diff --git "a/2024-11-25-16-36-19/splats/01b4988e/transforms.json" "b/2024-11-25-16-36-19/splats/01b4988e/transforms.json" new file mode 100644--- /dev/null +++ "b/2024-11-25-16-36-19/splats/01b4988e/transforms.json" @@ -0,0 +1,29616 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_03857.png", + "transform_matrix": [ + [ + 0.02023116871714592, + 0.0002206680946983397, + 0.9997953176498413, + -15.314858436584473 + ], + [ + -0.9996042847633362, + 0.01955001801252365, + 0.020222991704940796, + -11.345091819763184 + ], + [ + -0.019541552290320396, + -0.9998089075088501, + 0.0006161005585454404, + -0.5194563269615173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3857, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549369_595117568", + "mask_path": "../../mask/hdr_front_03857.png" + }, + { + "file_path": "../../rgb/hdr_front_03858.png", + "transform_matrix": [ + [ + 0.022528432309627533, + 0.0008735895389690995, + 0.999745786190033, + -15.385296821594238 + ], + [ + -0.9995241165161133, + 0.02109336294233799, + 0.022505007684230804, + -11.34804916381836 + ], + [ + -0.021068338304758072, + -0.9997771978378296, + 0.0013483742950484157, + -0.5282041430473328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3858, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549369_695116758", + "mask_path": "../../mask/hdr_front_03858.png" + }, + { + "file_path": "../../rgb/hdr_front_03859.png", + "transform_matrix": [ + [ + 0.0160876102745533, + 0.0008500594994984567, + 0.9998703002929688, + -15.475126266479492 + ], + [ + -0.9995995759963989, + 0.023294763639569283, + 0.016063449904322624, + -11.341985702514648 + ], + [ + -0.02327808551490307, + -0.9997283220291138, + 0.0012244762619957328, + -0.5198588967323303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3859, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549369_795116662", + "mask_path": "../../mask/hdr_front_03859.png" + }, + { + "file_path": "../../rgb/hdr_front_03860.png", + "transform_matrix": [ + [ + 0.0023343644570559263, + -0.0012645565439015627, + 0.999996542930603, + -15.549796104431152 + ], + [ + -0.9997668266296387, + 0.021460464224219322, + 0.0023609658237546682, + -11.335724830627441 + ], + [ + -0.021463369950652122, + -0.9997689127922058, + -0.0012141652405261993, + -0.5042650699615479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3860, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549369_895116806", + "mask_path": "../../mask/hdr_front_03860.png" + }, + { + "file_path": "../../rgb/hdr_front_03861.png", + "transform_matrix": [ + [ + -0.007170374039560556, + -0.0042993552051484585, + 0.9999651312828064, + -15.622085571289062 + ], + [ + -0.9998421669006348, + 0.016283320263028145, + -0.007099485024809837, + -11.335051536560059 + ], + [ + -0.016252225264906883, + -0.9998581409454346, + -0.004415434319525957, + -0.5004312992095947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3861, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549369_995116472", + "mask_path": "../../mask/hdr_front_03861.png" + }, + { + "file_path": "../../rgb/hdr_front_03862.png", + "transform_matrix": [ + [ + -0.00759531557559967, + -0.0007284287130460143, + 0.9999709129333496, + -15.7178316116333 + ], + [ + -0.9998179078102112, + 0.01751019060611725, + -0.007581397891044617, + -11.33889389038086 + ], + [ + -0.01750415563583374, + -0.9998464584350586, + -0.000861291482578963, + -0.5118458867073059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3862, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_95117092", + "mask_path": "../../mask/hdr_front_03862.png" + }, + { + "file_path": "../../rgb/hdr_front_03863.png", + "transform_matrix": [ + [ + -0.0031373908277601004, + 0.001196775701828301, + 0.9999943971633911, + -15.79528522491455 + ], + [ + -0.9996793270111084, + 0.02512337453663349, + -0.0031664695125073195, + -11.34072208404541 + ], + [ + -0.025127021595835686, + -0.999683678150177, + 0.0011175702093169093, + -0.5239313840866089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3863, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_195117473", + "mask_path": "../../mask/hdr_front_03863.png" + }, + { + "file_path": "../../rgb/hdr_front_03864.png", + "transform_matrix": [ + [ + -0.004371968097984791, + 0.0022695979569107294, + 0.9999879002571106, + -15.872304916381836 + ], + [ + -0.9995967149734497, + 0.028046738356351852, + -0.004433915484696627, + -11.33504867553711 + ], + [ + -0.02805645577609539, + -0.9996040463447571, + 0.002146063605323434, + -0.5207152962684631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3864, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_295116901", + "mask_path": "../../mask/hdr_front_03864.png" + }, + { + "file_path": "../../rgb/hdr_front_03865.png", + "transform_matrix": [ + [ + -0.014074888080358505, + 0.006183877121657133, + 0.9998819231987, + -15.963525772094727 + ], + [ + -0.999528169631958, + 0.02721518650650978, + -0.014238226227462292, + -11.325752258300781 + ], + [ + -0.02730001136660576, + -0.9996104836463928, + 0.005797908175736666, + -0.5104736089706421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3865, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_395117044", + "mask_path": "../../mask/hdr_front_03865.png" + }, + { + "file_path": "../../rgb/hdr_front_03866.png", + "transform_matrix": [ + [ + -0.028155053034424782, + 0.000262559944530949, + 0.9996035099029541, + -16.02752685546875 + ], + [ + -0.9993625283241272, + 0.021953318268060684, + -0.028154028579592705, + -11.316415786743164 + ], + [ + -0.021952005103230476, + -0.9997589588165283, + -0.0003557042218744755, + -0.5025234222412109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3866, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_495116949", + "mask_path": "../../mask/hdr_front_03866.png" + }, + { + "file_path": "../../rgb/hdr_front_03867.png", + "transform_matrix": [ + [ + -0.035296015441417694, + -0.0015864020679146051, + 0.9993757009506226, + -16.105941772460938 + ], + [ + -0.9991534948348999, + 0.02119874395430088, + -0.035254523158073425, + -11.31249713897705 + ], + [ + -0.021129578351974487, + -0.9997740387916565, + -0.0023332906421273947, + -0.5036289691925049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3867, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_595117807", + "mask_path": "../../mask/hdr_front_03867.png" + }, + { + "file_path": "../../rgb/hdr_front_03868.png", + "transform_matrix": [ + [ + -0.03245542198419571, + 0.005388686433434486, + 0.9994586110115051, + -16.20274543762207 + ], + [ + -0.9991322755813599, + 0.025941798463463783, + -0.032584697008132935, + -11.313735008239746 + ], + [ + -0.026103343814611435, + -0.9996490478515625, + 0.004542058799415827, + -0.5198068022727966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3868, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_695116996", + "mask_path": "../../mask/hdr_front_03868.png" + }, + { + "file_path": "../../rgb/hdr_front_03869.png", + "transform_matrix": [ + [ + -0.028824258595705032, + 0.0068227495066821575, + 0.9995612502098083, + -16.274824142456055 + ], + [ + -0.9990962147712708, + 0.03105536662042141, + -0.029022827744483948, + -11.310928344726562 + ], + [ + -0.03123975358903408, + -0.9994943737983704, + 0.005921436008065939, + -0.5297287702560425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3869, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_795117616", + "mask_path": "../../mask/hdr_front_03869.png" + }, + { + "file_path": "../../rgb/hdr_front_03870.png", + "transform_matrix": [ + [ + -0.03164995089173317, + 0.006402796134352684, + 0.9994785785675049, + -16.360490798950195 + ], + [ + -0.9988765716552734, + 0.035083379596471786, + -0.031855642795562744, + -11.30135440826416 + ], + [ + -0.03526905179023743, + -0.999363899230957, + 0.005285216029733419, + -0.5230824947357178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3870, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_895117521", + "mask_path": "../../mask/hdr_front_03870.png" + }, + { + "file_path": "../../rgb/hdr_front_03871.png", + "transform_matrix": [ + [ + -0.04346700385212898, + 0.00745745562016964, + 0.9990270733833313, + -16.445228576660156 + ], + [ + -0.998374342918396, + 0.0365775004029274, + -0.04371165111660957, + -11.288321495056152 + ], + [ + -0.0368678905069828, + -0.9993029832839966, + 0.005855418276041746, + -0.5064705014228821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3871, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_995116710", + "mask_path": "../../mask/hdr_front_03871.png" + }, + { + "file_path": "../../rgb/hdr_front_03872.png", + "transform_matrix": [ + [ + -0.056217730045318604, + 0.0026108829770237207, + 0.9984151124954224, + -16.507898330688477 + ], + [ + -0.9979398846626282, + 0.03081430494785309, + -0.05627156049013138, + -11.280851364135742 + ], + [ + -0.030912386253476143, + -0.9995217323303223, + 0.0008731934940442443, + -0.5013394355773926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3872, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_95118522", + "mask_path": "../../mask/hdr_front_03872.png" + }, + { + "file_path": "../../rgb/hdr_front_03873.png", + "transform_matrix": [ + [ + -0.059382230043411255, + 0.004745701793581247, + 0.9982240796089172, + -16.59343910217285 + ], + [ + -0.9978048801422119, + 0.029077157378196716, + -0.05949553847312927, + -11.280082702636719 + ], + [ + -0.029307866469025612, + -0.9995658993721008, + 0.0030086184851825237, + -0.5055021643638611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3873, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_195116519", + "mask_path": "../../mask/hdr_front_03873.png" + }, + { + "file_path": "../../rgb/hdr_front_03874.png", + "transform_matrix": [ + [ + -0.05339895188808441, + 0.007769275456666946, + 0.9985430240631104, + -16.6745548248291 + ], + [ + -0.998142659664154, + 0.0289467740803957, + -0.05360276997089386, + -11.278820991516113 + ], + [ + -0.02932104840874672, + -0.9995507597923279, + 0.006209118291735649, + -0.5208699107170105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3874, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_295116901", + "mask_path": "../../mask/hdr_front_03874.png" + }, + { + "file_path": "../../rgb/hdr_front_03875.png", + "transform_matrix": [ + [ + -0.04928408935666084, + 0.007761096116155386, + 0.9987546801567078, + -16.746667861938477 + ], + [ + -0.9982782006263733, + 0.031460411846637726, + -0.04950505495071411, + -11.27420711517334 + ], + [ + -0.03180544823408127, + -0.9994749426841736, + 0.00619723554700613, + -0.5197486281394958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3875, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_395116567", + "mask_path": "../../mask/hdr_front_03875.png" + }, + { + "file_path": "../../rgb/hdr_front_03876.png", + "transform_matrix": [ + [ + -0.05111079290509224, + 0.010242003947496414, + 0.9986404776573181, + -16.825641632080078 + ], + [ + -0.9981776475906372, + 0.031594812870025635, + -0.051411136984825134, + -11.265318870544434 + ], + [ + -0.03207841515541077, + -0.9994483590126038, + 0.008608503267168999, + -0.5126903653144836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3876, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_495116710", + "mask_path": "../../mask/hdr_front_03876.png" + }, + { + "file_path": "../../rgb/hdr_front_03877.png", + "transform_matrix": [ + [ + -0.057980991899967194, + 0.007277258206158876, + 0.9982911944389343, + -16.8885440826416 + ], + [ + -0.9978574514389038, + 0.029936213046312332, + -0.058174017816782, + -11.256827354431152 + ], + [ + -0.030308406800031662, + -0.9995253086090088, + 0.005525935906916857, + -0.506546139717102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3877, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_595116376", + "mask_path": "../../mask/hdr_front_03877.png" + }, + { + "file_path": "../../rgb/hdr_front_03878.png", + "transform_matrix": [ + [ + -0.06230907887220383, + 0.003505412256345153, + 0.9980508089065552, + -16.95442008972168 + ], + [ + -0.9977181553840637, + 0.025832248851656914, + -0.06237903982400894, + -11.25279426574707 + ], + [ + -0.026000557467341423, + -0.9996601939201355, + 0.001887829857878387, + -0.5016857385635376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3878, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_695117712", + "mask_path": "../../mask/hdr_front_03878.png" + }, + { + "file_path": "../../rgb/hdr_front_03879.png", + "transform_matrix": [ + [ + -0.05751599371433258, + 0.005390711594372988, + 0.9983301162719727, + -17.04311752319336 + ], + [ + -0.9979623556137085, + 0.02735516056418419, + -0.05764252692461014, + -11.253020286560059 + ], + [ + -0.027620209380984306, + -0.9996113181114197, + 0.003806368913501501, + -0.5088931918144226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3879, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_795116901", + "mask_path": "../../mask/hdr_front_03879.png" + }, + { + "file_path": "../../rgb/hdr_front_03880.png", + "transform_matrix": [ + [ + -0.04516291245818138, + 0.006386809982359409, + 0.9989592432975769, + -17.11936378479004 + ], + [ + -0.9984207153320312, + 0.03315446898341179, + -0.04535054787993431, + -11.2553071975708 + ], + [ + -0.03340960666537285, + -0.9994298815727234, + 0.004879371263086796, + -0.5192297697067261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3880, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_895117282", + "mask_path": "../../mask/hdr_front_03880.png" + }, + { + "file_path": "../../rgb/hdr_front_03881.png", + "transform_matrix": [ + [ + -0.03407666087150574, + 0.007352649234235287, + 0.9993921518325806, + -17.189334869384766 + ], + [ + -0.9988461136817932, + 