -0.016032500192523003,
+          1.0090423822402954
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1684,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685447_483772039",
+      "mask_path": "../../mask/hdr_front_01684.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01686.png",
+      "transform_matrix": [
+        [
+          -0.9878830909729004,
+          0.017965123057365417,
+          -0.1541566550731659,
+          29.145849227905273
+        ],
+        [
+          0.15437434613704681,
+          0.011426592245697975,
+          -0.9879463911056519,
+          14.446828842163086
+        ],
+        [
+          -0.0159870907664299,
+          -0.999773383140564,
+          -0.014061491005122662,
+          0.9998072385787964
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1686,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685447_683770895",
+      "mask_path": "../../mask/hdr_front_01686.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01688.png",
+      "transform_matrix": [
+        [
+          -0.9923108816146851,
+          0.017252637073397636,
+          -0.12256253510713577,
+          29.150798797607422
+        ],
+        [
+          0.12271248549222946,
+          0.007915738970041275,
+          -0.9924107193946838,
+          14.528275489807129
+        ],
+        [
+          -0.01615152880549431,
+          -0.999819815158844,
+          -0.009971987456083298,
+          1.0002868175506592
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1688,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685447_883769989",
+      "mask_path": "../../mask/hdr_front_01688.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01690.png",
+      "transform_matrix": [
+        [
+          -0.9944120645523071,
+          0.006320636253803968,
+          -0.10537870973348618,
+          29.156705856323242
+        ],
+        [
+          0.10546088963747025,
+          0.014503071084618568,
+          -0.9943177700042725,
+          14.597896575927734
+        ],
+        [
+          -0.004756405018270016,
+          -0.9998748898506165,
+          -0.015088608488440514,
+          1.0052037239074707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1690,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685448_83769559",
+      "mask_path": "../../mask/hdr_front_01690.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01692.png",
+      "transform_matrix": [
+        [
+          -0.99873286485672,
+          0.006182957906275988,
+          -0.04994407668709755,
+          29.138633728027344
+        ],
+        [
+          0.05002779886126518,
+          0.014220812357962132,
+          -0.99864661693573,
+          14.696257591247559
+        ],
+        [
+          -0.005464343354105949,
+          -0.9998797178268433,
+          -0.014512114226818085,
+          0.9997382164001465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1692,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685448_283766031",
+      "mask_path": "../../mask/hdr_front_01692.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01694.png",
+      "transform_matrix": [
+        [
+          -0.999423623085022,
+          0.002701676683500409,
+          0.03383832052350044,
+          29.108152389526367
+        ],
+        [
+          -0.03381554037332535,
+          0.008073062635958195,
+          -0.999395489692688,
+          14.772054672241211
+        ],
+        [
+          -0.002973221940919757,
+          -0.9999638199806213,
+          -0.007977050729095936,
+          1.0018458366394043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1694,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685448_483769655",
+      "mask_path": "../../mask/hdr_front_01694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01696.png",
+      "transform_matrix": [
+        [
+          -0.996160089969635,
+          -0.014495457522571087,
+          0.08634163439273834,
+          29.084087371826172
+        ],
+        [
+          -0.08654914796352386,
+          0.014356923289597034,
+          -0.99614417552948,
+          14.837413787841797
+        ],
+        [
+          0.013199961744248867,
+          -0.9997919797897339,
+          -0.015556364320218563,
+          1.0201784372329712
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1696,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685448_683769226",
+      "mask_path": "../../mask/hdr_front_01696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01703.png",
+      "transform_matrix": [
+        [
+          -0.9855698943138123,
+          -0.03035006672143936,
+          0.1665256917476654,
+          28.989669799804688
+        ],
+        [
+          -0.16639494895935059,
+          -0.0068016680888831615,
+          -0.9860358238220215,
+          15.11327838897705
+        ],
+        [
+          0.03105890192091465,
+          -0.9995162487030029,
+          0.0016534224851056933,
+          1.0129165649414062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1703,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685449_383770942",
+      "mask_path": "../../mask/hdr_front_01703.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01704.png",
+      "transform_matrix": [
+        [
+          -0.9837066531181335,
+          -0.02190074324607849,
+          0.17844218015670776,
+          28.969589233398438
+        ],
+        [
+          -0.17832674086093903,
+          -0.007131586782634258,
+          -0.9839455485343933,
+          15.172739028930664
+        ],
+        [
+          0.022821711376309395,
+          -0.9997346997261047,
+          0.0031099014449864626,
+          1.0016099214553833
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1704,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685449_483770847",
+      "mask_path": "../../mask/hdr_front_01704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01706.png",
+      "transform_matrix": [
+        [
+          -0.9816734790802002,
+          -0.010747422464191914,
+          0.19026724994182587,
+          28.950231552124023
+        ],
+        [
+          -0.19020062685012817,
+          -0.006926459725946188,
+          -0.9817208051681519,
+          15.259224891662598
+        ],
+        [
+          0.011868845671415329,
+          -0.9999182820320129,
+          0.004755355883389711,
+          0.9858353137969971
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1706,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685449_683769702",
+      "mask_path": "../../mask/hdr_front_01706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01524.png",
+      "transform_matrix": [
+        [
+          -0.0790778324007988,
+          -0.009939842857420444,
+          0.9968188405036926,
+          28.61472511291504
+        ],
+        [
+          -0.9965154528617859,
+          0.027392370626330376,
+          -0.07878062129020691,
+          14.723833084106445
+        ],
+        [
+          -0.026522167026996613,
+          -0.9995753765106201,
+          -0.012071335688233376,
+          0.9950218796730042
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1524,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_183769464",
+      "mask_path": "../../mask/hdr_left_01524.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01525.png",
+      "transform_matrix": [
+        [
+          -0.07278643548488617,
+          -0.012686647474765778,
+          0.9972668886184692,
+          28.62391471862793
+        ],
+        [
+          -0.997025728225708,
+          0.026323063299059868,
+          -0.0724339559674263,
+          14.655473709106445
+        ],
+        [
+          -0.025332173332571983,
+          -0.9995729923248291,
+          -0.0145648755133152,
+          1.0158278942108154
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1525,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_283769607",
+      "mask_path": "../../mask/hdr_left_01525.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01526.png",
+      "transform_matrix": [
+        [
+          -0.06866473704576492,
+          -0.007655886467546225,
+          0.9976103901863098,
+          28.63251304626465
+        ],
+        [
+          -0.9973911046981812,
+          0.022850316017866135,
+          -0.06847428530454636,
+          14.59782886505127
+        ],
+        [
+          -0.022271478548645973,
+          -0.9997096061706543,
+          -0.009204921312630177,
+          1.0157334804534912
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1526,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_383769512",
+      "mask_path": "../../mask/hdr_left_01526.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01527.png",
+      "transform_matrix": [
+        [
+          -0.0646747276186943,
+          -0.005978082772344351,
+          0.997888445854187,
+          28.645187377929688
+        ],
+        [
+          -0.9977079033851624,
+          0.0203260350972414,
+          -0.06454126536846161,
+          14.528031349182129
+        ],
+        [
+          -0.019897285848855972,
+          -0.9997755885124207,
+          -0.007278958335518837,
+          1.016060471534729
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1527,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_483768224",
+      "mask_path": "../../mask/hdr_left_01527.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01528.png",
+      "transform_matrix": [
+        [
+          -0.05694400519132614,
+          -0.012814822606742382,
+          0.9982950687408447,
+          28.658763885498047
+        ],
+        [
+          -0.9979018568992615,
+          0.031588781625032425,
+          -0.05651608109474182,
+          14.454200744628906
+        ],
+        [
+          -0.030810682103037834,
+          -0.9994187951087952,
+          -0.01458672620356083,
+          1.003868579864502
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1528,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_583770036",
+      "mask_path": "../../mask/hdr_left_01528.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01529.png",
+      "transform_matrix": [
+        [
+          -0.05323940888047218,
+          -0.012515154667198658,
+          0.9985035061836243,
+          28.67034339904785
+        ],
+        [
+          -0.9981118440628052,
+          0.03133974224328995,
+          -0.05282570421695709,
+          14.397377967834473
+        ],
+        [
+          -0.030631715431809425,
+          -0.9994304776191711,
+          -0.01416003331542015,
+          0.9945619702339172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1529,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_683768749",
+      "mask_path": "../../mask/hdr_left_01529.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01530.png",
+      "transform_matrix": [
+        [
+          -0.05269116535782814,
+          -0.009790312498807907,
+          0.9985628724098206,
+          28.679841995239258
+        ],
+        [
+          -0.9981004595756531,
+          0.0324808768928051,
+          -0.05234828591346741,
+          14.336127281188965
+        ],
+        [
+          -0.03192168474197388,
+          -0.9994244575500488,
+          -0.011483167298138142,
+          0.9907132387161255
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1530,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_783769607",
+      "mask_path": "../../mask/hdr_left_01530.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01531.png",
+      "transform_matrix": [
+        [
+          -0.05809273570775986,
+          -0.014117623679339886,
+          0.9982113242149353,
+          28.690702438354492
+        ],
+        [
+          -0.9976256489753723,
+          0.037867773324251175,
+          -0.057523082941770554,
+          14.265055656433105
+        ],
+        [
+          -0.03698795288801193,
+          -0.9991830587387085,
+          -0.016283951699733734,
+          0.9980690479278564
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1531,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_883769273",
+      "mask_path": "../../mask/hdr_left_01531.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01532.png",
+      "transform_matrix": [
+        [
+          -0.0708819031715393,
+          -0.009097994305193424,
+          0.9974431395530701,
+          28.691640853881836
+        ],
+        [
+          -0.997069776058197,
+          0.029482273384928703,
+          -0.07058645784854889,
+          14.202463150024414
+        ],
+        [
+          -0.028764698654413223,
+          -0.999523937702179,
+          -0.011161094531416893,
+          1.0074950456619263
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1532,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_983769655",
+      "mask_path": "../../mask/hdr_left_01532.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01533.png",
+      "transform_matrix": [
+        [
+          -0.07942654192447662,
+          -0.0029099807143211365,
+          0.9968364238739014,
+          28.703689575195312
+        ],
+        [
+          -0.9965792298316956,
+          0.023133540526032448,
+          -0.07933851331472397,
+          14.131753921508789
+        ],
+        [
+          -0.022829480469226837,
+          -0.9997282028198242,
+          -0.004737440031021833,
+          1.012751579284668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1533,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_83766937",
+      "mask_path": "../../mask/hdr_left_01533.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01534.png",
+      "transform_matrix": [
+        [
+          -0.0788947120308876,
+          -0.007162927649915218,
+          0.996857225894928,
+          28.716882705688477
+        ],
+        [
+          -0.9965516924858093,
+          0.026342615485191345,
+          -0.07868124544620514,
+          14.044412612915039
+        ],
+        [
+          -0.02569623291492462,
+          -0.9996273517608643,
+          -0.00921651627868414,
+          1.0053935050964355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1534,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_183772563",
+      "mask_path": "../../mask/hdr_left_01534.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01535.png",
+      "transform_matrix": [
+        [
+          -0.07245470583438873,
+          -0.012166237458586693,
+          0.997297465801239,
+          28.728782653808594
+        ],
+        [
+          -0.9970269799232483,
+          0.02716778591275215,
+          -0.07210364192724228,
+          13.978132247924805
+        ],
+        [
+          -0.026217138394713402,
+          -0.9995568990707397,
+          -0.014098496176302433,
+          0.9996764659881592
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1535,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_283771276",
+      "mask_path": "../../mask/hdr_left_01535.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01536.png",
+      "transform_matrix": [
+        [
+          -0.07290835678577423,
+          -0.015534801408648491,
+          0.9972176551818848,
+          28.73256492614746
+        ],
+        [
+          -0.9970825910568237,
+          0.02379133366048336,
+          -0.07252785563468933,
+          13.917670249938965
+        ],
+        [
+          -0.022598430514335632,
+          -0.9995962977409363,
+          -0.017224064096808434,
+          0.982083261013031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1536,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_383770465",
+      "mask_path": "../../mask/hdr_left_01536.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01537.png",
+      "transform_matrix": [
+        [
+          -0.08424250036478043,
+          -0.025275537744164467,
+          0.9961246848106384,
+          28.73103141784668
+        ],
+        [
+          -0.9961709976196289,
+          0.02558496594429016,
+          -0.08359722793102264,
+          13.840441703796387
+        ],
+        [
+          -0.023372851312160492,
+          -0.9993531107902527,
+          -0.027334103360772133,
+          0.9986602067947388
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1537,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_483770608",
+      "mask_path": "../../mask/hdr_left_01537.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01538.png",
+      "transform_matrix": [
+        [
+          -0.09727893769741058,
+          -0.019268373027443886,
+          0.9950706362724304,
+          28.728092193603516
+        ],
+        [
+          -0.9950692653656006,
+          0.02130756340920925,
+          -0.09686620533466339,
+          13.780779838562012
+        ],
+        [
+          -0.019336076453328133,
+          -0.9995872974395752,
+          -0.02124614268541336,
+          1.012166976928711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1538,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_583769559",
+      "mask_path": "../../mask/hdr_left_01538.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01539.png",
+      "transform_matrix": [
+        [
+          -0.10172998160123825,
+          -0.022653795778751373,
+          0.9945541620254517,
+          28.738109588623047
+        ],
+        [
+          -0.9945827722549438,
+          0.023775501176714897,
+          -0.10119134187698364,
+          13.71630859375
+        ],
+        [
+          -0.02135365456342697,
+          -0.9994606971740723,
+          -0.024949753656983376,
+          1.0115251541137695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1539,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_683769941",
+      "mask_path": "../../mask/hdr_left_01539.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01540.png",
+      "transform_matrix": [
+        [
+          -0.09513885527849197,
+          -0.021041514351963997,
+          0.9952415823936462,
+          28.75062370300293
+        ],
+        [
+          -0.9952347278594971,
+          0.023470425978302956,
+          -0.09464198350906372,
+          13.643705368041992
+        ],
+        [
+          -0.021367331966757774,
+          -0.9995030760765076,
+          -0.023174194619059563,
+          0.9889121055603027
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1540,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_783770084",
+      "mask_path": "../../mask/hdr_left_01540.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01541.png",
+      "transform_matrix": [
+        [
+          -0.09345955401659012,
+          -0.02374148927628994,
+          0.9953399300575256,
+          28.752151489257812
+        ],
+        [
+          -0.9954397678375244,
+          0.021407485008239746,
+          -0.09295832365751266,
+          13.58405876159668
+        ],
+        [
+          -0.019100753590464592,
+          -0.9994890093803406,
+          -0.025633951649069786,
+          0.9855992197990417
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1541,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_883768320",
+      "mask_path": "../../mask/hdr_left_01541.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01542.png",
+      "transform_matrix": [
+        [
+          -0.10105641931295395,
+          -0.029319103807210922,
+          0.9944485425949097,
+          28.74989891052246
+        ],
+        [
+          -0.9946385025978088,
+          0.025026734918355942,
+          -0.10033784806728363,
+          13.516473770141602
+        ],
+        [
+          -0.02194598689675331,
+          -0.9992567300796509,
+          -0.031691018491983414,
+          0.9984132051467896
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1542,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_983772277",
+      "mask_path": "../../mask/hdr_left_01542.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01543.png",