0.03361175209283829, + -0.034305326640605927, + -11.2544584274292 + ], + [ + -0.03384355828166008, + -0.999407947063446, + 0.006198788061738014, + -0.5222614407539368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3881, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_995116233", + "mask_path": "../../mask/hdr_front_03881.png" + }, + { + "file_path": "../../rgb/hdr_front_03882.png", + "transform_matrix": [ + [ + -0.02849677763879299, + 0.00962919183075428, + 0.9995474815368652, + -17.276952743530273 + ], + [ + -0.9990673065185547, + 0.032178424298763275, + -0.028793081641197205, + -11.251312255859375 + ], + [ + -0.032441116869449615, + -0.9994357228279114, + 0.008703230880200863, + -0.5179030299186707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3882, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_95116853", + "mask_path": "../../mask/hdr_front_03882.png" + }, + { + "file_path": "../../rgb/hdr_front_03883.png", + "transform_matrix": [ + [ + -0.03155340254306793, + 0.004780506249517202, + 0.9994906187057495, + -17.343219757080078 + ], + [ + -0.9991102814674377, + 0.027845680713653564, + -0.0316745862364769, + -11.246007919311523 + ], + [ + -0.027982916682958603, + -0.9996008276939392, + 0.0038976268842816353, + -0.5086178779602051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3883, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_195116996", + "mask_path": "../../mask/hdr_front_03883.png" + }, + { + "file_path": "../../rgb/hdr_front_03884.png", + "transform_matrix": [ + [ + -0.03433794900774956, + 0.0009692646563053131, + 0.9994097948074341, + -17.409812927246094 + ], + [ + -0.9991865158081055, + 0.02112509310245514, + -0.03435077145695686, + -11.244805335998535 + ], + [ + -0.02114591933786869, + -0.9997764229774475, + 0.00024308377760462463, + -0.5054266452789307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3884, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_295116186", + "mask_path": "../../mask/hdr_front_03884.png" + }, + { + "file_path": "../../rgb/hdr_front_03885.png", + "transform_matrix": [ + [ + -0.030024321749806404, + 0.0035615311935544014, + 0.9995428323745728, + -17.504121780395508 + ], + [ + -0.9992998838424683, + 0.022225987166166306, + -0.030096225440502167, + -11.248296737670898 + ], + [ + -0.022323014214634895, + -0.9997466206550598, + 0.0028917170129716396, + -0.5128297209739685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3885, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_395116329", + "mask_path": "../../mask/hdr_front_03885.png" + }, + { + "file_path": "../../rgb/hdr_front_03886.png", + "transform_matrix": [ + [ + -0.017610546201467514, + 0.007891337387263775, + 0.9998137950897217, + -17.583938598632812 + ], + [ + -0.9994862675666809, + 0.026643406599760056, + -0.017815066501498222, + -11.253325462341309 + ], + [ + -0.02677902579307556, + -0.999613881111145, + 0.0074180783703923225, + -0.5233643651008606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3886, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_495117425", + "mask_path": "../../mask/hdr_front_03886.png" + }, + { + "file_path": "../../rgb/hdr_front_03887.png", + "transform_matrix": [ + [ + -0.008568567223846912, + 0.006457066163420677, + 0.9999424815177917, + -17.649152755737305 + ], + [ + -0.9996219873428345, + 0.02606692723929882, + -0.008734147995710373, + -11.257282257080078 + ], + [ + -0.026121821254491806, + -0.9996393918991089, + 0.006231268867850304, + -0.5247755646705627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3887, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_595116615", + "mask_path": "../../mask/hdr_front_03887.png" + }, + { + "file_path": "../../rgb/hdr_front_03888.png", + "transform_matrix": [ + [ + -0.00498141348361969, + 0.006600500550121069, + 0.9999657869338989, + -17.735963821411133 + ], + [ + -0.999731183052063, + 0.022606970742344856, + -0.005129468161612749, + -11.257698059082031 + ], + [ + -0.022640053182840347, + -0.9997227191925049, + 0.006486112251877785, + -0.5228288769721985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3888, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_695116758", + "mask_path": "../../mask/hdr_front_03888.png" + }, + { + "file_path": "../../rgb/hdr_front_03889.png", + "transform_matrix": [ + [ + -0.009155611507594585, + 0.008159678429365158, + 0.9999247789382935, + -17.815561294555664 + ], + [ + -0.9996981024742126, + 0.022726543247699738, + -0.00933899451047182, + -11.255451202392578 + ], + [ + -0.02280103601515293, + -0.9997084140777588, + 0.00794913899153471, + -0.5109423995018005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3889, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_795116901", + "mask_path": "../../mask/hdr_front_03889.png" + }, + { + "file_path": "../../rgb/hdr_front_03890.png", + "transform_matrix": [ + [ + -0.014603827148675919, + 0.0012918413849547505, + 0.9998925924301147, + -17.876667022705078 + ], + [ + -0.9997755885124207, + 0.015326619148254395, + -0.014621924608945847, + -11.255629539489746 + ], + [ + -0.015343857929110527, + -0.9998817443847656, + 0.0010677243117243052, + -0.5040906667709351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3890, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_895117759", + "mask_path": "../../mask/hdr_front_03890.png" + }, + { + "file_path": "../../rgb/hdr_front_03891.png", + "transform_matrix": [ + [ + -0.01243978925049305, + -0.0024814887437969446, + 0.999919593334198, + -17.964426040649414 + ], + [ + -0.9998573064804077, + 0.011463223025202751, + -0.012410566210746765, + -11.261609077453613 + ], + [ + -0.011431502178311348, + -0.9999312162399292, + -0.0026237345300614834, + -0.5041806101799011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3891, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_995116949", + "mask_path": "../../mask/hdr_front_03891.png" + }, + { + "file_path": "../../rgb/hdr_front_03892.png", + "transform_matrix": [ + [ + 0.000698858464602381, + 0.0019974354654550552, + 0.9999977350234985, + -18.055055618286133 + ], + [ + -0.9998993873596191, + 0.014165116474032402, + 0.0006704949191771448, + -11.270668983459473 + ], + [ + -0.014163745567202568, + -0.9998977184295654, + 0.002007134025916457, + -0.5139670968055725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3892, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_95117330", + "mask_path": "../../mask/hdr_front_03892.png" + }, + { + "file_path": "../../rgb/hdr_front_03893.png", + "transform_matrix": [ + [ + 0.013468790799379349, + 0.0031819031573832035, + 0.999904215335846, + -18.117074966430664 + ], + [ + -0.9997513294219971, + 0.017814166843891144, + 0.013410043902695179, + -11.278067588806152 + ], + [ + -0.017769791185855865, + -0.999836266040802, + 