+      "transform_matrix": [
+        [
+          -0.11491938680410385,
+          -0.02762664668262005,
+          0.9929904937744141,
+          28.746355056762695
+        ],
+        [
+          -0.9932273626327515,
+          0.02041543461382389,
+          -0.11437880247831345,
+          13.458574295043945
+        ],
+        [
+          -0.017112433910369873,
+          -0.9994099140167236,
+          -0.029785670340061188,
+          1.0068011283874512
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1543,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_83770036",
+      "mask_path": "../../mask/hdr_left_01543.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01544.png",
+      "transform_matrix": [
+        [
+          -0.11933507025241852,
+          -0.026216229423880577,
+          0.992507815361023,
+          28.75269889831543
+        ],
+        [
+          -0.9926482439041138,
+          0.023501969873905182,
+          -0.11873117089271545,
+          13.396852493286133
+        ],
+        [
+          -0.020213205367326736,
+          -0.9993800520896912,
+          -0.028828101232647896,
+          1.016737699508667
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1544,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_183771133",
+      "mask_path": "../../mask/hdr_left_01544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01545.png",
+      "transform_matrix": [
+        [
+          -0.11392828822135925,
+          -0.023356463760137558,
+          0.9932143688201904,
+          28.760387420654297
+        ],
+        [
+          -0.9932296276092529,
+          0.02551770769059658,
+          -0.11332996934652328,
+          13.334419250488281
+        ],
+        [
+          -0.02269756607711315,
+          -0.9994015097618103,
+          -0.02610551007091999,
+          0.9945784211158752
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1545,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_283770084",
+      "mask_path": "../../mask/hdr_left_01545.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01546.png",
+      "transform_matrix": [
+        [
+          -0.11212579160928726,
+          -0.023342501372098923,
+          0.9934198260307312,
+          28.762584686279297
+        ],
+        [
+          -0.993471622467041,
+          0.023785457015037537,
+          -0.1115727573633194,
+          13.27873706817627
+        ],
+        [
+          -0.021024556830525398,
+          -0.9994446039199829,
+          -0.025857072323560715,
+          0.9889364242553711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1546,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_383770465",
+      "mask_path": "../../mask/hdr_left_01546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01547.png",
+      "transform_matrix": [
+        [
+          -0.11745204031467438,
+          -0.023901442065835,
+          0.9927908778190613,
+          28.758520126342773
+        ],
+        [
+          -0.9928796291351318,
+          0.022831151261925697,
+          -0.11691288650035858,
+          13.21452808380127
+        ],
+        [
+          -0.01987217180430889,
+          -0.999453604221344,
+          -0.026412812992930412,
+          0.9929357767105103
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1547,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_483771800",
+      "mask_path": "../../mask/hdr_left_01547.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01548.png",
+      "transform_matrix": [
+        [
+          -0.12844574451446533,
+          -0.02093062549829483,
+          0.9914956092834473,
+          28.754369735717773
+        ],
+        [
+          -0.9915629625320435,
+          0.02030327543616295,
+          -0.1280258595943451,
+          13.158557891845703
+        ],
+        [
+          -0.01745094731450081,
+          -0.9995747804641724,
+          -0.023361902683973312,
+          0.9993782639503479
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1548,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_583770513",
+      "mask_path": "../../mask/hdr_left_01548.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01549.png",
+      "transform_matrix": [
+        [
+          -0.13227033615112305,
+          -0.012424361892044544,
+          0.9911357164382935,
+          28.75893783569336
+        ],
+        [
+          -0.9910939931869507,
+          0.017196547240018845,
+          -0.13204918801784515,
+          13.108633041381836
+        ],
+        [
+          -0.015403485856950283,
+          -0.9997749328613281,
+          -0.01458830013871193,
+          1.0104538202285767
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1549,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_683770179",
+      "mask_path": "../../mask/hdr_left_01549.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01550.png",
+      "transform_matrix": [
+        [
+          -0.12467151135206223,
+          -0.015957346186041832,
+          0.992069661617279,
+          28.767759323120117
+        ],
+        [
+          -0.9918336272239685,
+          0.029102837666869164,
+          -0.12417372316122055,
+          13.044662475585938
+        ],
+        [
+          -0.02689056098461151,
+          -0.9994491338729858,
+          -0.0194553192704916,
+          1.0034723281860352
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1550,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_783774614",
+      "mask_path": "../../mask/hdr_left_01550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01551.png",
+      "transform_matrix": [
+        [
+          -0.10890929400920868,
+          -0.016758475452661514,
+          0.9939103722572327,
+          28.779054641723633
+        ],
+        [
+          -0.9937438368797302,
+          0.026716018095612526,
+          -0.1084405779838562,
+          12.989826202392578
+        ],
+        [
+          -0.024736030027270317,
+          -0.9995025992393494,
+          -0.019563252106308937,
+          0.982502281665802
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1551,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_883769750",
+      "mask_path": "../../mask/hdr_left_01551.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01553.png",
+      "transform_matrix": [
+        [
+          -0.09001783281564713,
+          -0.013024014420807362,
+          0.995854914188385,
+          28.790552139282227
+        ],
+        [
+          -0.9954709410667419,
+          0.031862955540418625,
+          -0.0895664170384407,
+          12.889028549194336
+        ],
+        [
+          -0.03056436777114868,
+          -0.9994074106216431,
+          -0.015833262354135513,
+          0.9784753918647766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1553,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_83768606",
+      "mask_path": "../../mask/hdr_left_01553.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01555.png",
+      "transform_matrix": [
+        [
+          -0.08040063828229904,
+          0.006298701278865337,
+          0.9967427253723145,
+          28.802082061767578
+        ],
+        [
+          -0.9964765906333923,
+          0.02344578132033348,
+          -0.08052729815244675,
+          12.800531387329102
+        ],
+        [
+          -0.023876629769802094,
+          -0.9997053146362305,
+          0.0043914541602134705,
+          0.988187313079834
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1555,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_283769130",
+      "mask_path": "../../mask/hdr_left_01555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01556.png",
+      "transform_matrix": [
+        [
+          -0.07236642390489578,
+          0.002961124060675502,
+          0.9973737001419067,
+          28.817678451538086
+        ],
+        [
+          -0.9968699812889099,
+          0.0317000113427639,
+          -0.07242399454116821,
+          12.74444580078125
+        ],
+        [
+          -0.03183121606707573,
+          -0.9994930624961853,
+          0.0006578431348316371,
+          0.9910154938697815
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1556,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_383769750",
+      "mask_path": "../../mask/hdr_left_01556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01557.png",
+      "transform_matrix": [
+        [
+          -0.05458354949951172,
+          0.003657048800960183,
+          0.9985024929046631,
+          28.833839416503906
+        ],
+        [
+          -0.9978700280189514,
+          0.03557194024324417,
+          -0.054679252207279205,
+          12.69311809539795
+        ],
+        [
+          -0.035718630999326706,
+          -0.9993605017662048,
+          0.001707621500827372,
+          0.965571939945221
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1557,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_483770608",
+      "mask_path": "../../mask/hdr_left_01557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01559.png",
+      "transform_matrix": [
+        [
+          -0.035653430968523026,
+          0.006125878542661667,
+          0.9993454217910767,
+          28.865095138549805
+        ],
+        [
+          -0.9984724521636963,
+          0.04201603680849075,
+          -0.03587982803583145,
+          12.616713523864746
+        ],
+        [
+          -0.04220832884311676,
+          -0.9990981817245483,
+          0.004618507809937,
+          0.9629759788513184
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1559,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_683769702",
+      "mask_path": "../../mask/hdr_left_01559.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01561.png",
+      "transform_matrix": [
+        [
+          -0.05185481160879135,
+          0.015112553723156452,
+          0.9985403418540955,
+          28.880966186523438
+        ],
+        [
+          -0.9980086088180542,
+          0.03517497330904007,
+          -0.05235956236720085,
+          12.528521537780762
+        ],
+        [
+          -0.035914912819862366,
+          -0.9992669224739075,
+          0.013258468359708786,
+          0.977938711643219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1561,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_883769512",
+      "mask_path": "../../mask/hdr_left_01561.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01562.png",
+      "transform_matrix": [
+        [
+          -0.05790427327156067,
+          0.00923108495771885,
+          0.9982793927192688,
+          28.89307975769043
+        ],
+        [
+          -0.9976016879081726,
+          0.03744645044207573,
+          -0.058211226016283035,
+          12.465805053710938
+        ],
+        [
+          -0.03791937604546547,
+          -0.9992560148239136,
+          0.007040638010948896,
+          0.988854169845581
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1562,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_983769655",
+      "mask_path": "../../mask/hdr_left_01562.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01563.png",
+      "transform_matrix": [
+        [
+          -0.04962999373674393,
+          0.00959849078208208,
+          0.9987215995788574,
+          28.912595748901367
+        ],
+        [
+          -0.9981147646903992,
+          0.03567223623394966,
+          -0.04994263872504234,
+          12.4024076461792
+        ],
+        [
+          -0.036106009036302567,
+          -0.999317467212677,
+          0.0078099858947098255,
+          0.9622405171394348
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1563,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_83770513",
+      "mask_path": "../../mask/hdr_left_01563.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01565.png",
+      "transform_matrix": [
+        [
+          -0.07768671214580536,
+          0.011071336455643177,
+          0.9969163537025452,
+          28.90911102294922
+        ],
+        [
+          -0.9962636828422546,
+          0.03697599843144417,
+          -0.07804647833108902,
+          12.313335418701172
+        ],
+        [
+          -0.037726059556007385,
+          -0.9992548823356628,
+          0.008157431147992611,
+          0.9538494944572449
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1565,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_283769845",
+      "mask_path": "../../mask/hdr_left_01565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01567.png",
+      "transform_matrix": [
+        [
+          -0.13690413534641266,
+          0.010651109740138054,
+          0.9905270338058472,
+          28.888864517211914
+        ],
+        [
+          -0.9899942874908447,
+          0.03303419426083565,
+          -0.1371857076883316,
+          12.236371994018555
+        ],
+        [
+          -0.03418244048953056,
+          -0.9993975162506104,
+          0.006022023037075996,
+          0.9634757041931152
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1567,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_483769655",
+      "mask_path": "../../mask/hdr_left_01567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01568.png",
+      "transform_matrix": [
+        [
+          -0.16825871169567108,
+          0.010669587180018425,
+          0.9856851100921631,
+          28.88091278076172
+        ],
+        [
+          -0.9852536916732788,
+          0.029678674414753914,
+          -0.16850632429122925,
+          12.188819885253906
+        ],
+        [
+          -0.031051721423864365,
+          -0.9995026588439941,
+          0.005518556572496891,
+          0.9703048467636108
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1568,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_583769798",
+      "mask_path": "../../mask/hdr_left_01568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01569.png",
+      "transform_matrix": [
+        [
+          -0.18985378742218018,
+          0.009130672551691532,
+          0.9817699193954468,
+          28.882606506347656
+        ],
+        [
+          -0.9810106158256531,
+          0.03863939642906189,
+          -0.19006632268428802,
+          12.128289222717285
+        ],
+        [
+          -0.0396704263985157,
+          -0.9992114901542664,
+          0.0016214520437642932,
+          0.9655414819717407
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1569,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_683770656",
+      "mask_path": "../../mask/hdr_left_01569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01571.png",
+      "transform_matrix": [
+        [
+          -0.20955902338027954,
+          0.0010786144994199276,
+          0.977795422077179,
+          28.87540626525879
+        ],
+        [
+          -0.9771769046783447,
+          0.0353456549346447,
+          -0.20946545898914337,
+          12.052275657653809
+        ],
+        [
+          -0.03478674963116646,
+          -0.9993746280670166,
+          -0.0063530015759170055,
+          0.9384791254997253
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1571,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_883770227",
+      "mask_path": "../../mask/hdr_left_01571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01573.png",
+      "transform_matrix": [
+        [
+          -0.22077606618404388,
+          0.004605765454471111,
+          0.9753136038780212,
+          28.866966247558594
+        ],
+        [
+          -0.9746625423431396,
+          0.035792890936136246,
+          -0.22079773247241974,
+          11.97741413116455
+        ],
+        [
+          -0.03592623397707939,
+          -0.9993486404418945,
+          -0.003413144266232848,
+          0.9529083967208862
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1573,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_83770751",
+      "mask_path": "../../mask/hdr_left_01573.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01575.png",
+      "transform_matrix": [
+        [
+          -0.2315782755613327,
+          0.012921673245728016,
+          0.9727304577827454,
+          28.860605239868164
+        ],
+        [
+          -0.9722971320152283,
+          0.02958539128303528,
+          -0.23186813294887543,
+          11.8984956741333
+        ],
+        [
+          -0.03177473321557045,
+          -0.9994787573814392,
+          0.0057123759761452675,
+          0.9632927775382996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1575,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_283769607",
+      "mask_path": "../../mask/hdr_left_01575.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01576.png",
+      "transform_matrix": [
+        [
+          -0.2246481478214264,
+          0.010367780923843384,
+          0.9743847846984863,
+          28.859750747680664
+        ],
+        [
+          -0.9741162657737732,
+          0.023382069543004036,
+          -0.22483503818511963,
+          11.840638160705566
+        ],
+        [
+          -0.02511417120695114,
+          -0.9996728301048279,
+          0.004846686962991953,
+          0.9522308111190796
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1576,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_383770465",
+      "mask_path": "../../mask/hdr_left_01576.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01578.png",
+      "transform_matrix": [
+        [
+          -0.22258929908275604,
+          0.008950917050242424,
+          0.9748712182044983,
+          28.85853385925293
+        ],
+        [
+          -0.9744731783866882,
+          0.027967505156993866,
+          -0.22275519371032715,
+          11.742936134338379
+        ],
+        [
+          -0.029258577153086662,
+          -0.9995688199996948,
+          0.002497162902727723,
+          0.9534936547279358
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1578,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_583770275",
+      "mask_path": "../../mask/hdr_left_01578.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01580.png",
+      "transform_matrix": [
+        [
+          -0.23957499861717224,
+          0.017580315470695496,
+          0.9707186818122864,
+          28.852296829223633
+        ],
+        [
+          -0.9707541465759277,
+          0.011625206097960472,
+          -0.2397942841053009,
+          11.647394180297852
+        ],
+        [
+          -0.015500462613999844,
+          -0.9997779130935669,
+          0.014281054958701134,
+          0.9743824005126953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1580,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_783770799",
+      "mask_path": "../../mask/hdr_left_01580.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01581.png",
+      "transform_matrix": [
+        [
+          -0.23611485958099365,
+          0.014824530109763145,
+          0.9716120958328247,
+          28.855690002441406
+        ],
+        [
+          -0.9716108441352844,
+          0.011735995300114155,
+          -0.23629361391067505,
+          11.577043533325195
+        ],
+        [
+          -0.01490577682852745,
+          -0.9998212456703186,
+          0.01163263339549303,
+          0.9652103185653687
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1581,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_883770704",
+      "mask_path": "../../mask/hdr_left_01581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01584.png",
+      "transform_matrix": [
+        [
+          -0.24385666847229004,
+          0.00819674413651228,
+          0.9697766304016113,
+          28.839082717895508
+        ],
+        [
+          -0.9697477221488953,
+          0.009385213255882263,
+          -0.2439287155866623,
+          11.421920776367188
+        ],
+        [
+          -0.011100982315838337,
+          -0.9999223947525024,
+          0.005660130642354488,
+          0.9540846943855286
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1584,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_183770895",
+      "mask_path": "../../mask/hdr_left_01584.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01586.png",
+      "transform_matrix": [
+        [
+          -0.24902355670928955,
+          0.009854057803750038,
+          0.9684472680091858,
+          28.83521270751953
+        ],
+        [
+          -0.9684774875640869,
+          0.0038738802541047335,
+          -0.24907074868679047,
+          11.311123847961426
+        ],
+        [
+          -0.006206006743013859,
+          -0.9999439716339111,
+          0.008578748442232609,
+          0.9660146236419678
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1586,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_383770465",
+      "mask_path": "../../mask/hdr_left_01586.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01587.png",
+      "transform_matrix": [
+        [
+          -0.24408811330795288,
+          0.005046978127211332,
+          0.9697399139404297,
+          28.831974029541016
+        ],
+        [
+          -0.9697409868240356,
+          0.0036930579226464033,
+          -0.24410764873027802,
+          11.257181167602539
+        ],
+        [
+          -0.004813312087208033,
+          -0.9999805092811584,
+          0.003992834128439426,
+          0.9561801552772522
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1587,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_483770847",
+      "mask_path": "../../mask/hdr_left_01587.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01589.png",
+      "transform_matrix": [
+        [
+          -0.2386314570903778,
+          -0.002501513808965683,
+          0.9711070656776428,
+          28.81426239013672
+        ],
+        [
+          -0.9710602164268494,
+          0.010755926370620728,
+          -0.2385922521352768,
+          11.154366493225098
+        ],
+        [
+          -0.00984831154346466,
+          -0.9999390244483948,
+          -0.004995821509510279,
+          0.9584911465644836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1589,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_683770656",
+      "mask_path": "../../mask/hdr_left_01589.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01591.png",
+      "transform_matrix": [
+        [
+          -0.23181761801242828,
+          0.0022387250792235136,
+          0.9727567434310913,
+          28.812314987182617
+        ],
+        [
+          -0.9727362990379333,
+          0.006331196054816246,
+          -0.23182733356952667,
+          11.061980247497559
+        ],
+        [
+          -0.006677710916846991,
+          -0.9999774694442749,
+          0.0007100063376128674,
+          0.9701413512229919
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1591,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_883771181",
+      "mask_path": "../../mask/hdr_left_01591.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01592.png",
+      "transform_matrix": [
+        [
+          -0.2100866436958313,
+          0.0009556756122037768,
+          0.9776822924613953,
+          28.816423416137695
+        ],
+        [
+          -0.9776703119277954,
+          0.004841724410653114,
+          -0.2100888043642044,
+          10.994275093078613
+        ],
+        [
+          -0.004934445023536682,
+          -0.9999878406524658,
+          -8.284356590593234e-05,
+          0.956335723400116
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1592,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_983770847",
+      "mask_path": "../../mask/hdr_left_01592.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01594.png",
+      "transform_matrix": [
+        [
+          -0.17525243759155273,
+          -0.0029155404772609472,
+          0.9845191836357117,
+          28.818761825561523
+        ],
+        [
+          -0.9844512939453125,
+          0.012628371827304363,
+          -0.17520293593406677,
+          10.915059089660645
+        ],
+        [
+          -0.011922063305974007,
+          -0.9999160170555115,
+          -0.0050833579152822495,
+          0.9496561884880066
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1594,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685436_183770895",
+      "mask_path": "../../mask/hdr_left_01594.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01596.png",
+      "transform_matrix": [
+        [
+          -0.16109099984169006,
+          -0.0038419468328356743,
+          0.9869320392608643,
+          28.821359634399414
+        ],
+        [
+          -0.9869288802146912,
+          0.005272883456200361,
+          -0.16106994450092316,
+          10.859611511230469
+        ],
+        [
+          -0.004585155751556158,
+          -0.99997878074646,
+          -0.004641143139451742,
+          0.965427041053772
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1596,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685436_383769750",
+      "mask_path": "../../mask/hdr_left_01596.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01605.png",
+      "transform_matrix": [
+        [
+          0.12313816696405411,
+          0.01994924619793892,
+          0.9921890497207642,
+          28.92523956298828
+        ],
+        [
+          -0.9923853874206543,
+          0.005357643123716116,
+          0.12305481731891632,
+          10.838823318481445
+        ],
+        [
+          -0.002860944252461195,
+          -0.9997867345809937,
+          0.02045707404613495,
+          0.9719794392585754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1605,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685437_283770799",
+      "mask_path": "../../mask/hdr_left_01605.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01611.png",
+      "transform_matrix": [
+        [
+          0.3951321244239807,
+          0.02585979364812374,
+          0.9182602763175964,
+          29.02914047241211
+        ],
+        [
+          -0.9185389280319214,
+          0.0247462447732687,
+          0.3945551812648773,
+          10.875535011291504
+        ],
+        [
+          -0.012520375661551952,
+          -0.9993593096733093,
+          0.03353126719594002,
+          0.961042582988739
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1611,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685437_883769989",
+      "mask_path": "../../mask/hdr_left_01611.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01616.png",
+      "transform_matrix": [
+        [
+          0.6265650987625122,
+          0.0448855422437191,
+          0.7780754566192627,
+          29.12013053894043
+        ],
+        [
+          -0.7792443037033081,
+          0.05394750088453293,
+          0.6243941187858582,
+          10.940430641174316
+        ],
+        [
+          -0.013948954641819,
+          -0.9975345134735107,
+          0.06877841800451279,
+          0.9551689624786377
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1616,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685438_383769989",
+      "mask_path": "../../mask/hdr_left_01616.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01621.png",
+      "transform_matrix": [
+        [
+          0.83414226770401,
+          0.027115607634186745,
+          0.5508823394775391,
+          29.19795799255371
+        ],
+        [
+          -0.5514717698097229,
+          0.057745546102523804,
+          0.8321924805641174,
+          11.023836135864258
+        ],
+        [
+          -0.009245596826076508,
+          -0.9979630708694458,
+          0.063121497631073,
+          0.9441444873809814
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1621,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685438_883769750",
+      "mask_path": "../../mask/hdr_left_01621.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01626.png",
+      "transform_matrix": [
+        [
+          0.9508892297744751,
+          0.029600415378808975,
+          0.308112770318985,
+          29.26184844970703
+        ],
+        [
+          -0.30950480699539185,
+          0.0778791606426239,
+          0.9477033615112305,
+          11.132658958435059
+        ],
+        [
+          0.004056849982589483,
+          -0.996523380279541,
+          0.08321591466665268,
+          0.9501146078109741
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1626,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685439_383770942",
+      "mask_path": "../../mask/hdr_left_01626.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01630.png",
+      "transform_matrix": [
+        [
+          0.9983681440353394,
+          -3.971570549765602e-05,
+          0.05710459500551224,
+          29.27454948425293
+        ],
+        [
+          -0.056988656520843506,
+          0.06300444900989532,
+          0.996384859085083,
+          11.220186233520508
+        ],
+        [
+          -0.003637416986748576,
+          -0.9980133175849915,
+          0.0628993809223175,
+          0.9441401362419128
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1630,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685439_783769369",
+      "mask_path": "../../mask/hdr_left_01630.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01634.png",
+      "transform_matrix": [
+        [
+          0.9873813390731812,
+          -0.010296078398823738,
+          -0.15802592039108276,
+          29.266700744628906
+        ],
+        [
+          0.15835018455982208,
+          0.07584431022405624,
+          0.9844657778739929,
+          11.324885368347168
+        ],
+        [
+          0.0018492259550839663,
+          -0.9970665574073792,
+          0.07651763409376144,
+          0.9492329359054565
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1634,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685440_183770656",
+      "mask_path": "../../mask/hdr_left_01634.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01638.png",
+      "transform_matrix": [
+        [
+          0.9169769287109375,
+          -0.01232390571385622,
+          -0.3987498879432678,
+          29.243118286132812
+        ],
+        [
+          0.39885663986206055,
+          0.04877201467752457,
+          0.9157153367996216,
+          11.424529075622559
+        ],
+        [
+          0.00816264282912016,
+          -0.9987339377403259,
+          0.0496382862329483,
+          0.9408795833587646
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1638,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685440_583770036",
+      "mask_path": "../../mask/hdr_left_01638.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01643.png",
+      "transform_matrix": [
+        [
+          0.7751668691635132,
+          -0.02952544204890728,
+          -0.6310661435127258,
+          29.181039810180664
+        ],
+        [
+          0.6317384243011475,
+          0.04376940429210663,
+          0.7739448547363281,
+          11.528829574584961
+        ],
+        [
+          0.004770325031131506,
+          -0.9986052513122559,
+          0.05258094519376755,
+          0.9526135921478271
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1643,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685441_83770513",
+      "mask_path": "../../mask/hdr_left_01643.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01647.png",
+      "transform_matrix": [
+        [
+          0.6030312776565552,
+          -0.05159101262688637,
+          -0.7960473299026489,
+          29.09728240966797
+        ],
+        [
+          0.7976871728897095,
+          0.030317489057779312,
+          0.6023087501525879,
+          11.57675552368164
+        ],
+        [
+          -0.0069395629689097404,
+          -0.9982081055641174,
+          0.0594358891248703,
+          0.9415035843849182
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1647,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685441_483770847",
+      "mask_path": "../../mask/hdr_left_01647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01652.png",
+      "transform_matrix": [
+        [
+          0.45013707876205444,
+          -0.0406024195253849,
+          -0.8920359015464783,
+          29.052745819091797
+        ],
+        [
+          0.8929358720779419,
+          0.013209219090640545,
+          0.4499899744987488,
+          11.65500259399414
+        ],
+        [
+          -0.006487584672868252,
+          -0.9990881085395813,
+          0.042201314121484756,
+          0.9491329193115234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1652,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685441_983769178",
+      "mask_path": "../../mask/hdr_left_01652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01655.png",
+      "transform_matrix": [
+        [
+          0.40407857298851013,
+          -0.044102743268013,
+          -0.9136604070663452,
+          29.05113410949707
+        ],
+        [
+          0.9146111607551575,
+          0.0037702717818319798,
+          0.4043170213699341,
+          11.737611770629883
+        ],
+        [
+          -0.014386742375791073,
+          -0.9990199208259583,
+          0.041860345751047134,
+          0.9448946118354797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1655,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685442_283770799",
+      "mask_path": "../../mask/hdr_left_01655.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01657.png",
+      "transform_matrix": [
+        [
+          0.3922926187515259,
+          -0.04617635905742645,
+          -0.9186806678771973,
+          29.059494018554688
+        ],
+        [
+          0.9197089672088623,
+          0.0028048029635101557,
+          0.39259073138237,
+          11.795953750610352
+        ],
+        [
+          -0.015551691874861717,
+          -0.9989293813705444,
+          0.043569114059209824,
+          0.9394341707229614
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1657,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685442_483770847",
+      "mask_path": "../../mask/hdr_left_01657.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01659.png",
+      "transform_matrix": [
+        [
+          0.36456209421157837,
+          -0.029647743329405785,
+          -0.9307069778442383,
+          29.065673828125
+        ],
+        [
+          0.9310944676399231,
+          -0.0018693043384701014,
+          0.3647734224796295,
+          11.88885498046875
+        ],
+        [
+          -0.012554483488202095,
+          -0.9995587468147278,
+          0.026923375204205513,
+          0.9467374086380005
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1659,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685442_683769941",
+      "mask_path": "../../mask/hdr_left_01659.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01661.png",
+      "transform_matrix": [
+        [
+          0.33113160729408264,
+          -0.027740588411688805,
+          -0.9431766867637634,
+          29.05921173095703
+        ],
+        [
+          0.9435142874717712,
+          -0.002464794320985675,
+          0.331322580575943,
+          11.966866493225098
+        ],
+        [
+          -0.011515820398926735,
+          -0.9996121525764465,
+          0.025357471778988838,
+          0.9291775822639465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1661,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685442_883770465",
+      "mask_path": "../../mask/hdr_left_01661.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01663.png",
+      "transform_matrix": [
+        [
+          0.31238487362861633,
+          -0.033029235899448395,
+          -0.9493812918663025,
+          29.05819320678711
+        ],
+        [
+          0.9499232172966003,
+          0.002616223879158497,
+          0.31247222423553467,
+          12.060991287231445
+        ],
+        [
+          -0.00783692579716444,
+          -0.9994509816169739,
+          0.03219250962138176,
+          0.9590693712234497
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1663,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_83769798",
+      "mask_path": "../../mask/hdr_left_01663.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01665.png",
+      "transform_matrix": [
+        [
+          0.29832884669303894,
+          -0.04664144665002823,
+          -0.9533229470252991,
+          29.053930282592773
+        ],
+        [
+          0.9544565677642822,
+          0.01087281759828329,
+          0.2981516718864441,
+          12.145458221435547
+        ],
+        [
+          -0.003540918929502368,
+          -0.998852550983429,
+          0.04776090756058693,
+          0.9544604420661926
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1665,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_283769130",
+      "mask_path": "../../mask/hdr_left_01665.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01666.png",
+      "transform_matrix": [
+        [
+          0.2791612148284912,
+          -0.036216385662555695,
+          -0.9595611095428467,
+          29.048215866088867
+        ],
+        [
+          0.9602116942405701,
+          0.002309616422280669,
+          0.27926331758499146,
+          12.206366539001465
+        ],
+        [
+          -0.007897689938545227,
+          -0.9993413090705872,
+          0.03542015329003334,
+          0.9563247561454773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1666,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_383769750",
+      "mask_path": "../../mask/hdr_left_01666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01668.png",
+      "transform_matrix": [
+        [
+          0.2428237348794937,
+          -0.0298847034573555,
+          -0.9696099758148193,
+          29.033187866210938
+        ],
+        [
+          0.9700561761856079,
+          0.002072114497423172,
+          0.24287162721157074,
+          12.277830123901367
+        ],
+        [
+          -0.00524900434538722,
+          -0.9995512366294861,
+          0.029493002220988274,
+          0.9392043352127075
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1668,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_583770036",
+      "mask_path": "../../mask/hdr_left_01668.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01670.png",
+      "transform_matrix": [
+        [
+          0.23099879920482635,
+          -0.0415058359503746,
+          -0.9720683097839355,
+          29.019607543945312
+        ],
+        [
+          0.9728959202766418,
+          -0.0010663237189874053,
+          0.23124100267887115,
+          12.361770629882812
+        ],
+        [
+          -0.010634391568601131,
+          -0.999137818813324,
+          0.04013454169034958,
+          0.9623644351959229
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1670,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_783770561",
+      "mask_path": "../../mask/hdr_left_01670.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01672.png",
+      "transform_matrix": [
+        [
+          0.24677804112434387,
+          -0.05278991162776947,
+          -0.9676331281661987,
+          29.02762794494629
+        ],
+        [
+          0.969048798084259,
+          0.006531741935759783,
+          0.24678274989128113,
+          12.426431655883789
+        ],
+        [
+          -0.006707310676574707,
+          -0.9985843896865845,
+          0.05276789516210556,
+          0.9523033499717712
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1672,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_983767986",
+      "mask_path": "../../mask/hdr_left_01672.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01673.png",