0.0034210472367703915, + -0.5226385593414307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3893, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_195117473", + "mask_path": "../../mask/hdr_front_03893.png" + }, + { + "file_path": "../../rgb/hdr_front_03894.png", + "transform_matrix": [ + [ + 0.02008596621453762, + 0.004937668796628714, + 0.9997861385345459, + -18.192852020263672 + ], + [ + -0.9996635317802429, + 0.016512466594576836, + 0.020001955330371857, + -11.281224250793457 + ], + [ + -0.016410168260335922, + -0.9998515844345093, + 0.005267676431685686, + -0.5230200886726379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3894, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_295116186", + "mask_path": "../../mask/hdr_front_03894.png" + }, + { + "file_path": "../../rgb/hdr_front_03895.png", + "transform_matrix": [ + [ + 0.018485454842448235, + 0.010153361596167088, + 0.999777615070343, + -18.272607803344727 + ], + [ + -0.9996910691261292, + 0.016799768432974815, + 0.018313245847821236, + -11.27998161315918 + ], + [ + -0.01661009155213833, + -0.9998073577880859, + 0.010460777208209038, + -0.5109990835189819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3895, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_395116567", + "mask_path": "../../mask/hdr_front_03895.png" + }, + { + "file_path": "../../rgb/hdr_front_03896.png", + "transform_matrix": [ + [ + 0.01350183505564928, + 0.003865803126245737, + 0.9999014139175415, + -18.32988166809082 + ], + [ + -0.9998387098312378, + 0.011893022805452347, + 0.013455009087920189, + -11.278969764709473 + ], + [ + -0.011839834041893482, + -0.9999217987060547, + 0.0040257577784359455, + -0.5044391751289368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3896, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_495115756", + "mask_path": "../../mask/hdr_front_03896.png" + }, + { + "file_path": "../../rgb/hdr_front_03897.png", + "transform_matrix": [ + [ + 0.0138937309384346, + 0.0007616342045366764, + 0.99990314245224, + -18.407119750976562 + ], + [ + -0.9998511672019958, + 0.010233033448457718, + 0.013885213993489742, + -11.28345775604248 + ], + [ + -0.010221466422080994, + -0.9999473690986633, + 0.0009036960545927286, + -0.5044143795967102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3897, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_595116376", + "mask_path": "../../mask/hdr_front_03897.png" + }, + { + "file_path": "../../rgb/hdr_front_03898.png", + "transform_matrix": [ + [ + 0.022737428545951843, + 0.006876714527606964, + 0.9997178316116333, + -18.499088287353516 + ], + [ + -0.9996336698532104, + 0.014838348142802715, + 0.022633450105786324, + -11.292036056518555 + ], + [ + -0.014678514562547207, + -0.9998663067817688, + 0.00721158180385828, + -0.5136083960533142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3898, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_695116519", + "mask_path": "../../mask/hdr_front_03898.png" + }, + { + "file_path": "../../rgb/hdr_front_03899.png", + "transform_matrix": [ + [ + 0.03093954734504223, + 0.009127370081841946, + 0.9994796514511108, + -18.560325622558594 + ], + [ + -0.9993584156036377, + 0.018329918384552002, + 0.03076840750873089, + -11.296199798583984 + ], + [ + -0.01803954318165779, + -0.999790370464325, + 0.009688633494079113, + -0.5237410068511963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3899, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_795119762", + "mask_path": "../../mask/hdr_front_03899.png" + }, + { + "file_path": "../../rgb/hdr_front_03900.png", + "transform_matrix": [ + [ + 0.03257822245359421, + 0.011415095999836922, + 0.9994039535522461, + -18.63434410095215 + ], + [ + -0.999279260635376, + 0.019864659756422043, + 0.03234726935625076, + -11.29554271697998 + ], + [ + -0.019483571872115135, + -0.999737560749054, + 0.012054024264216423, + -0.5245621204376221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3900, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_895117044", + "mask_path": "../../mask/hdr_front_03900.png" + }, + { + "file_path": "../../rgb/hdr_front_03901.png", + "transform_matrix": [ + [ + 0.023945797234773636, + 0.0158022902905941, + 0.9995883703231812, + -18.712915420532227 + ], + [ + -0.9994717836380005, + 0.022356783971190453, + 0.023589570075273514, + -11.291129112243652 + ], + [ + -0.02197480946779251, + -0.9996252059936523, + 0.016329292207956314, + -0.5121863484382629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3901, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_995116949", + "mask_path": "../../mask/hdr_front_03901.png" + }, + { + "file_path": "../../rgb/hdr_front_03902.png", + "transform_matrix": [ + [ + 0.010740779340267181, + 0.009629173204302788, + 0.9998959302902222, + -18.76869773864746 + ], + [ + -0.9997966289520264, + 0.017173834145069122, + 0.010574324987828732, + -11.285826683044434 + ], + [ + -0.01707022450864315, + -0.9998062252998352, + 0.009811675176024437, + -0.5007959604263306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3902, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_95117092", + "mask_path": "../../mask/hdr_front_03902.png" + }, + { + "file_path": "../../rgb/hdr_front_03903.png", + "transform_matrix": [ + [ + 0.0035425866954028606, + 0.006126216612756252, + 0.9999749660491943, + -18.83642578125 + ], + [ + -0.9999210238456726, + 0.012073781341314316, + 0.0034684273414313793, + -11.286364555358887 + ], + [ + -0.012052230536937714, + -0.9999083876609802, + 0.006168506108224392, + -0.4977076053619385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3903, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_195116281", + "mask_path": "../../mask/hdr_front_03903.png" + }, + { + "file_path": "../../rgb/hdr_front_03904.png", + "transform_matrix": [ + [ + 0.005097441840916872, + 0.009709659032523632, + 0.9999398589134216, + -18.924678802490234 + ], + [ + -0.9998942613601685, + 0.013670473359525204, + 0.00496446480974555, + -11.291828155517578 + ], + [ + -0.013621445745229721, + -0.9998594522476196, + 0.009778316132724285, + -0.5067743062973022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3904, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_295118093", + "mask_path": "../../mask/hdr_front_03904.png" + }, + { + "file_path": "../../rgb/hdr_front_03905.png", + "transform_matrix": [ + [ + 0.008427471853792667, + 0.011157600209116936, + 0.9999021887779236, + -18.99314308166504 + ], + [ + -0.9997710585594177, + 0.01975799910724163, + 0.008205893449485302, + -11.295682907104492 + ], + [ + -0.019664505496621132, + -0.9997425079345703, + 0.011321556754410267, + -0.5187948942184448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3905, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_395117282", + "mask_path": "../../mask/hdr_front_03905.png" + }, + { + "file_path": "../../rgb/hdr_front_03906.png", + "transform_matrix": [ + [ + 0.005597507581114769, + 0.014237849041819572, + 