+      "transform_matrix": [
+        [
+          0.2510435879230499,
+          -0.04227832332253456,
+          -0.9670520424842834,
+          29.02853012084961
+        ],
+        [
+          0.9678650498390198,
+          -0.004151523113250732,
+          0.25143611431121826,
+          12.476788520812988
+        ],
+        [
+          -0.014645036309957504,
+          -0.9990972280502319,
+          0.039877500385046005,
+          0.9524360299110413
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1673,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_83768367",
+      "mask_path": "../../mask/hdr_left_01673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01675.png",
+      "transform_matrix": [
+        [
+          0.2463432401418686,
+          -0.02636099047958851,
+          -0.968824028968811,
+          29.026960372924805
+        ],
+        [
+          0.9691095948219299,
+          -0.0055716801434755325,
+          0.24656745791435242,
+          12.554242134094238
+        ],
+        [
+          -0.0118977390229702,
+          -0.9996369481086731,
+          0.024174144491553307,
+          0.9388048648834229
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1675,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_283770561",
+      "mask_path": "../../mask/hdr_left_01675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01677.png",
+      "transform_matrix": [
+        [
+          0.24666772782802582,
+          -0.018075821921229362,
+          -0.9689314365386963,
+          29.029109954833984
+        ],
+        [
+          0.9689820408821106,
+          -0.011004400439560413,
+          0.24688588082790375,
+          12.63980770111084
+        ],
+        [
+          -0.015125175938010216,
+          -0.9997761249542236,
+          0.014800718054175377,
+          0.9300743937492371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1677,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_483769178",
+      "mask_path": "../../mask/hdr_left_01677.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01679.png",
+      "transform_matrix": [
+        [
+          0.2606719434261322,
+          -0.019206944853067398,
+          -0.9652363657951355,
+          29.042850494384766
+        ],
+        [
+          0.9653289914131165,
+          -0.0090897586196661,
+          0.2608778178691864,
+          12.721566200256348
+        ],
+        [
+          -0.013784431852400303,
+          -0.9997743368148804,
+          0.01617158018052578,
+          0.9386176466941833
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1679,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_683770179",
+      "mask_path": "../../mask/hdr_left_01679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01680.png",
+      "transform_matrix": [
+        [
+          0.26827988028526306,
+          -0.021154770627617836,
+          -0.9631086587905884,
+          29.05013084411621
+        ],
+        [
+          0.9632968902587891,
+          -0.00367398327216506,
+          0.2684130370616913,
+          12.783543586730957
+        ],
+        [
+          -0.00921666156500578,
+          -0.9997695088386536,
+          0.019392671063542366,
+          0.9294001460075378
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1680,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_783771991",
+      "mask_path": "../../mask/hdr_left_01680.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01681.png",
+      "transform_matrix": [
+        [
+          0.26759061217308044,
+          -0.015180278569459915,
+          -0.9634130597114563,
+          29.057167053222656
+        ],
+        [
+          0.9634531736373901,
+          -0.00862414762377739,
+          0.26773765683174133,
+          12.860116004943848
+        ],
+        [
+          -0.012372948229312897,
+          -0.9998475909233093,
+          0.012317750602960587,
+          0.9451410174369812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1681,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_883769273",
+      "mask_path": "../../mask/hdr_left_01681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01682.png",
+      "transform_matrix": [
+        [
+          0.26562365889549255,
+          -0.013226787559688091,
+          -0.9639860391616821,
+          29.059242248535156
+        ],
+        [
+          0.9640547633171082,
+          -0.003105559153482318,
+          0.26568520069122314,
+          12.915184020996094
+        ],
+        [
+          -0.0065078772604465485,
+          -0.9999077320098877,
+          0.011926439590752125,
+          0.9389916658401489
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1682,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_983769893",
+      "mask_path": "../../mask/hdr_left_01682.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01683.png",
+      "transform_matrix": [
+        [
+          0.2623865306377411,
+          -0.013973062857985497,
+          -0.9648616909980774,
+          29.063161849975586
+        ],
+        [
+          0.9649481177330017,
+          -0.0017154254019260406,
+          0.26243487000465393,
+          12.970319747924805
+        ],
+        [
+          -0.005322168115526438,
+          -0.9999009966850281,
+          0.013033179566264153,
+          0.9399700164794922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1683,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_83768367",
+      "mask_path": "../../mask/hdr_left_01683.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01684.png",
+      "transform_matrix": [
+        [
+          0.26642411947250366,
+          -0.011968869715929031,
+          -0.9637815356254578,
+          29.069826126098633
+        ],
+        [
+          0.9638502597808838,
+          -0.00011635840201051906,
+          0.2664445638656616,
+          13.045709609985352
+        ],
+        [
+          -0.003301184857264161,
+          -0.9999284148216248,
+          0.01150519959628582,
+          0.9368916749954224
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1684,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_183769702",
+      "mask_path": "../../mask/hdr_left_01684.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01685.png",
+      "transform_matrix": [
+        [
+          0.2764609158039093,
+          -0.016631973907351494,
+          -0.9608811736106873,
+          29.0809326171875
+        ],
+        [
+          0.9610244035720825,
+          0.006002430338412523,
+          0.2763982117176056,
+          13.099011421203613
+        ],
+        [
+          0.001170573988929391,
+          -0.9998436570167542,
+          0.017643172293901443,
+          0.9548597931861877
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1685,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_283770084",
+      "mask_path": "../../mask/hdr_left_01685.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01687.png",
+      "transform_matrix": [
+        [
+          0.2895631790161133,
+          -0.028391694650053978,
+          -0.9567376971244812,
+          29.09072494506836
+        ],
+        [
+          0.9571096897125244,
+          0.018721137195825577,
+          0.28912022709846497,
+          13.188441276550293
+        ],
+        [
+          0.009702603332698345,
+          -0.9994215965270996,
+          0.032594919204711914,
+          0.9615600109100342
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1687,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_483769178",
+      "mask_path": "../../mask/hdr_left_01687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01688.png",
+      "transform_matrix": [
+        [
+          0.28921008110046387,
+          -0.019190657883882523,
+          -0.9570733308792114,
+          29.095497131347656
+        ],
+        [
+          0.9571962356567383,
+          0.01783229038119316,
+          0.28888967633247375,
+          13.26866626739502
+        ],
+        [
+          0.011522823013365269,
+          -0.9996568560600281,
+          0.023526506498456,
+          0.9720597267150879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1688,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_583769559",
+      "mask_path": "../../mask/hdr_left_01688.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01689.png",
+      "transform_matrix": [
+        [
+          0.2854081094264984,
+          -0.010871294885873795,
+          -0.9583443999290466,
+          29.096275329589844
+        ],
+        [
+          0.9582408666610718,
+          0.021799929440021515,
+          0.28512993454933167,
+          13.322789192199707
+        ],
+        [
+          0.017792105674743652,
+          -0.9997032880783081,
+          0.016639195382595062,
+          0.9646621942520142
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1689,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_683768749",
+      "mask_path": "../../mask/hdr_left_01689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01691.png",
+      "transform_matrix": [
+        [
+          0.28127995133399963,
+          -0.007956791669130325,
+          -0.9595927596092224,
+          29.09378433227539
+        ],
+        [
+          0.9593920707702637,
+          0.024394821375608444,
+          0.28101885318756104,
+          13.428133010864258
+        ],
+        [
+          0.021173082292079926,
+          -0.9996707439422607,
+          0.014495458453893661,
+          0.9630979299545288
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1691,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_883769035",
+      "mask_path": "../../mask/hdr_left_01691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01692.png",
+      "transform_matrix": [
+        [
+          0.28908419609069824,
+          -0.0071956743486225605,
+          -0.9572767019271851,
+          29.09722900390625
+        ],
+        [
+          0.9570144414901733,
+          0.026749813929200172,
+          0.28880396485328674,
+          13.497852325439453
+        ],
+        [
+          0.023528829216957092,
+          -0.9996163249015808,
+          0.0146193141117692,
+          0.9747015833854675
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1692,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_983770847",
+      "mask_path": "../../mask/hdr_left_01692.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01694.png",
+      "transform_matrix": [
+        [
+          0.3034712076187134,
+          -0.016204992309212685,
+          -0.9527027606964111,
+          29.1082763671875
+        ],
+        [
+          0.9523316621780396,
+          0.037833962589502335,
+          0.3027094304561615,
+          13.604736328125
+        ],
+        [
+          0.031139114871621132,
+          -0.999152660369873,
+          0.026914048939943314,
+          0.988239049911499
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1694,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_183769702",
+      "mask_path": "../../mask/hdr_left_01694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01695.png",
+      "transform_matrix": [
+        [
+          0.3030325770378113,
+          -0.007599502801895142,
+          -0.9529498219490051,
+          29.11294937133789
+        ],
+        [
+          0.9524292945861816,
+          0.03641049563884735,
+          0.3025766909122467,
+          13.681594848632812
+        ],
+        [
+          0.032397933304309845,
+          -0.9993081092834473,
+          0.018271559849381447,
+          0.989839494228363
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1695,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_283768892",
+      "mask_path": "../../mask/hdr_left_01695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01698.png",
+      "transform_matrix": [
+        [
+          0.2992139756679535,
+          0.0018246733816340566,
+          -0.9541842937469482,
+          29.13271713256836
+        ],
+        [
+          0.9538335204124451,
+          0.026607632637023926,
+          0.2991548776626587,
+          13.833250999450684
+        ],
+        [
+          0.02593444287776947,
+          -0.9996443390846252,
+          0.006220945157110691,
+          0.9783269166946411
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1698,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_583770036",
+      "mask_path": "../../mask/hdr_left_01698.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01699.png",
+      "transform_matrix": [
+        [
+          0.3087770640850067,
+          0.00675290497019887,
+          -0.9511104226112366,
+          29.143535614013672
+        ],
+        [
+          0.9508195519447327,
+          0.023537198081612587,
+          0.3088497817516327,
+          13.888200759887695
+        ],
+        [
+          0.024472106248140335,
+          -0.9997001886367798,
+          0.0008469571475870907,
+          0.9932825565338135
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1699,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_683770895",
+      "mask_path": "../../mask/hdr_left_01699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01701.png",
+      "transform_matrix": [
+        [
+          0.32805949449539185,
+          -0.001815624302253127,
+          -0.9446553587913513,
+          29.166671752929688
+        ],
+        [
+          0.9442549347877502,
+          0.02980463206768036,
+          0.3278631567955017,
+          13.981922149658203
+        ],
+        [
+          0.02755982242524624,
+          -0.9995540976524353,
+          0.011492106132209301,
+          1.0034247636795044
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1701,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_883770465",
+      "mask_path": "../../mask/hdr_left_01701.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01702.png",
+      "transform_matrix": [
+        [
+          0.3295351564884186,
+          -0.0028773106168955564,
+          -0.9441388845443726,
+          29.1734561920166
+        ],
+        [
+          0.9439698457717896,
+          0.02017129398882389,
+          0.32941463589668274,
+          14.052077293395996
+        ],
+        [
+          0.018096672371029854,
+          -0.9997924566268921,
+          0.009363248012959957,
+          1.0059325695037842
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1702,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_983770370",
+      "mask_path": "../../mask/hdr_left_01702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01703.png",
+      "transform_matrix": [
+        [
+          0.3260459005832672,
+          0.004564191214740276,
+          -0.9453429579734802,
+          29.179370880126953
+        ],
+        [
+          0.9451948404312134,
+          0.01677333004772663,
+          0.32607579231262207,
+          14.10327434539795
+        ],
+        [
+          0.017344817519187927,
+          -0.9998489618301392,
+          0.0011548291658982635,
+          0.9890963435173035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1703,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685447_83769559",
+      "mask_path": "../../mask/hdr_left_01703.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01705.png",
+      "transform_matrix": [
+        [
+          0.3323696255683899,
+          0.0050009205006062984,
+          -0.9431359767913818,
+          29.20075798034668
+        ],
+        [
+          0.9431017637252808,
+          0.008265353739261627,
+          0.3324013948440552,
+          14.191704750061035
+        ],
+        [
+          0.009457663632929325,
+          -0.9999533295631409,
+          -0.0019692222122102976,
+          0.9949793219566345
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1705,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685447_283769607",
+      "mask_path": "../../mask/hdr_left_01705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01707.png",
+      "transform_matrix": [
+        [
+          0.35234832763671875,
+          -0.002915856894105673,
+          -0.9358643889427185,
+          29.223608016967773
+        ],
+        [
+          0.935772716999054,
+          0.015433482825756073,
+          0.35226574540138245,
+          14.25840950012207
+        ],
+        [
+          0.013416489586234093,
+          -0.9998766779899597,
+          0.008166543208062649,
+          1.0074269771575928
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1707,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685447_483772039",
+      "mask_path": "../../mask/hdr_left_01707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01709.png",
+      "transform_matrix": [
+        [
+          0.3305240273475647,
+          0.004721139557659626,
+          -0.9437857270240784,
+          29.23504066467285
+        ],
+        [
+          0.9437080025672913,
+          0.01211937703192234,
+          0.3305574655532837,
+          14.352931022644043
+        ],
+        [
+          0.012998702004551888,
+          -0.9999154806137085,
+          -0.0004496301698964089,
+          0.9992092847824097
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1709,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685447_683770895",
+      "mask_path": "../../mask/hdr_left_01709.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01711.png",
+      "transform_matrix": [
+        [
+          0.30025118589401245,
+          0.003993246238678694,
+          -0.9538518190383911,
+          29.24294090270996
+        ],
+        [
+          0.95381760597229,
+          0.008185058832168579,
+          0.30027469992637634,
+          14.437268257141113
+        ],
+        [
+          0.009006403386592865,
+          -0.9999585151672363,
+          -0.0013512541772797704,
+          1.0000288486480713
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1711,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685447_883769989",
+      "mask_path": "../../mask/hdr_left_01711.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01713.png",
+      "transform_matrix": [
+        [
+          0.2836911380290985,
+          -0.006942157633602619,
+          -0.9588905572891235,
+          29.250408172607422
+        ],
+        [
+          0.9588409662246704,
+          0.01454162411391735,
+          0.28357115387916565,
+          14.508516311645508
+        ],
+        [
+          0.011975228786468506,
+          -0.999870240688324,
+          0.010781756602227688,
+          1.0033721923828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1713,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685448_83769559",
+      "mask_path": "../../mask/hdr_left_01713.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01715.png",
+      "transform_matrix": [
+        [
+          0.22995465993881226,
+          -0.007061479613184929,
+          -0.9731756448745728,
+          29.23716163635254
+        ],
+        [
+          0.9731329083442688,
+          0.0135221928358078,
+          0.22984644770622253,
+          14.612221717834473
+        ],
+        [
+          0.011536411009728909,
+          -0.9998836517333984,
+          0.009981252253055573,
+          0.9980248808860779
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1715,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685448_283766031",
+      "mask_path": "../../mask/hdr_left_01715.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01717.png",
+      "transform_matrix": [
+        [
+          0.1476694494485855,
+          -0.01043769158422947,
+          -0.9889816641807556,
+          29.213367462158203
+        ],
+        [
+          0.9890257120132446,
+          0.006267842836678028,
+          0.1476098895072937,
+          14.696555137634277
+        ],
+        [
+          0.004658074118196964,
+          -0.9999259114265442,
+          0.011248715221881866,
+          1.000393271446228
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1717,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685448_483769655",
+      "mask_path": "../../mask/hdr_left_01717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01719.png",
+      "transform_matrix": [
+        [
+          0.09537921100854874,
+          -0.027518894523382187,
+          -0.9950605630874634,
+          29.193098068237305
+        ],
+        [
+          0.9953987002372742,
+          0.011859869584441185,
+          0.09508363157510757,
+          14.76758861541748
+        ],
+        [
+          0.009184691123664379,
+          -0.9995510578155518,
+          0.028523454442620277,
+          1.016467809677124
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1719,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685448_683769226",
+      "mask_path": "../../mask/hdr_left_01719.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01726.png",
+      "transform_matrix": [
+        [
+          0.014544393867254257,
+          -0.043123409152030945,
+          -0.9989638328552246,
+          29.103912353515625
+        ],
+        [
+          0.9998340010643005,
+          -0.010336505249142647,
+          0.015003254637122154,
+          15.052420616149902
+        ],
+        [
+          -0.010972787626087666,
+          -0.9990163445472717,
+          0.04296591132879257,
+          1.008733868598938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1726,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685449_383770942",
+      "mask_path": "../../mask/hdr_left_01726.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01727.png",
+      "transform_matrix": [
+        [
+          0.0025190492160618305,
+          -0.034634049981832504,
+          -0.9993969202041626,
+          29.084590911865234
+        ],
+        [
+          0.9999372959136963,
+          -0.010820966213941574,
+          0.002895394107326865,
+          15.113269805908203
+        ],
+        [
+          -0.01091471966356039,
+          -0.9993414878845215,
+          0.03460461646318436,
+          0.9983872771263123
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1727,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685449_483770847",
+      "mask_path": "../../mask/hdr_left_01727.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01729.png",
+      "transform_matrix": [
+        [
+          -0.009437079541385174,
+          -0.023438813164830208,
+          -0.999680757522583,
+          29.06597137451172
+        ],
+        [
+          0.9998997449874878,
+          -0.01076948270201683,
+          -0.009186673909425735,
+          15.201149940490723
+        ],
+        [
+          -0.010550718754529953,
+          -0.9996673464775085,
+          0.023538097739219666,
+          0.9838662147521973
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1729,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685449_683769702",
+      "mask_path": "../../mask/hdr_left_01729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01511.png",
+      "transform_matrix": [
+        [
+          -0.26579365134239197,
+          -0.019007373601198196,
+          -0.9638425707817078,
+          28.820985794067383
+        ],
+        [
+          0.9636810421943665,
+          0.021657545119524002,
+          -0.2661762237548828,
+          14.742629051208496
+        ],
+        [
+          0.025933777913451195,
+          -0.9995847344398499,
+          0.012560607865452766,
+          0.9924477338790894
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1511,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_183769464",
+      "mask_path": "../../mask/hdr_right_01511.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01512.png",
+      "transform_matrix": [
+        [
+          -0.2718689739704132,
+          -0.02171739935874939,
+          -0.9620893001556396,
+          28.83004379272461
+        ],
+        [
+          0.9619919657707214,
+          0.020530521869659424,
+          -0.272304892539978,
+          14.675581932067871
+        ],
+        [
+          0.025665948167443275,
+          -0.9995533227920532,
+          0.015310353599488735,
+          1.0127030611038208
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1512,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_283769607",
+      "mask_path": "../../mask/hdr_right_01512.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01513.png",
+      "transform_matrix": [
+        [
+          -0.27584487199783325,
+          -0.016663366928696632,
+          -0.961057722568512,
+          28.838573455810547
+        ],
+        [
+          0.9609736204147339,
+          0.017021622508764267,
+          -0.2761158347129822,
+          14.618754386901855
+        ],
+        [
+          0.020959779620170593,
+          -0.9997162818908691,
+          0.011317729949951172,
+          1.0135958194732666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1513,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_383769512",
+      "mask_path": "../../mask/hdr_right_01513.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01514.png",
+      "transform_matrix": [
+        [
+          -0.27968505024909973,
+          -0.01496238261461258,
+          -0.9599751234054565,
+          28.851165771484375
+        ],
+        [
+          0.959921658039093,
+          0.014461677521467209,
+          -0.2798948585987091,
+          14.549768447875977
+        ],
+        [
+          0.018070748075842857,
+          -0.999783456325531,
+          0.010318001732230186,
+          1.014232873916626
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1514,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_483768224",
+      "mask_path": "../../mask/hdr_right_01514.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01515.png",
+      "transform_matrix": [
+        [
+          -0.28711193799972534,
+          -0.0217524953186512,
+          -0.9576500058174133,
+          28.864547729492188
+        ],
+        [
+          0.9574010372161865,
+          0.025653617456555367,
+          -0.2876199781894684,
+          14.477594375610352
+        ],
+        [
+          0.030823638662695885,
+          -0.9994341731071472,
+          0.013460402376949787,
+          1.0009311437606812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1515,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_583770036",
+      "mask_path": "../../mask/hdr_right_01515.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01516.png",
+      "transform_matrix": [
+        [
+          -0.290664404630661,
+          -0.021430805325508118,
+          -0.9565852284431458,
+          28.876041412353516
+        ],
+        [
+          0.9563385248184204,
+          0.025371553376317024,
+          -0.2911578416824341,
+          14.42153263092041
+        ],
+        [
+          0.03050980158150196,
+          -0.9994483590126038,
+          0.0131205003708601,
+          0.9917052984237671
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1516,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_683768749",
+      "mask_path": "../../mask/hdr_right_01516.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01517.png",
+      "transform_matrix": [
+        [
+          -0.2911915183067322,
+          -0.018703103065490723,
+          -0.9564819931983948,
+          28.885534286499023
+        ],
+        [
+          0.956168532371521,
+          0.026508593931794167,
+          -0.29161444306373596,
+          14.360380172729492
+        ],
+        [
+          0.030809085816144943,
+          -0.9994735717773438,
+          0.01016424410045147,
+          0.9884481430053711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1517,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_783769607",
+      "mask_path": "../../mask/hdr_right_01517.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01518.png",
+      "transform_matrix": [
+        [
+          -0.2860076427459717,
+          -0.02306189388036728,
+          -0.9579498171806335,
+          28.896507263183594
+        ],
+        [
+          0.9575045108795166,
+          0.03194267302751541,
+          -0.2866436839103699,
+          14.288240432739258
+        ],
+        [
+          0.037210024893283844,
+          -0.9992235898971558,
+          0.012946026399731636,
+          0.9950013160705566
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1518,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_883769273",
+      "mask_path": "../../mask/hdr_right_01518.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01519.png",
+      "transform_matrix": [
+        [
+          -0.27370813488960266,
+          -0.01811821758747101,
+          -0.9616421461105347,
+          28.897743225097656
+        ],
+        [
+          0.9614129066467285,
+          0.02367340214550495,
+          -0.27408894896507263,
+          14.222952842712402
+        ],
+        [
+          0.02773134596645832,
+          -0.9995555281639099,
+          0.01093948632478714,
+          1.0051852464675903
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1519,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685429_983769655",
+      "mask_path": "../../mask/hdr_right_01519.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01520.png",
+      "transform_matrix": [
+        [
+          -0.26544997096061707,
+          -0.011980310082435608,
+          -0.9640502333641052,
+          28.90997314453125
+        ],
+        [
+          0.9639180302619934,
+          0.017403341829776764,
+          -0.2656298279762268,
+          14.150433540344238
+        ],
+        [
+          0.01996001973748207,
+          -0.9997767806053162,
+          0.006928321439772844,
+          1.0115454196929932
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1520,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_83766937",
+      "mask_path": "../../mask/hdr_right_01520.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01521.png",
+      "transform_matrix": [
+        [
+          -0.26597025990486145,
+          -0.016229771077632904,
+          -0.9638447165489197,
+          28.923147201538086
+        ],
+        [
+          0.9636778831481934,
+          0.020606763660907745,
+          -0.2662712037563324,
+          14.06322956085205
+        ],
+        [
+          0.024183236062526703,
+          -0.9996559023857117,
+          0.010159485042095184,
+          1.0033732652664185
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1521,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_183772563",
+      "mask_path": "../../mask/hdr_right_01521.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01522.png",
+      "transform_matrix": [
+        [
+          -0.27218958735466003,
+          -0.021195149049162865,
+          -0.9620102643966675,
+          28.934907913208008
+        ],
+        [
+          0.9618831276893616,
+          0.021372349932789803,
+          -0.27262449264526367,
+          13.998309135437012
+        ],
+        [
+          0.026338739320635796,
+          -0.9995468854904175,
+          0.014569922350347042,
+          0.996677815914154
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1522,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_283771276",
+      "mask_path": "../../mask/hdr_right_01522.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01523.png",
+      "transform_matrix": [
+        [
+          -0.271746426820755,
+          -0.02456575073301792,
+          -0.9620553255081177,
+          28.938684463500977
+        ],
+        [
+          0.962069571018219,
+          0.017999377101659775,
+          -0.272210031747818,
+          13.937759399414062
+        ],
+        [
+          0.024003442376852036,
+          -0.9995361566543579,
+          0.018742693588137627,
+          0.9783198833465576
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1523,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_383770465",
+      "mask_path": "../../mask/hdr_right_01523.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01524.png",
+      "transform_matrix": [
+        [
+          -0.260749876499176,
+          -0.03436944633722305,
+          -0.9647944569587708,
+          28.937314987182617
+        ],
+        [
+          0.9649949669837952,
+          0.019893819466233253,
+          -0.26151275634765625,
+          13.858240127563477
+        ],
+        [
+          0.028181497007608414,
+          -0.9992111921310425,
+          0.027979034930467606,
+          0.9928601384162903
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1524,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_483770608",
+      "mask_path": "../../mask/hdr_right_01524.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01525.png",
+      "transform_matrix": [
+        [
+          -0.2481173723936081,
+          -0.028437428176403046,
+          -0.9683125615119934,
+          28.934621810913086
+        ],
+        [
+          0.9684730768203735,
+          0.015737688168883324,
+          -0.2486206740140915,
+          13.79582691192627
+        ],
+        [
+          0.022309133782982826,
+          -0.9994716644287109,
+          0.023636087775230408,
+          1.0074684619903564
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1525,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_583769559",
+      "mask_path": "../../mask/hdr_right_01525.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01526.png",
+      "transform_matrix": [
+        [
+          -0.24376776814460754,
+          -0.031846851110458374,
+          -0.9693107008934021,
+          28.944686889648438
+        ],
+        [
+          0.9694991707801819,
+          0.018245752900838852,
+          -0.24441462755203247,
+          13.73045825958252
+        ],
+        [
+          0.025469638407230377,
+          -0.999326229095459,
+          0.026427770033478737,
+          1.006141185760498
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1526,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_683769941",
+      "mask_path": "../../mask/hdr_right_01526.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01527.png",
+      "transform_matrix": [
+        [
+          -0.25019291043281555,
+          -0.030198169872164726,
+          -0.9677249789237976,
+          28.95711326599121
+        ],
+        [
+          0.9678764343261719,
+          0.017880264669656754,
+          -0.250789999961853,
+          13.65921401977539
+        ],
+        [
+          0.024876577779650688,
+          -0.9993839859962463,
+          0.024754583835601807,
+          0.9838910698890686
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1527,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_783770084",
+      "mask_path": "../../mask/hdr_right_01527.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01528.png",
+      "transform_matrix": [
+        [
+          -0.2518134117126465,
+          -0.032888028770685196,
+          -0.9672168493270874,
+          28.95859718322754
+        ],
+        [
+          0.9674884080886841,
+          0.01580166630446911,
+          -0.2524213492870331,
+          13.599916458129883
+        ],
+        [
+          0.023585274815559387,
+          -0.9993342161178589,
+          0.027839716523885727,
+          0.9799966812133789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1528,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_883768320",
+      "mask_path": "../../mask/hdr_right_01528.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01529.png",
+      "transform_matrix": [
+        [
+          -0.24438565969467163,
+          -0.038506533950567245,
+          -0.9689132571220398,
+          28.956424713134766
+        ],
+        [
+          0.9692642092704773,
+          0.0194892268627882,
+          -0.2452487349510193,
+          13.530799865722656
+        ],
+        [
+          0.02832704968750477,
+          -0.9990682005882263,
+          0.03256011754274368,
+          0.9916739463806152
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1529,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685430_983772277",
+      "mask_path": "../../mask/hdr_right_01529.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01530.png",
+      "transform_matrix": [
+        [
+          -0.23085185885429382,
+          -0.036890823394060135,
+          -0.9722892642021179,
+          28.953067779541016
+        ],
+        [
+          0.9727138876914978,
+          0.015007835812866688,
+          -0.2315220832824707,
+          13.469980239868164
+        ],
+        [
+          0.02313300035893917,
+          -0.9992066621780396,
+          0.032419633120298386,
+          1.000281572341919
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1530,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_83770036",
+      "mask_path": "../../mask/hdr_right_01530.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01531.png",
+      "transform_matrix": [
+        [
+          -0.22653205692768097,
+          -0.035504747182130814,
+          -0.9733563661575317,
+          28.959470748901367
+        ],
+        [
+          0.9736640453338623,
+          0.01813529245555401,
+          -0.2272651642560959,
+          13.407352447509766
+        ],
+        [
+          0.025721095502376556,
+          -0.9992049932479858,
+          0.030461471527814865,
+          1.0105221271514893
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1531,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_183771133",
+      "mask_path": "../../mask/hdr_right_01531.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01532.png",
+      "transform_matrix": [
+        [
+          -0.23184654116630554,
+          -0.03261643275618553,
+          -0.9722054600715637,
+          28.96711540222168
+        ],
+        [
+          0.9723740816116333,
+          0.0201007928699255,
+          -0.2325611114501953,
+          13.346044540405273
+        ],
+        [
+          0.02712741307914257,
+          -0.999265730381012,
+          0.02705506794154644,
+          0.9890055656433105
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1532,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_283770084",
+      "mask_path": "../../mask/hdr_right_01532.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01533.png",
+      "transform_matrix": [
+        [
+          -0.23361091315746307,
+          -0.032592643052339554,
+          -0.9717838168144226,
+          28.96929359436035
+        ],
+        [
+          0.9719966053962708,
+          0.018351998180150986,
+          -0.23427757620811462,
+          13.290727615356445
+        ],
+        [
+          0.02546989917755127,
+          -0.9993002414703369,
+          0.027392707765102386,
+          0.9833557605743408
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1533,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_383770465",
+      "mask_path": "../../mask/hdr_right_01533.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01534.png",
+      "transform_matrix": [
+        [
+          -0.22839143872261047,
+          -0.03318040817975998,
+          -0.9730038642883301,
+          28.965286254882812
+        ],
+        [
+          0.9732590913772583,
+          0.01744741015136242,
+          -0.22904634475708008,
+          13.225406646728516
+        ],
+        [
+          0.02457624487578869,
+          -0.9992970824241638,
+          0.028308292850852013,
+          0.9872012734413147
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1534,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_483771800",
+      "mask_path": "../../mask/hdr_right_01534.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01535.png",