0.9998829960823059, + -19.05824089050293 + ], + [ + -0.9997162222862244, + 0.02323230728507042, + 0.005265756510198116, + -11.293524742126465 + ], + [ + -0.023154612630605698, + -0.9996287226676941, + 0.014363851398229599, + -0.5175607800483704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3906, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_495116949", + "mask_path": "../../mask/hdr_front_03906.png" + }, + { + "file_path": "../../rgb/hdr_front_03907.png", + "transform_matrix": [ + [ + -0.0051642549224197865, + 0.018445586785674095, + 0.9998165965080261, + -19.125625610351562 + ], + [ + -0.9996607303619385, + 0.02543318085372448, + -0.005632665008306503, + -11.2867431640625 + ], + [ + -0.02553241141140461, + -0.9995063543319702, + 0.018307983875274658, + -0.5087070465087891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3907, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_595117092", + "mask_path": "../../mask/hdr_front_03907.png" + }, + { + "file_path": "../../rgb/hdr_front_03908.png", + "transform_matrix": [ + [ + -0.01765730418264866, + 0.013611355796456337, + 0.9997514486312866, + -19.183298110961914 + ], + [ + -0.9996386170387268, + 0.020029321312904358, + -0.01792800985276699, + -11.282268524169922 + ], + [ + -0.02026836760342121, + -0.9997067451477051, + 0.013252772390842438, + -0.5019376277923584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3908, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_695116996", + "mask_path": "../../mask/hdr_front_03908.png" + }, + { + "file_path": "../../rgb/hdr_front_03909.png", + "transform_matrix": [ + [ + -0.02222861722111702, + 0.012465203180909157, + 0.9996751546859741, + -19.255292892456055 + ], + [ + -0.9995811581611633, + 0.018257414922118187, + -0.02245418354868889, + -11.282276153564453 + ], + [ + -0.018531378358602524, + -0.9997556209564209, + 0.012054145336151123, + -0.5010578632354736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3909, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_795119047", + "mask_path": "../../mask/hdr_front_03909.png" + }, + { + "file_path": "../../rgb/hdr_front_03910.png", + "transform_matrix": [ + [ + -0.01723186857998371, + 0.013022318482398987, + 0.9997667074203491, + -19.32892608642578 + ], + [ + -0.9996573328971863, + 0.019483210518956184, + -0.01748375967144966, + -11.283698081970215 + ], + [ + -0.01970634236931801, + -0.9997254610061646, + 0.012682123109698296, + -0.5130668878555298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3910, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_895117044", + "mask_path": "../../mask/hdr_front_03910.png" + }, + { + "file_path": "../../rgb/hdr_front_03911.png", + "transform_matrix": [ + [ + -0.0158888790756464, + 0.014748471789062023, + 0.9997650384902954, + -19.390056610107422 + ], + [ + -0.9996742010116577, + 0.019744355231523514, + -0.016178704798221588, + -11.28203010559082 + ], + [ + -0.019978325814008713, + -0.9996963143348694, + 0.014429951086640358, + -0.519493043422699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3911, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_995116710", + "mask_path": "../../mask/hdr_front_03911.png" + }, + { + "file_path": "../../rgb/hdr_front_03912.png", + "transform_matrix": [ + [ + -0.020857637748122215, + 0.018401166424155235, + 0.9996131658554077, + -19.459442138671875 + ], + [ + -0.9995764493942261, + 0.019908515736460686, + -0.02122335694730282, + -11.271929740905762 + ], + [ + -0.020291345193982124, + -0.9996325373649597, + 0.017978131771087646, + -0.5141943693161011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3912, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_95116853", + "mask_path": "../../mask/hdr_front_03912.png" + }, + { + "file_path": "../../rgb/hdr_front_03913.png", + "transform_matrix": [ + [ + -0.03328429162502289, + 0.01725699007511139, + 0.9992968440055847, + -19.52318572998047 + ], + [ + -0.9992402195930481, + 0.01971038430929184, + -0.033622778952121735, + -11.263981819152832 + ], + [ + -0.020276755094528198, + -0.9996567964553833, + 0.01658783107995987, + -0.5082172155380249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3913, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_195117712", + "mask_path": "../../mask/hdr_front_03913.png" + }, + { + "file_path": "../../rgb/hdr_front_03914.png", + "transform_matrix": [ + [ + -0.04422513395547867, + 0.01179949939250946, + 0.9989519715309143, + -19.58526611328125 + ], + [ + -0.9989241361618042, + 0.013447587378323078, + -0.04438274726271629, + -11.260252952575684 + ], + [ + -0.013957185670733452, + -0.9998399615287781, + 0.011192084290087223, + -0.5030456185340881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3914, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_295117855", + "mask_path": "../../mask/hdr_front_03914.png" + }, + { + "file_path": "../../rgb/hdr_front_03915.png", + "transform_matrix": [ + [ + -0.0463402159512043, + 0.011225971393287182, + 0.9988626837730408, + -19.662002563476562 + ], + [ + -0.9988499879837036, + 0.011787871830165386, + -0.046472109854221344, + -11.260215759277344 + ], + [ + -0.012296155095100403, + -0.9998674988746643, + 0.010666809976100922, + -0.5045577883720398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3915, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_395117044", + "mask_path": "../../mask/hdr_front_03915.png" + }, + { + "file_path": "../../rgb/hdr_front_03916.png", + "transform_matrix": [ + [ + -0.042026180773973465, + 0.013411298394203186, + 0.9990265965461731, + -19.728849411010742 + ], + [ + -0.999011218547821, + 0.013952372595667839, + -0.0422128401696682, + -11.261308670043945 + ], + [ + -0.014504917897284031, + -0.9998127222061157, + 0.012811673805117607, + -0.5161237120628357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3916, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_495116949", + "mask_path": "../../mask/hdr_front_03916.png" + }, + { + "file_path": "../../rgb/hdr_front_03917.png", + "transform_matrix": [ + [ + -0.04154149442911148, + 0.017393087968230247, + 0.9989854097366333, + -19.783479690551758 + ], + [ + -0.9990328550338745, + 0.013694659806787968, + -0.04178190231323242, + -11.257461547851562 + ], + [ + -0.014407479204237461, + -0.9997549653053284, + 0.016807373613119125, + -0.5211494565010071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3917, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_595116853", + "mask_path": "../../mask/hdr_front_03917.png" + }, + { + "file_path": "../../rgb/hdr_front_03918.png", + "transform_matrix": [ + [ + -0.04703705385327339, + 0.020711509510874748, + 0.9986783862113953, + -19.851749420166016 + ], + [ + -0.9987758994102478, + 0.014341339468955994, + -0.047339070588350296, + -11.249713897705078 + ], + [ + -0.01530284620821476, + -0.999682605266571, + 