+      "transform_matrix": [
+        [
+          -0.21760627627372742,
+          -0.030269354581832886,
+          -0.9755671620368958,
+          28.961257934570312
+        ],
+        [
+          0.9758050441741943,
+          0.015023572370409966,
+          -0.21812547743320465,
+          13.167119979858398
+        ],
+        [
+          0.021259022876620293,
+          -0.9994288682937622,
+          0.026267768815159798,
+          0.9941818118095398
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1535,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_583770513",
+      "mask_path": "../../mask/hdr_right_01535.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01536.png",
+      "transform_matrix": [
+        [
+          -0.213861882686615,
+          -0.02178509160876274,
+          -0.9766209125518799,
+          28.965896606445312
+        ],
+        [
+          0.9767272472381592,
+          0.011954586952924728,
+          -0.21415182948112488,
+          13.116353988647461
+        ],
+        [
+          0.01634041778743267,
+          -0.9996911883354187,
+          0.018721461296081543,
+          1.0069767236709595
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1536,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_683770179",
+      "mask_path": "../../mask/hdr_right_01536.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01537.png",
+      "transform_matrix": [
+        [
+          -0.22133438289165497,
+          -0.025277014821767807,
+          -0.9748703241348267,
+          28.974637985229492
+        ],
+        [
+          0.9747726917266846,
+          0.023787809535861015,
+          -0.22192898392677307,
+          13.05402946472168
+        ],
+        [
+          0.02879973128437996,
+          -0.9993974566459656,
+          0.01937427930533886,
+          0.999403715133667
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1537,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_783774614",
+      "mask_path": "../../mask/hdr_right_01537.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01538.png",
+      "transform_matrix": [
+        [
+          -0.2367812693119049,
+          -0.02599252015352249,
+          -0.9712153077125549,
+          28.98575782775879
+        ],
+        [
+          0.9711930155754089,
+          0.021253742277622223,
+          -0.2373446375131607,
+          13.002469062805176
+        ],
+        [
+          0.02681114710867405,
+          -0.9994361400604248,
+          0.02021126262843609,
+          0.9783362150192261
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1538,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685431_883769750",
+      "mask_path": "../../mask/hdr_right_01538.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01540.png",
+      "transform_matrix": [
+        [
+          -0.2551908791065216,
+          -0.02215345948934555,
+          -0.9666368365287781,
+          28.99699592590332
+        ],
+        [
+          0.9663930535316467,
+          0.026227205991744995,
+          -0.2557275891304016,
+          12.905590057373047
+        ],
+        [
+          0.03101743757724762,
+          -0.9994105100631714,
+          0.014716005884110928,
+          0.9752748012542725
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1540,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_83768606",
+      "mask_path": "../../mask/hdr_right_01540.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01542.png",
+      "transform_matrix": [
+        [
+          -0.26447367668151855,
+          -0.002777619520202279,
+          -0.9643890261650085,
+          29.008390426635742
+        ],
+        [
+          0.9642280340194702,
+          0.017726432532072067,
+          -0.2644805908203125,
+          12.818964958190918
+        ],
+        [
+          0.01782980188727379,
+          -0.9998390078544617,
+          -0.0020099161192774773,
+          0.9888814091682434
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1542,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_283769130",
+      "mask_path": "../../mask/hdr_right_01542.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01543.png",
+      "transform_matrix": [
+        [
+          -0.2722514271736145,
+          -0.006068744696676731,
+          -0.962207019329071,
+          29.02383041381836
+        ],
+        [
+          0.9618589282035828,
+          0.025908077135682106,
+          -0.2723163366317749,
+          12.764555931091309
+        ],
+        [
+          0.026581555604934692,
+          -0.9996458888053894,
+          -0.0012162360362708569,
+          0.9912257790565491
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1543,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_383769750",
+      "mask_path": "../../mask/hdr_right_01543.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01544.png",
+      "transform_matrix": [
+        [
+          -0.2893501818180084,
+          -0.0052681718952953815,
+          -0.9572088122367859,
+          29.039600372314453
+        ],
+        [
+          0.9567568898200989,
+          0.029620978981256485,
+          -0.2893765866756439,
+          12.716890335083008
+        ],
+        [
+          0.02987794391810894,
+          -0.9995473623275757,
+          -0.003530476475134492,
+          0.9661327004432678
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1544,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_483770608",
+      "mask_path": "../../mask/hdr_right_01544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01546.png",
+      "transform_matrix": [
+        [
+          -0.30742424726486206,
+          -0.002684962237253785,
+          -0.9515688419342041,
+          29.070369720458984
+        ],
+        [
+          0.9509292244911194,
+          0.03589940071105957,
+          -0.30731889605522156,
+          12.6443510055542
+        ],
+        [
+          0.03498589247465134,
+          -0.9993517994880676,
+          -0.008483139798045158,
+          0.9643582105636597
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1546,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_683769702",
+      "mask_path": "../../mask/hdr_right_01546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01548.png",
+      "transform_matrix": [
+        [
+          -0.2918923497200012,
+          0.006203899625688791,
+          -0.9564311504364014,
+          29.086652755737305
+        ],
+        [
+          0.9560944437980652,
+          0.029203226789832115,
+          -0.29160016775131226,
+          12.55277156829834
+        ],
+        [
+          0.02612181566655636,
+          -0.9995542168617249,
+          -0.014455713331699371,
+          0.9808645844459534
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1548,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_883769512",
+      "mask_path": "../../mask/hdr_right_01548.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01549.png",
+      "transform_matrix": [
+        [
+          -0.2861352264881134,
+          0.00028609888977371156,
+          -0.9581892490386963,
+          29.09891700744629
+        ],
+        [
+          0.9577154517173767,
+          0.031527433544397354,
+          -0.2859843671321869,
+          12.488848686218262
+        ],
+        [
+          0.03012743405997753,
+          -0.9995028376579285,
+          -0.009295113384723663,
+          0.9905807375907898
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1549,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685432_983769655",
+      "mask_path": "../../mask/hdr_right_01549.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01550.png",
+      "transform_matrix": [
+        [
+          -0.29406270384788513,
+          0.0007029081461951137,
+          -0.9557859301567078,
+          29.118234634399414
+        ],
+        [
+          0.9553711414337158,
+          0.02967902459204197,
+          -0.2939132750034332,
+          12.427155494689941
+        ],
+        [
+          0.028160201385617256,
+          -0.999559223651886,
+          -0.009399035014212132,
+          0.9640606641769409
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1550,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_83770513",
+      "mask_path": "../../mask/hdr_right_01550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01552.png",
+      "transform_matrix": [
+        [
+          -0.26706910133361816,
+          0.002010705880820751,
+          -0.963675320148468,
+          29.11536407470703
+        ],
+        [
+          0.9632236957550049,
+          0.031235938891768456,
+          -0.26687878370285034,
+          12.332282066345215
+        ],
+        [
+          0.029564686119556427,
+          -0.9995100498199463,
+          -0.010278915986418724,
+          0.9557973146438599
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1552,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_283769845",
+      "mask_path": "../../mask/hdr_right_01552.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01554.png",
+      "transform_matrix": [
+        [
+          -0.2092265486717224,
+          0.001264472957700491,
+          -0.9778664112091064,
+          29.095884323120117
+        ],
+        [
+          0.9774954319000244,
+          0.027842503041028976,
+          -0.20911118388175964,
+          12.243021965026855
+        ],
+        [
+          0.026961835101246834,
+          -0.9996115565299988,
+          -0.0070614079013466835,
+          0.9648634195327759
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1554,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_483769655",
+      "mask_path": "../../mask/hdr_right_01554.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01555.png",
+      "transform_matrix": [
+        [
+          -0.17810145020484924,
+          0.0011228485964238644,
+          -0.9840115308761597,
+          29.088041305541992
+        ],
+        [
+          0.9837148189544678,
+          0.024786612018942833,
+          -0.1780194342136383,
+          12.1889066696167
+        ],
+        [
+          0.024190422147512436,
+          -0.9996922016143799,
+          -0.0055190944112837315,
+          0.9714802503585815
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1555,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_583769798",
+      "mask_path": "../../mask/hdr_right_01555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01556.png",
+      "transform_matrix": [
+        [
+          -0.15647122263908386,
+          -0.000521260779350996,
+          -0.9876824021339417,
+          29.08968734741211
+        ],
+        [
+          0.9871100783348083,
+          0.03395923972129822,
+          -0.1563984900712967,
+          12.123834609985352
+        ],
+        [
+          0.03362246975302696,
+          -0.9994230270385742,
+          -0.0047991033643484116,
+          0.9662230014801025
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1556,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_683770656",
+      "mask_path": "../../mask/hdr_right_01556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01558.png",
+      "transform_matrix": [
+        [
+          -0.1366175413131714,
+          -0.008665474131703377,
+          -0.9905860424041748,
+          29.08235740661621
+        ],
+        [
+          0.9901148080825806,
+          0.030856924131512642,
+          -0.13682247698307037,
+          12.043724060058594
+        ],
+        [
+          0.03175206854939461,
+          -0.9994862675666809,
+          0.004364216234534979,
+          0.9373616576194763
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1558,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685433_883770227",
+      "mask_path": "../../mask/hdr_right_01558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01560.png",
+      "transform_matrix": [
+        [
+          -0.12521585822105408,
+          -0.005189364776015282,
+          -0.9921159744262695,
+          29.073806762695312
+        ],
+        [
+          0.9916191101074219,
+          0.0314176119863987,
+          -0.12531746923923492,
+          11.966461181640625
+        ],
+        [
+          0.03182023763656616,
+          -0.9994928240776062,
+          0.0012118882732465863,
+          0.9524309635162354
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1560,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_83770751",
+      "mask_path": "../../mask/hdr_right_01560.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01562.png",
+      "transform_matrix": [
+        [
+          -0.1141546368598938,
+          0.003078764770179987,
+          -0.9934582710266113,
+          29.067304611206055
+        ],
+        [
+          0.9931533336639404,
+          0.02532074600458145,
+          -0.11404109746217728,
+          11.88519287109375
+        ],
+        [
+          0.024803994223475456,
+          -0.9996746182441711,
+          -0.005948166828602552,
+          0.9645330309867859
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1562,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_283769607",
+      "mask_path": "../../mask/hdr_right_01562.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01563.png",
+      "transform_matrix": [
+        [
+          -0.12124127894639969,
+          0.0005553899682126939,
+          -0.992622971534729,
+          29.06654167175293
+        ],
+        [
+          0.9924443364143372,
+          0.019045688211917877,
+          -0.1212088093161583,
+          11.828828811645508
+        ],
+        [
+          0.01883786730468273,
+          -0.9998183846473694,
+          -0.0028603177051991224,
+          0.9530612230300903
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1563,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_383770465",
+      "mask_path": "../../mask/hdr_right_01563.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01565.png",
+      "transform_matrix": [
+        [
+          -0.1233469769358635,
+          -0.0008523274445906281,
+          -0.9923633337020874,
+          29.065351486206055
+        ],
+        [
+          0.9920845031738281,
+          0.023610705509781837,
+          -0.12333258241415024,
+          11.731568336486816
+        ],
+        [
+          0.02353551611304283,
+          -0.9997208714485168,
+          -0.002066728426143527,
+          0.9539894461631775
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1565,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_583770275",
+      "mask_path": "../../mask/hdr_right_01565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01567.png",
+      "transform_matrix": [
+        [
+          -0.10593686997890472,
+          0.007702976930886507,
+          -0.9943430423736572,
+          29.058870315551758
+        ],
+        [
+          0.9943510890007019,
+          0.0074395788833498955,
+          -0.10588008165359497,
+          11.632401466369629
+        ],
+        [
+          0.006581900641322136,
+          -0.9999426603317261,
+          -0.008447588421404362,
+          0.9768025279045105
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1567,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_783770799",
+      "mask_path": "../../mask/hdr_right_01567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01568.png",
+      "transform_matrix": [
+        [
+          -0.10950277745723724,
+          0.004961934871971607,
+          -0.9939741492271423,
+          29.06232261657715
+        ],
+        [
+          0.9939624071121216,
+          0.007514792028814554,
+          -0.10946395993232727,
+          11.56279468536377
+        ],
+        [
+          0.006926356814801693,
+          -0.999959409236908,
+          -0.005754869431257248,
+          0.9670689105987549
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1568,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685434_883770704",
+      "mask_path": "../../mask/hdr_right_01568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01571.png",
+      "transform_matrix": [
+        [
+          -0.10161998867988586,
+          -0.0016995045589283109,
+          -0.9948219060897827,
+          29.045602798461914
+        ],
+        [
+          0.9948086738586426,
+          0.005241690203547478,
+          -0.10162758082151413,
+          11.406045913696289
+        ],
+        [
+          0.005387265235185623,
+          -0.9999848008155823,
+          0.001158019993454218,
+          0.9545907974243164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1571,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_183770895",
+      "mask_path": "../../mask/hdr_right_01571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01573.png",
+      "transform_matrix": [
+        [
+          -0.09630442410707474,
+          -6.41050428384915e-05,
+          -0.9953519701957703,
+          29.041645050048828
+        ],
+        [
+          0.9953519105911255,
+          -0.00021700157958548516,
+          -0.09630439430475235,
+          11.294149398803711
+        ],
+        [
+          -0.00020981930720154196,
+          -0.9999999403953552,
+          8.470474131172523e-05,
+          0.9669454097747803
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1573,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_383770465",
+      "mask_path": "../../mask/hdr_right_01573.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01574.png",
+      "transform_matrix": [
+        [
+          -0.10139970481395721,
+          -0.004850262310355902,
+          -0.9948339462280273,
+          29.03849220275879
+        ],
+        [
+          0.9948457479476929,
+          -0.00044855813030153513,
+          -0.10139870643615723,
+          11.241263389587402
+        ],
+        [
+          4.556939165922813e-05,
+          -0.9999881386756897,
+          0.004870745353400707,
+          0.9561259150505066
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1574,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_483770847",
+      "mask_path": "../../mask/hdr_right_01574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01576.png",
+      "transform_matrix": [
+        [
+          -0.10701888799667358,
+          -0.012374961748719215,
+          -0.9941800832748413,
+          29.020862579345703
+        ],
+        [
+          0.9942260384559631,
+          0.00655805878341198,
+          -0.10710544884204865,
+          11.139628410339355
+        ],
+        [
+          0.007845316082239151,
+          -0.9999018907546997,
+          0.011601672507822514,
+          0.9567779898643494
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1576,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_683770656",
+      "mask_path": "../../mask/hdr_right_01576.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01578.png",
+      "transform_matrix": [
+        [
+          -0.11397191137075424,
+          -0.007605334278196096,
+          -0.9934549331665039,
+          29.01901626586914
+        ],
+        [
+          0.9934797286987305,
+          0.0020647142082452774,
+          -0.11399053782224655,
+          11.048677444458008
+        ],
+        [
+          0.002918137237429619,
+          -0.999968945980072,
+          0.0073204259388148785,
+          0.9694821238517761
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1578,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_883771181",
+      "mask_path": "../../mask/hdr_right_01578.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01579.png",
+      "transform_matrix": [
+        [
+          -0.13608336448669434,
+          -0.008790826424956322,
+          -0.9906584024429321,
+          29.02336883544922
+        ],
+        [
+          0.9906961917877197,
+          0.0003569280670490116,
+          -0.13609172403812408,
+          10.985580444335938
+        ],
+        [
+          0.0015499524306505919,
+          -0.9999613165855408,
+          0.00866046641021967,
+          0.9554536938667297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1579,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685435_983770847",
+      "mask_path": "../../mask/hdr_right_01579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01581.png",
+      "transform_matrix": [
+        [
+          -0.17117197811603546,
+          -0.012496469542384148,
+          -0.9851620197296143,
+          29.025880813598633
+        ],
+        [
+          0.9851921200752258,
+          0.007799953687936068,
+          -0.17127615213394165,
+          10.913732528686523
+        ],
+        [
+          0.00982456561177969,
+          -0.999891459941864,
+          0.010976291261613369,
+          0.9479976892471313
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1581,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685436_183770895",
+      "mask_path": "../../mask/hdr_right_01581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01583.png",
+      "transform_matrix": [
+        [
+          -0.18530972301959991,
+          -0.013352453708648682,
+          -0.9825894832611084,
+          29.02847671508789
+        ],
+        [
+          0.9826762080192566,
+          0.0003075958229601383,
+          -0.18533024191856384,
+          10.861249923706055
+        ],
+        [
+          0.0027768544387072325,
+          -0.999910831451416,
+          0.01306414045393467,
+          0.9636021256446838
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1583,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685436_383769750",
+      "mask_path": "../../mask/hdr_right_01583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01592.png",
+      "transform_matrix": [
+        [
+          -0.45420247316360474,
+          0.012220430187880993,
+          -0.8908147215843201,
+          29.123512268066406
+        ],
+        [
+          0.8908677101135254,
+          -0.002082463353872299,
+          -0.4542580246925354,
+          10.898656845092773
+        ],
+        [
+          -0.007406318094581366,
+          -0.9999231696128845,
+          -0.009940928779542446,
+          0.9752183556556702
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1592,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685437_283770799",
+      "mask_path": "../../mask/hdr_right_01592.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01598.png",
+      "transform_matrix": [
+        [
+          -0.6846332550048828,
+          0.020514946430921555,
+          -0.7285990118980408,
+          29.202816009521484
+        ],
+        [
+          0.728882372379303,
+          0.015448697842657566,
+          -0.6844645738601685,
+          10.988234519958496
+        ],
+        [
+          -0.0027858526445925236,
+          -0.9996702075004578,
+          -0.02552967704832554,
+          0.9672889113426208
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1598,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685437_883769989",
+      "mask_path": "../../mask/hdr_right_01598.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01603.png",
+      "transform_matrix": [
+        [
+          -0.8542909026145935,
+          0.04223194345831871,
+          -0.5180767178535461,
+          29.257112503051758
+        ],
+        [
+          0.5196207761764526,
+          0.04357065632939339,
+          -0.8532853126525879,
+          11.09521198272705
+        ],
+        [
+          -0.013462956994771957,
+          -0.9981573224067688,
+          -0.05916661024093628,
+          0.9686629772186279
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1603,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685438_383769989",
+      "mask_path": "../../mask/hdr_right_01603.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01608.png",
+      "transform_matrix": [
+        [
+          -0.9719533920288086,
+          0.02774905227124691,
+          -0.23353049159049988,
+          29.281278610229492
+        ],
+        [
+          0.23463140428066254,
+          0.047049228101968765,
+          -0.9709451794624329,
+          11.213078498840332
+        ],
+        [
+          -0.015955382958054543,
+          -0.9985070824623108,
+          -0.05224047228693962,
+          0.956318736076355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1608,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685438_883769750",
+      "mask_path": "../../mask/hdr_right_01608.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01613.png",
+      "transform_matrix": [
+        [
+          -0.9988586902618408,
+          0.03306926041841507,
+          0.03446372598409653,
+          29.291526794433594
+        ],
+        [
+          -0.032163068652153015,
+          0.06774617731571198,
+          -0.9971840977668762,
+          11.337041854858398
+        ],
+        [
+          -0.03531092032790184,
+          -0.9971544146537781,
+          -0.06660524010658264,
+          0.9659274816513062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1613,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685439_383770942",
+      "mask_path": "../../mask/hdr_right_01613.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01617.png",
+      "transform_matrix": [
+        [
+          -0.9579418897628784,
+          0.005891577340662479,
+          0.28690198063850403,
+          29.251291275024414
+        ],
+        [
+          -0.2861819267272949,
+          0.05407852679491043,
+          -0.956648051738739,
+          11.425661087036133
+        ],
+        [
+          -0.021151402965188026,
+          -0.9985193610191345,
+          -0.05011802166700363,
+          0.9560728669166565
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1617,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685439_783769369",
+      "mask_path": "../../mask/hdr_right_01617.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01621.png",
+      "transform_matrix": [
+        [
+          -0.8742478489875793,
+          -0.0025875854771584272,
+          0.48547306656837463,
+          29.19989776611328
+        ],
+        [
+          -0.48449230194091797,
+          0.06840508431196213,
+          -0.8721169829368591,
+          11.520408630371094
+        ],
+        [
+          -0.03095214255154133,
+          -0.9976542592048645,
+          -0.06105666235089302,
+          0.9637550115585327
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1621,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685440_183770656",
+      "mask_path": "../../mask/hdr_right_01621.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01625.png",
+      "transform_matrix": [
+        [
+          -0.7259442210197449,
+          -0.003001102479174733,
+          0.6877471208572388,
+          29.12963104248047
+        ],
+        [
+          -0.6871946454048157,
+          0.04347165673971176,
+          -0.7251715064048767,
+          11.597578048706055
+        ],
+        [
+          -0.027721190825104713,
+          -0.9990501403808594,
+          -0.03362034261226654,
+          0.9496915340423584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1625,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685440_583770036",
+      "mask_path": "../../mask/hdr_right_01625.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01630.png",
+      "transform_matrix": [
+        [
+          -0.5134356617927551,
+          -0.019118938595056534,
+          0.8579151034355164,
+          29.02506446838379
+        ],
+        [
+          -0.8577480316162109,
+          0.04118461161851883,
+          -0.5124178528785706,
+          11.664785385131836
+        ],
+        [
+          -0.02553601562976837,
+          -0.9989685416221619,
+          -0.03754488006234169,
+          0.9621451497077942
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1630,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685441_83770513",
+      "mask_path": "../../mask/hdr_right_01630.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01634.png",
+      "transform_matrix": [
+        [
+          -0.2954098582267761,
+          -0.040873780846595764,
+          0.9544957876205444,
+          28.913623809814453
+        ],
+        [
+          -0.9552217125892639,
+          0.030274678021669388,
+          -0.2943381369113922,
+          11.671854019165039
+        ],
+        [
+          -0.016866343095898628,
+          -0.9987055659294128,
+          -0.0479869619011879,
+          0.952844500541687
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1634,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685441_483770847",
+      "mask_path": "../../mask/hdr_right_01634.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01639.png",
+      "transform_matrix": [
+        [
+          -0.11890673637390137,
+          -0.030045023187994957,
+          0.9924507737159729,
+          28.854846954345703
+        ],
+        [
+          -0.9928398728370667,
+          0.0150879742577672,
+          -0.11849658936262131,
+          11.715655326843262
+        ],
+        [
+          -0.011413839645683765,
+          -0.9994346499443054,
+          -0.0316239595413208,
+          0.9569385647773743
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1639,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685441_983769178",
+      "mask_path": "../../mask/hdr_right_01639.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01642.png",
+      "transform_matrix": [
+        [
+          -0.06824509799480438,
+          -0.033655714243650436,
+          0.9971007704734802,
+          28.850427627563477
+        ],
+        [
+          -0.9976611137390137,
+          0.0061811720952391624,
+          -0.06807483732700348,
+          11.788172721862793
+        ],
+        [
+          -0.0038721447344869375,
+          -0.9994143843650818,
+          -0.03399883583188057,
+          0.9529070258140564
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1642,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685442_283770799",
+      "mask_path": "../../mask/hdr_right_01642.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01644.png",
+      "transform_matrix": [
+        [
+          -0.055460039526224136,
+          -0.035761911422014236,
+          0.9978203177452087,
+          28.85817527770996
+        ],
+        [
+          -0.9984552264213562,
+          0.005349240265786648,
+          -0.05530362203717232,
+          11.843940734863281
+        ],
+        [
+          -0.003359817201271653,
+          -0.9993460178375244,
+          -0.03600333631038666,
+          0.9478362202644348
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1644,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685442_483770847",
+      "mask_path": "../../mask/hdr_right_01644.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01646.png",
+      "transform_matrix": [
+        [
+          -0.025238901376724243,
+          -0.019309349358081818,
+          0.9994949698448181,
+          28.862886428833008
+        ],
+        [
+          -0.9996813535690308,
+          0.000987495994195342,
+          -0.02522454783320427,
+          11.930760383605957
+        ],
+        [
+          -0.000499927788041532,
+          -0.9998131394386292,
+          -0.019328121095895767,
+          0.9516357183456421
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1646,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685442_683769941",
+      "mask_path": "../../mask/hdr_right_01646.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01648.png",
+      "transform_matrix": [
+        [
+          0.010445886291563511,
+          -0.01751025766134262,
+          0.9997921586036682,
+          28.85504913330078
+        ],
+        [
+          -0.9999449849128723,
+          0.000759161077439785,
+          0.010460775345563889,
+          12.001507759094238
+        ],
+        [
+          -0.0009421739960089326,
+          -0.9998463988304138,
+          -0.01750136725604534,
+          0.9337198138237
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1648,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685442_883770465",
+      "mask_path": "../../mask/hdr_right_01648.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01650.png",
+      "transform_matrix": [
+        [
+          0.03016805835068226,
+          -0.022865906357765198,
+          0.9992833733558655,
+          28.85341453552246
+        ],
+        [
+          -0.9995221495628357,
+          0.006042973604053259,
+          0.030313488095998764,
+          12.091565132141113
+        ],
+        [
+          -0.006731788627803326,
+          -0.9997202157974243,
+          -0.022672677412629128,
+          0.964878499507904
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1650,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_83769798",
+      "mask_path": "../../mask/hdr_right_01650.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01652.png",
+      "transform_matrix": [
+        [
+          0.044683001935482025,
+          -0.0365338958799839,
+          0.9983330368995667,
+          28.84882354736328
+        ],
+        [
+          -0.9988718628883362,
+          0.014451218768954277,
+          0.045235954225063324,
+          12.172958374023438
+        ],
+        [
+          -0.016079774126410484,
+          -0.9992279410362244,
+          -0.035846952348947525,
+          0.9632983207702637
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1652,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_283769130",
+      "mask_path": "../../mask/hdr_right_01652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01653.png",
+      "transform_matrix": [
+        [
+          0.06486130505800247,
+          -0.026179155334830284,
+          0.9975509643554688,
+          28.84251594543457
+        ],
+        [
+          -0.9978640079498291,
+          0.006087718531489372,
+          0.06504140049219131,
+          12.229801177978516
+        ],
+        [
+          -0.0077755386009812355,
+          -0.9996387362480164,
+          -0.025728382170200348,
+          0.962795078754425
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1653,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_383769750",
+      "mask_path": "../../mask/hdr_right_01653.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01655.png",
+      "transform_matrix": [
+        [
+          0.10246645659208298,
+          -0.019995279610157013,
+          0.994535505771637,
+          28.82671546936035
+        ],
+        [
+          -0.9947022795677185,
+          0.006226038560271263,
+          0.1026088073849678,
+          12.293490409851074
+        ],
+        [
+          -0.008243708871304989,
+          -0.9997806549072266,
+          -0.019251393154263496,
+          0.9443718194961548
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1655,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_583770036",
+      "mask_path": "../../mask/hdr_right_01655.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01657.png",
+      "transform_matrix": [
+        [
+          0.11438432335853577,
+          -0.031670693308115005,
+          0.9929316639900208,
+          28.813032150268555
+        ],
+        [
+          -0.9934132695198059,
+          0.0032059166114777327,
+          0.11454206705093384,
+          12.374954223632812
+        ],
+        [
+          -0.006810883060097694,
+          -0.9994933009147644,
+          -0.031095383688807487,
+          0.9698931574821472
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1657,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_783770561",
+      "mask_path": "../../mask/hdr_right_01657.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01659.png",
+      "transform_matrix": [
+        [
+          0.09800359606742859,
+          -0.04289070889353752,
+          0.9942613840103149,
+          28.821395874023438
+        ],
+        [
+          -0.9950758814811707,
+          0.010645345784723759,
+          0.09854307770729065,
+          12.442930221557617
+        ],
+        [
+          -0.014810840599238873,
+          -0.9990230798721313,
+          -0.041636232286691666,
+          0.962274432182312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1659,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685443_983767986",
+      "mask_path": "../../mask/hdr_right_01659.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01660.png",
+      "transform_matrix": [
+        [
+          0.09382852166891098,
+          -0.03235727921128273,
+          0.9950624108314514,
+          28.82227897644043
+        ],
+        [
+          -0.9955840706825256,
+          -8.487576997140422e-05,
+          0.09387493878602982,
+          12.494267463684082
+        ],
+        [
+          -0.00295308162458241,
+          -0.9994763135910034,
+          -0.032222360372543335,
+          0.9600525498390198
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1660,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_83768367",
+      "mask_path": "../../mask/hdr_right_01660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01662.png",
+      "transform_matrix": [
+        [
+          0.09890100359916687,
+          -0.0164558794349432,
+          0.9949612617492676,
+          28.820528030395508
+        ],
+        [
+          -0.995097279548645,
+          -0.0014551393687725067,
+          0.09889043867588043,
+          12.570682525634766
+        ],
+        [
+          -0.0001795231510186568,
+          -0.9998635053634644,
+          -0.01651911810040474,
+          0.9431188702583313
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1662,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_283770561",
+      "mask_path": "../../mask/hdr_right_01662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01664.png",
+      "transform_matrix": [
+        [
+          0.09865845739841461,
+          -0.008168179541826248,
+          0.9950878024101257,
+          28.82265281677246
+        ],
+        [
+          -0.9951028823852539,
+          -0.006891102064400911,
+          0.09860337525606155,
+          12.65631103515625
+        ],
+        [
+          0.0060518416576087475,
+          -0.9999428987503052,
+          -0.008808045648038387,
+          0.9325875043869019
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1664,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_483769178",
+      "mask_path": "../../mask/hdr_right_01664.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01666.png",
+      "transform_matrix": [
+        [
+          0.08423037081956863,
+          -0.009240890853106976,
+          0.9964035153388977,
+          28.83665657043457
+        ],
+        [
+          -0.9964369535446167,
+          -0.0051202126778662205,
+          0.08418569713830948,
+          12.741056442260742
+        ],
+        [
+          0.004323845729231834,
+          -0.999944269657135,
+          -0.009639245457947254,
+          0.9413636922836304
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1666,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_683770179",
+      "mask_path": "../../mask/hdr_right_01666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01667.png",
+      "transform_matrix": [
+        [
+          0.0763469785451889,
+          -0.011157938279211521,
+          0.9970189332962036,
+          28.84410285949707
+        ],
+        [
+          -0.9970807433128357,
+          0.0002174770343117416,
+          0.07635412365198135,
+          12.804648399353027
+        ],
+        [
+          -0.0010687833419069648,
+          -0.9999377131462097,
+          -0.011108762584626675,