0.02001158334314823, + -0.5175482034683228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3918, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_695116281", + "mask_path": "../../mask/hdr_front_03918.png" + }, + { + "file_path": "../../rgb/hdr_front_03919.png", + "transform_matrix": [ + [ + -0.05908099189400673, + 0.014955202117562294, + 0.9981411695480347, + -19.910261154174805 + ], + [ + -0.9980742931365967, + 0.018045438453555107, + -0.05934742093086243, + -11.242048263549805 + ], + [ + -0.018899446353316307, + -0.9997252821922302, + 0.01386025920510292, + -0.5084829926490784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3919, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_795117378", + "mask_path": "../../mask/hdr_front_03919.png" + }, + { + "file_path": "../../rgb/hdr_front_03920.png", + "transform_matrix": [ + [ + -0.06740264594554901, + 0.01009100116789341, + 0.9976747632026672, + -19.96769142150879 + ], + [ + -0.9976176619529724, + 0.01404122356325388, + -0.06754082441329956, + -11.238397598266602 + ], + [ + -0.014690129086375237, + -0.9998505115509033, + 0.009120547212660313, + -0.500044584274292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3920, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_895117282", + "mask_path": "../../mask/hdr_front_03920.png" + }, + { + "file_path": "../../rgb/hdr_front_03921.png", + "transform_matrix": [ + [ + -0.06776848435401917, + 0.01210514735430479, + 0.9976276755332947, + -20.03228187561035 + ], + [ + -0.9976407885551453, + 0.010168453678488731, + -0.06789277493953705, + -11.235995292663574 + ], + [ + -0.010966180823743343, + -0.999875009059906, + 0.011387488804757595, + -0.501800000667572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3921, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_995116710", + "mask_path": "../../mask/hdr_front_03921.png" + }, + { + "file_path": "../../rgb/hdr_front_03922.png", + "transform_matrix": [ + [ + -0.06387722492218018, + 0.012666945345699787, + 0.9978773593902588, + -20.0877685546875 + ], + [ + -0.9978737235069275, + 0.012166560627520084, + -0.06403142958879471, + -11.233024597167969 + ], + [ + -0.01295181829482317, + -0.9998458027839661, + 0.011862846091389656, + -0.5106398463249207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3922, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_95117807", + "mask_path": "../../mask/hdr_front_03922.png" + }, + { + "file_path": "../../rgb/hdr_front_03923.png", + "transform_matrix": [ + [ + -0.06489448249340057, + 0.016239145770668983, + 0.9977599382400513, + -20.145498275756836 + ], + [ + -0.9977752566337585, + 0.014248725026845932, + -0.06512737274169922, + -11.227526664733887 + ], + [ + -0.015274419449269772, + -0.9997666478157043, + 0.015278354287147522, + -0.5130746960639954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3923, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_195116519", + "mask_path": "../../mask/hdr_front_03923.png" + }, + { + "file_path": "../../rgb/hdr_front_03924.png", + "transform_matrix": [ + [ + -0.07348567992448807, + 0.02068600431084633, + 0.9970817565917969, + -20.206222534179688 + ], + [ + -0.9971370100975037, + 0.016339639201760292, + -0.07382875680923462, + -11.217790603637695 + ], + [ + -0.017819177359342575, + -0.9996525645256042, + 0.019426051527261734, + -0.5060581564903259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3924, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_295116901", + "mask_path": "../../mask/hdr_front_03924.png" + }, + { + "file_path": "../../rgb/hdr_front_03925.png", + "transform_matrix": [ + [ + -0.0859091505408287, + 0.015081105753779411, + 0.9961888790130615, + -20.260597229003906 + ], + [ + -0.9961868524551392, + 0.013966325670480728, + -0.08612041175365448, + -11.209614753723145 + ], + [ + -0.015211887657642365, + -0.999788761138916, + 0.013823763467371464, + -0.4979168176651001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3925, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_395116806", + "mask_path": "../../mask/hdr_front_03925.png" + }, + { + "file_path": "../../rgb/hdr_front_03926.png", + "transform_matrix": [ + [ + -0.0905822366476059, + 0.01418006606400013, + 0.995788037776947, + -20.322120666503906 + ], + [ + -0.995804488658905, + 0.01173180527985096, + -0.0907508060336113, + -11.205368995666504 + ], + [ + -0.012969241477549076, + -0.9998306632041931, + 0.013057881034910679, + -0.49563977122306824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3926, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_495117187", + "mask_path": "../../mask/hdr_front_03926.png" + }, + { + "file_path": "../../rgb/hdr_front_03927.png", + "transform_matrix": [ + [ + -0.08689887076616287, + 0.018480472266674042, + 0.9960457682609558, + -20.38559913635254 + ], + [ + -0.9961199164390564, + 0.012357169762253761, + -0.08713462948799133, + -11.20174789428711 + ], + [ + -0.01391859445720911, + -0.9997528791427612, + 0.017334941774606705, + -0.5062143802642822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3927, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_595117330", + "mask_path": "../../mask/hdr_front_03927.png" + }, + { + "file_path": "../../rgb/hdr_front_03928.png", + "transform_matrix": [ + [ + -0.08525224030017853, + 0.01757713593542576, + 0.9962044358253479, + -20.44240379333496 + ], + [ + -0.9962906241416931, + 0.010246001183986664, + -0.08544040471315384, + -11.19675350189209 + ], + [ + -0.011708909645676613, + -0.9997930526733398, + 0.016638437286019325, + -0.5123679637908936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3928, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_695117712", + "mask_path": "../../mask/hdr_front_03928.png" + }, + { + "file_path": "../../rgb/hdr_front_03929.png", + "transform_matrix": [ + [ + -0.08986351639032364, + 0.018953824415802956, + 0.9957737922668457, + -20.5035400390625 + ], + [ + -0.9958623647689819, + 0.01185111328959465, + -0.0900971069931984, + -11.186779975891113 + ], + [ + -0.013508710078895092, + -0.9997501373291016, + 0.017810417339205742, + -0.507367730140686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3929, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_795117855", + "mask_path": "../../mask/hdr_front_03929.png" + }, + { + "file_path": "../../rgb/hdr_front_03930.png", + "transform_matrix": [ + [ + -0.10134987533092499, + 0.015717392787337303, + 0.9947267770767212, + -20.55986785888672 + ], + [ + -0.9947218298912048, + 0.014501916244626045, + -0.10157852619886398, + -11.176733016967773 + ], + [ + -0.01602199114859104, + -0.9997713565826416, + 0.014164665713906288, + -0.5010071992874146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3930, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_895117044", + "mask_path": "../../mask/hdr_front_03930.png" + }, + { + "file_path": "../../rgb/hdr_front_03931.png", + "transform_matrix": [ + [ + -0.11021523177623749, + 0.00976200494915247, + 0.9938597679138184, + -20.618675231933594 + ], + [ + -0.9938361644744873, + 0.010921620763838291, + -0.11031989008188248, + -11.171502113342285 + ], + [ + -0.011931500397622585, + -0.9998927712440491, + 0.008498103357851505, + -0.4958898425102234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3931, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_995116710", + "mask_path": "../../mask/hdr_front_03931.png" + }, + { + "file_path": "../../rgb/hdr_front_03932.png", + "transform_matrix": [ + [ + -0.11092532426118851, + 0.009974299930036068, + 0.9937787652015686, + -20.690317153930664 + ], + [ + -0.9937704205513, + 0.0097121587023139, + -0.11102189123630524, + -11.167533874511719 + ], + [ + -0.010759101249277592, + -0.99990314245224, + 0.00883484072983265, + -0.4994349777698517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3932, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_95117807", + "mask_path": "../../mask/hdr_front_03932.png" + }, + { + "file_path": "../../rgb/hdr_front_03933.png", + "transform_matrix": [ + [ + -0.10685322433710098, + 0.009518304839730263, + 0.9942293167114258, + -20.755067825317383 + ], + [ + -0.9941934943199158, + 0.011766387149691582, + -0.10696202516555786, + -11.163708686828613 + ], + [ + -0.012716582044959068, + -0.9998854994773865, + 0.008205761201679707, + -0.5079852938652039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3933, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_195117712", + "mask_path": "../../mask/hdr_front_03933.png" + }, + { + "file_path": "../../rgb/hdr_front_03934.png", + "transform_matrix": [ + [ + -0.10817362368106842, + 0.012533669359982014, + 0.9940530061721802, + -20.814868927001953 + ], + [ + -0.9940438270568848, + 0.011956953443586826, + -0.10832339525222778, + -11.156139373779297 + ], + [ + -0.013243535533547401, + -0.9998500347137451, + 0.011165588162839413, + -0.5090093016624451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3934, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_295117616", + "mask_path": "../../mask/hdr_front_03934.png" + }, + { + "file_path": "../../rgb/hdr_front_03935.png", + "transform_matrix": [ + [ + -0.11586090922355652, + 0.017793413251638412, + 0.9931060671806335, + -20.87645149230957 + ], + [ + -0.9931700229644775, + 0.011782042682170868, + -0.11607947200536728, + -11.14373779296875 + ], + [ + -0.013766266405582428, + -0.9997722506523132, + 0.016306808218359947, + -0.5040148496627808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3935, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_395116567", + "mask_path": "../../mask/hdr_front_03935.png" + }, + { + "file_path": "../../rgb/hdr_front_03936.png", + "transform_matrix": [ + [ + -0.12792709469795227, + 0.011470225639641285, + 0.9917172789573669, + -20.928319931030273 + ], + [ + -0.9917293190956116, + 0.008982964791357517, + -0.12803252041339874, + -11.132328033447266 + ], + [ + -0.010377122089266777, + -0.9998939037322998, + 0.010226194746792316, + -0.49847888946533203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3936, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_495116710", + "mask_path": "../../mask/hdr_front_03936.png" + }, + { + "file_path": "../../rgb/hdr_front_03937.png", + "transform_matrix": [ + [ + -0.1363813728094101, + 0.008415085263550282, + 0.9906207323074341, + -20.988325119018555 + ], + [ + -0.9906181693077087, + 0.007639848627150059, + -0.13644589483737946, + -11.124139785766602 + ], + [ + -0.008716394193470478, + -0.9999353885650635, + 0.007294202223420143, + -0.49557724595069885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3937, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_595116615", + "mask_path": "../../mask/hdr_front_03937.png" + }, + { + "file_path": "../../rgb/hdr_front_03938.png", + "transform_matrix": [ + [ + -0.13679566979408264, + 0.014521236531436443, + 0.9904928803443909, + -21.063066482543945 + ], + [ + -0.9905222654342651, + 0.010465370491147041, + -0.13695316016674042, + -11.115822792053223 + ], + [ + -0.012354601174592972, + -0.9998397827148438, + 0.012951990589499474, + -0.5031362771987915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3938, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_695117235", + "mask_path": "../../mask/hdr_front_03938.png" + }, + { + "file_path": "../../rgb/hdr_front_03939.png", + "transform_matrix": [ + [ + -0.1343214511871338, + 0.016307901591062546, + 0.9908036589622498, + -21.128725051879883 + ], + [ + -0.9908280968666077, + 0.012664305977523327, + -0.13453322649002075, + -11.109575271606445 + ], + [ + -0.01474179420620203, + -0.999786913394928, + 0.01445724070072174, + -0.5145994424819946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3939, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_795118093", + "mask_path": "../../mask/hdr_front_03939.png" + }, + { + "file_path": "../../rgb/hdr_front_03940.png", + "transform_matrix": [ + [ + -0.13419531285762787, + 0.017594819888472557, + 0.9907987117767334, + -21.19841766357422 + ], + [ + -0.9908735156059265, + 0.010434625670313835, + -0.13439075648784637, + -11.10179328918457 + ], + [ + -0.012703191488981247, + -0.9997907876968384, + 0.01603396236896515, + -0.5185207724571228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3940, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_895117998", + "mask_path": "../../mask/hdr_front_03940.png" + }, + { + "file_path": "../../rgb/hdr_front_03941.png", + "transform_matrix": [ + [ + -0.13900445401668549, + 0.01936492882668972, + 0.9901024699211121, + -21.279470443725586 + ], + [ + -0.9902329444885254, + 0.008170580491423607, + -0.13918261229991913, + -11.088947296142578 + ], + [ + -0.010784972459077835, + -0.9997791051864624, + 0.018040042370557785, + -0.5141004323959351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3941, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_995116472", + "mask_path": "../../mask/hdr_front_03941.png" + }, + { + "file_path": "../../rgb/hdr_front_03942.png", + "transform_matrix": [ + [ + -0.15162819623947144, + 0.014436696656048298, + 0.988332211971283, + -21.34601593017578 + ], + [ + -0.9883934855461121, + 0.007232054136693478, + -0.15174321830272675, + -11.07498836517334 + ], + [ + -0.009338341653347015, + -0.9998696446418762, + 0.013172553852200508, + -0.5060622692108154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3942, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_95116615", + "mask_path": "../../mask/hdr_front_03942.png" + }, + { + "file_path": "../../rgb/hdr_front_03943.png", + "transform_matrix": [ + [ + -0.1650102287530899, + 0.009454830549657345, + 0.986246645450592, + -21.416139602661133 + ], + [ + -0.9862731695175171, + 0.004579629749059677, + -0.16505858302116394, + -11.06174373626709 + ], + [ + -0.006077245809137821, + -0.999944806098938, + 