+          0.9326440691947937
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1667,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_783771991",
+      "mask_path": "../../mask/hdr_right_01667.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01668.png",
+      "transform_matrix": [
+        [
+          0.07711736112833023,
+          -0.005185609683394432,
+          0.9970085620880127,
+          28.85110855102539
+        ],
+        [
+          -0.997012734413147,
+          -0.004725596867501736,
+          0.07709307968616486,
+          12.881072044372559
+        ],
+        [
+          0.004311686381697655,
+          -0.9999753832817078,
+          -0.005534546449780464,
+          0.9470508694648743
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1668,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_883769273",
+      "mask_path": "../../mask/hdr_right_01668.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01669.png",
+      "transform_matrix": [
+        [
+          0.07916785031557083,
+          -0.0032399625051766634,
+          0.9968560934066772,
+          28.85313606262207
+        ],
+        [
+          -0.996860682964325,
+          0.0008141665020957589,
+          0.07917085289955139,
+          12.93570613861084
+        ],
+        [
+          -0.0010681177955120802,
+          -0.9999943971633911,
+          -0.0031653365585952997,
+          0.9406164288520813
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1669,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685444_983769893",
+      "mask_path": "../../mask/hdr_right_01669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01670.png",
+      "transform_matrix": [
+        [
+          0.08250715583562851,
+          -0.003999498672783375,
+          0.9965824484825134,
+          28.856990814208984
+        ],
+        [
+          -0.9965871572494507,
+          0.0022378761786967516,
+          0.08251650631427765,
+          12.990148544311523
+        ],
+        [
+          -0.002560253022238612,
+          -0.9999895095825195,
+          -0.0038012100849300623,
+          0.9417793154716492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1670,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_83768367",
+      "mask_path": "../../mask/hdr_right_01670.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01671.png",
+      "transform_matrix": [
+        [
+          0.07834957540035248,
+          -0.001978725427761674,
+          0.9969240427017212,
+          28.86373519897461
+        ],
+        [
+          -0.996918261051178,
+          0.003795358818024397,
+          0.07835663110017776,
+          13.066396713256836
+        ],
+        [
+          -0.003938730340451002,
+          -0.9999908208847046,
+          -0.0016752633964642882,
+          0.9383183121681213
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1671,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_183769702",
+      "mask_path": "../../mask/hdr_right_01671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01672.png",
+      "transform_matrix": [
+        [
+          0.06791096180677414,
+          -0.006601907312870026,
+          0.9976695775985718,
+          28.875080108642578
+        ],
+        [
+          -0.9976388812065125,
+          0.009810148738324642,
+          0.0679737776517868,
+          13.121835708618164
+        ],
+        [
+          -0.01023604441434145,
+          -0.9999300837516785,
+          -0.005920103285461664,
+          0.9573832154273987
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1672,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_283770084",
+      "mask_path": "../../mask/hdr_right_01672.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01674.png",
+      "transform_matrix": [
+        [
+          0.05414460971951485,
+          -0.018312254920601845,
+          0.9983652234077454,
+          28.88524627685547
+        ],
+        [
+          -0.9982598423957825,
+          0.02239370159804821,
+          0.05454963818192482,
+          13.21401309967041
+        ],
+        [
+          -0.02335602045059204,
+          -0.999581515789032,
+          -0.017067894339561462,
+          0.9668379426002502
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1674,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_483769178",
+      "mask_path": "../../mask/hdr_right_01674.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01675.png",
+      "transform_matrix": [
+        [
+          0.05461969971656799,
+          -0.009111137129366398,
+          0.9984657764434814,
+          28.889972686767578
+        ],
+        [
+          -0.9982654452323914,
+          0.021507441997528076,
+          0.054804977029561996,
+          13.29418659210205
+        ],
+        [
+          -0.021973779425024986,
+          -0.9997271299362183,
+          -0.007920606061816216,
+          0.9754223823547363
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1675,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_583769559",
+      "mask_path": "../../mask/hdr_right_01675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01676.png",
+      "transform_matrix": [
+        [
+          0.05865316465497017,
+          -0.0008057939121499658,
+          0.9982782006263733,
+          28.89063262939453
+        ],
+        [
+          -0.9979522228240967,
+          0.02551385574042797,
+          0.05865459144115448,
+          13.34751033782959
+        ],
+        [
+          -0.025517188012599945,
+          -0.9996741414070129,
+          0.0006923244800418615,
+          0.9663994908332825
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1676,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_683768749",
+      "mask_path": "../../mask/hdr_right_01676.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01678.png",
+      "transform_matrix": [
+        [
+          0.06296858191490173,
+          0.002092708135023713,
+          0.9980133771896362,
+          28.88803482055664
+        ],
+        [
+          -0.99762362241745,
+          0.02815130539238453,
+          0.06288494169712067,
+          13.451976776123047
+        ],
+        [
+          -0.027963776141405106,
+          -0.999601423740387,
+          0.0038603818975389004,
+          0.9642794132232666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1678,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_883769035",
+      "mask_path": "../../mask/hdr_right_01678.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01679.png",
+      "transform_matrix": [
+        [
+          0.054844796657562256,
+          0.00288409274071455,
+          0.9984908103942871,
+          28.891679763793945
+        ],
+        [
+          -0.9980374574661255,
+          0.030424021184444427,
+          0.05473199486732483,
+          13.523370742797852
+        ],
+        [
+          -0.03022024966776371,
+          -0.99953293800354,
+          0.00454702926799655,
+          0.9758260250091553
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1679,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685445_983770847",
+      "mask_path": "../../mask/hdr_right_01679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01681.png",
+      "transform_matrix": [
+        [
+          0.03973250836133957,
+          -0.0060714432038366795,
+          0.99919193983078,
+          28.903148651123047
+        ],
+        [
+          -0.9983454346656799,
+          0.04135800525546074,
+          0.039950139820575714,
+          13.633269309997559
+        ],
+        [
+          -0.04156714305281639,
+          -0.9991258978843689,
+          -0.004418141674250364,
+          0.9916077852249146
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1681,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_183769702",
+      "mask_path": "../../mask/hdr_right_01681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01682.png",
+      "transform_matrix": [
+        [
+          0.040255915373563766,
+          0.0025328497868031263,
+          0.9991861581802368,
+          28.907794952392578
+        ],
+        [
+          -0.9983963966369629,
+          0.03993638977408409,
+          0.040122851729393005,
+          13.71009635925293
+        ],
+        [
+          -0.03980225697159767,
+          -0.9991990327835083,
+          0.004136461298912764,
+          0.9913996458053589
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1682,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_283768892",
+      "mask_path": "../../mask/hdr_right_01682.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01685.png",
+      "transform_matrix": [
+        [
+          0.044295940548181534,
+          0.01194252260029316,
+          0.9989470839500427,
+          28.927452087402344
+        ],
+        [
+          -0.9985793828964233,
+          0.030172504484653473,
+          0.043918900191783905,
+          13.860994338989258
+        ],
+        [
+          -0.029616234824061394,
+          -0.9994733333587646,
+          0.013262072578072548,
+          0.9776526093482971
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1685,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_583770036",
+      "mask_path": "../../mask/hdr_right_01685.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01686.png",
+      "transform_matrix": [
+        [
+          0.03427331894636154,
+          0.016905585303902626,
+          0.9992694854736328,
+          28.93857192993164
+        ],
+        [
+          -0.9990636110305786,
+          0.026999613270163536,
+          0.03380946069955826,
+          13.918025970458984
+        ],
+        [
+          -0.026408320292830467,
+          -0.9994924664497375,
+          0.01781512051820755,
+          0.9915621876716614
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1686,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_683770895",
+      "mask_path": "../../mask/hdr_right_01686.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01688.png",
+      "transform_matrix": [
+        [
+          0.01391893532127142,
+          0.00840615015476942,
+          0.999867856502533,
+          28.96234130859375
+        ],
+        [
+          -0.9993603229522705,
+          0.0330611988902092,
+          0.013633878901600838,
+          14.015864372253418
+        ],
+        [
+          -0.03294221684336662,
+          -0.9994179606437683,
+          0.008860946632921696,
+          1.0037697553634644
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1688,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_883770465",
+      "mask_path": "../../mask/hdr_right_01688.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01689.png",
+      "transform_matrix": [
+        [
+          0.012352327816188335,
+          0.007349580992013216,
+          0.999896764755249,
+          28.969179153442383
+        ],
+        [
+          -0.9996517300605774,
+          0.02341325953602791,
+          0.012177199125289917,
+          14.086337089538574
+        ],
+        [
+          -0.02332134358584881,
+          -0.9996988773345947,
+          0.0076362271793186665,
+          1.0061737298965454
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1689,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685446_983770370",
+      "mask_path": "../../mask/hdr_right_01689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01690.png",
+      "transform_matrix": [
+        [
+          0.016066160053014755,
+          0.01477855071425438,
+          0.9997617602348328,
+          28.974977493286133
+        ],
+        [
+          -0.9996746182441711,
+          0.020052039995789528,
+          0.015768330544233322,
+          14.13680648803711
+        ],
+        [
+          -0.019814228639006615,
+          -0.9996896982192993,
+          0.015095898881554604,
+          0.9876879453659058
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1690,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685447_83769559",
+      "mask_path": "../../mask/hdr_right_01690.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01692.png",
+      "transform_matrix": [
+        [
+          0.009370320476591587,
+          0.015236977487802505,
+          0.9998400211334229,
+          28.996593475341797
+        ],
+        [
+          -0.9998918175697327,
+          0.011476774699985981,
+          0.009195887483656406,
+          14.226592063903809
+        ],
+        [
+          -0.01133482065051794,
+          -0.9998180270195007,
+          0.01534286979585886,
+          0.9932088255882263
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1692,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685447_283769607",
+      "mask_path": "../../mask/hdr_right_01692.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01694.png",
+      "transform_matrix": [
+        [
+          -0.011915112845599651,
+          0.0073867239989340305,
+          0.9999017715454102,
+          29.020221710205078
+        ],
+        [
+          -0.9997575879096985,
+          0.01842677779495716,
+          -0.012049559503793716,
+          14.297616004943848
+        ],
+        [
+          -0.01851397380232811,
+          -0.9998029470443726,
+          0.0071653746999800205,
+          1.0075874328613281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1694,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685447_483772039",
+      "mask_path": "../../mask/hdr_right_01694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01696.png",
+      "transform_matrix": [
+        [
+          0.011325951665639877,
+          0.014950922690331936,
+          0.9998241066932678,
+          29.030807495117188
+        ],
+        [
+          -0.9998206496238708,
+          0.015350309200584888,
+          0.0110963499173522,
+          14.38742446899414
+        ],
+        [
+          -0.015181707218289375,
+          -0.9997704029083252,
+          0.015122096985578537,
+          0.9976252317428589
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1696,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685447_683770895",
+      "mask_path": "../../mask/hdr_right_01696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01698.png",
+      "transform_matrix": [
+        [
+          0.04321430251002312,
+          0.014114786870777607,
+          0.9989661574363708,
+          29.037710189819336
+        ],
+        [
+          -0.9990039467811584,
+          0.011741274036467075,
+          0.04305000975728035,
+          14.465222358703613
+        ],
+        [
+          -0.011121493764221668,
+          -0.9998313784599304,
+          0.014608119614422321,
+          0.9984003305435181
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1698,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685447_883769989",
+      "mask_path": "../../mask/hdr_right_01698.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01700.png",
+      "transform_matrix": [
+        [
+          0.06046566367149353,
+          0.0031167627312242985,
+          0.9981654286384583,
+          29.04471778869629
+        ],
+        [
+          -0.99800705909729,
+          0.018273213878273964,
+          0.06039900332689285,
+          14.532890319824219
+        ],
+        [
+          -0.01805144175887108,
+          -0.9998282194137573,
+          0.004215452820062637,
+          1.0041170120239258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1700,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685448_83769559",
+      "mask_path": "../../mask/hdr_right_01700.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01702.png",
+      "transform_matrix": [
+        [
+          0.11585098505020142,
+          0.002774470718577504,
+          0.993262767791748,
+          29.030433654785156
+        ],
+        [
+          -0.9931148290634155,
+          0.017807092517614365,
+          0.11578397452831268,
+          14.625126838684082
+        ],
+        [
+          -0.01736588217318058,
+          -0.9998375177383423,
+          0.004818336572498083,
+          0.9986215233802795
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1702,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685448_283766031",
+      "mask_path": "../../mask/hdr_right_01702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01704.png",
+      "transform_matrix": [
+        [
+          0.19858065247535706,
+          -0.0009950923267751932,
+          0.9800840616226196,
+          29.006288528442383
+        ],
+        [
+          -0.9800189733505249,
+          0.011361531913280487,
+          0.19857901334762573,
+          14.692108154296875
+        ],
+        [
+          -0.011332860216498375,
+          -0.99993497133255,
+          0.0012809702893719077,
+          1.0014891624450684
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1704,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685448_483769655",
+      "mask_path": "../../mask/hdr_right_01704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01706.png",
+      "transform_matrix": [
+        [
+          0.24975386261940002,
+          -0.01835945062339306,
+          0.9681353569030762,
+          28.986587524414062
+        ],
+        [
+          -0.9680711627006531,
+          0.017445258796215057,
+          0.2500680983066559,
+          14.752201080322266
+        ],
+        [
+          -0.021480483934283257,
+          -0.9996793270111084,
+          -0.013416232541203499,
+          1.0209325551986694
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1706,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685448_683769226",
+      "mask_path": "../../mask/hdr_right_01706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01713.png",
+      "transform_matrix": [
+        [
+          0.3270210921764374,
+          -0.034449487924575806,
+          0.9443889260292053,
+          28.899415969848633
+        ],
+        [
+          -0.9449876546859741,
+          -0.004033675417304039,
+          0.32708126306533813,
+          15.020505905151367
+        ],
+        [
+          -0.007458423729985952,
+          -0.9993982911109924,
+          -0.03387344256043434,
+          1.016852617263794
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1713,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685449_383770942",
+      "mask_path": "../../mask/hdr_right_01713.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01714.png",
+      "transform_matrix": [
+        [
+          0.3384990096092224,
+          -0.026034248992800713,
+          0.9406065940856934,
+          28.880435943603516
+        ],
+        [
+          -0.9409552216529846,
+          -0.00441347761079669,
+          0.33850234746932983,
+          15.078879356384277
+        ],
+        [
+          -0.0046613081358373165,
+          -0.9996512532234192,
+          -0.02599102072417736,
+          1.0047966241836548
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1714,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685449_483770847",
+      "mask_path": "../../mask/hdr_right_01714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01716.png",
+      "transform_matrix": [
+        [
+          0.34986943006515503,
+          -0.014914126135408878,
+          0.9366797804832458,
+          28.8621883392334
+        ],
+        [
+          -0.9367976784706116,
+          -0.004258491564542055,
+          0.34984567761421204,
+          15.164294242858887
+        ],
+        [
+          -0.0012287994613870978,
+          -0.9998797178268433,
+          -0.015461434610188007,
+          0.9880032539367676
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1716,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731685449_683769702",
+      "mask_path": "../../mask/hdr_right_01716.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file