0.00856935977935791, + -0.5040592551231384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3943, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_195116996", + "mask_path": "../../mask/hdr_front_03943.png" + }, + { + "file_path": "../../rgb/hdr_front_03944.png", + "transform_matrix": [ + [ + -0.17022830247879028, + 0.00911994930356741, + 0.9853624701499939, + -21.511682510375977 + ], + [ + -0.9853631854057312, + 0.007602278143167496, + -0.1702987551689148, + -11.048822402954102 + ], + [ + -0.009044114500284195, + -0.9999296069145203, + 0.007692338433116674, + -0.5074256658554077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3944, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_295116901", + "mask_path": "../../mask/hdr_front_03944.png" + }, + { + "file_path": "../../rgb/hdr_front_03945.png", + "transform_matrix": [ + [ + -0.16629071533679962, + 0.013106863014400005, + 0.9859896302223206, + -21.59688377380371 + ], + [ + -0.9859364628791809, + 0.014660128392279148, + -0.16647662222385406, + -11.039280891418457 + ], + [ + -0.016636721789836884, + -0.9998067021369934, + 0.01048468891531229, + -0.5164557099342346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3945, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_395116329", + "mask_path": "../../mask/hdr_front_03945.png" + }, + { + "file_path": "../../rgb/hdr_front_03946.png", + "transform_matrix": [ + [ + -0.16577400267124176, + 0.013401497155427933, + 0.9860727190971375, + -21.666996002197266 + ], + [ + -0.9859899878501892, + 0.016515566036105156, + -0.16598455607891083, + -11.028474807739258 + ], + [ + -0.018509987741708755, + -0.9997738003730774, + 0.010475889779627323, + -0.5224449634552002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3946, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_495116472", + "mask_path": "../../mask/hdr_front_03946.png" + }, + { + "file_path": "../../rgb/hdr_front_03947.png", + "transform_matrix": [ + [ + -0.16929441690444946, + 0.012852594256401062, + 0.9854816794395447, + -21.753976821899414 + ], + [ + -0.9853848218917847, + 0.016936467960476875, + -0.16949869692325592, + -11.011072158813477 + ], + [ + -0.018869074061512947, + -0.9997739791870117, + 0.009797503240406513, + -0.5210141539573669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3947, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_595115900", + "mask_path": "../../mask/hdr_front_03947.png" + }, + { + "file_path": "../../rgb/hdr_front_03948.png", + "transform_matrix": [ + [ + -0.18161028623580933, + 0.013913276605308056, + 0.983272135257721, + -21.832582473754883 + ], + [ + -0.9831171631813049, + 0.020127007737755775, + -0.18186646699905396, + -10.990435600280762 + ], + [ + -0.022320682182908058, + -0.9997007250785828, + 0.01002310961484909, + -0.50858074426651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3948, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_695116281", + "mask_path": "../../mask/hdr_front_03948.png" + }, + { + "file_path": "../../rgb/hdr_front_03949.png", + "transform_matrix": [ + [ + -0.19619381427764893, + 0.008018260821700096, + 0.9805324077606201, + -21.897584915161133 + ], + [ + -0.980415940284729, + 0.01584189385175705, + -0.19630007445812225, + -10.973075866699219 + ], + [ + -0.017107471823692322, + -0.9998424053192139, + 0.00475314911454916, + -0.5002655982971191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3949, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_795116901", + "mask_path": "../../mask/hdr_front_03949.png" + }, + { + "file_path": "../../rgb/hdr_front_03950.png", + "transform_matrix": [ + [ + -0.2019670158624649, + 0.005655211862176657, + 0.9793760180473328, + -21.98370361328125 + ], + [ + -0.9792596101760864, + 0.015295244753360748, + -0.20203135907649994, + -10.958175659179688 + ], + [ + -0.016122322529554367, + -0.9998670220375061, + 0.0024487855844199657, + -0.5010484457015991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3950, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_895116567", + "mask_path": "../../mask/hdr_front_03950.png" + }, + { + "file_path": "../../rgb/hdr_front_03951.png", + "transform_matrix": [ + [ + -0.19700245559215546, + 0.011752165853977203, + 0.980332612991333, + -22.072559356689453 + ], + [ + -0.9801888465881348, + 0.018537959083914757, + -0.19719581305980682, + -10.946200370788574 + ], + [ + -0.020490840077400208, + -0.9997590780258179, + 0.007867319509387016, + -0.5123556852340698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3951, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_995116949", + "mask_path": "../../mask/hdr_front_03951.png" + }, + { + "file_path": "../../rgb/hdr_front_03952.png", + "transform_matrix": [ + [ + -0.19468872249126434, + 0.013709299266338348, + 0.9807692766189575, + -22.14140510559082 + ], + [ + -0.9806227684020996, + 0.019503295421600342, + -0.1949322670698166, + -10.932936668395996 + ], + [ + -0.02180061675608158, + -0.9997158050537109, + 0.009646578691899776, + -0.5207439661026001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3952, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_95116138", + "mask_path": "../../mask/hdr_front_03952.png" + }, + { + "file_path": "../../rgb/hdr_front_03953.png", + "transform_matrix": [ + [ + -0.19796769320964813, + 0.013295928947627544, + 0.9801183342933655, + -22.22163200378418 + ], + [ + -0.9799269437789917, + 0.02127974107861519, + -0.1982177048921585, + -10.911116600036621 + ], + [ + -0.023492153733968735, + -0.9996852278709412, + 0.008816339075565338, + -0.5171014666557312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3953, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_195116996", + "mask_path": "../../mask/hdr_front_03953.png" + }, + { + "file_path": "../../rgb/hdr_front_03954.png", + "transform_matrix": [ + [ + -0.20931214094161987, + 0.015609212219715118, + 0.9777244329452515, + -22.298192977905273 + ], + [ + -0.9774914383888245, + 0.023689309135079384, + -0.2096405178308487, + -10.887670516967773 + ], + [ + -0.02643393538892269, + -0.9995975494384766, + 0.010299412533640862, + -0.5050163865089417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3954, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_295116901", + "mask_path": "../../mask/hdr_front_03954.png" + }, + { + "file_path": "../../rgb/hdr_front_03955.png", + "transform_matrix": [ + [ + -0.22243231534957886, + 0.008796514011919498, + 0.9749084711074829, + -22.360204696655273 + ], + [ + -0.9747543931007385, + 0.017927275970578194, + -0.2225589156150818, + -10.870901107788086 + ], + [ + -0.01943519338965416, + -0.9998006820678711, + 0.0045868344604969025, + -0.49972328543663025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3955, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_395116806", + "mask_path": "../../mask/hdr_front_03955.png" + }, + { + "file_path": "../../rgb/hdr_front_03956.png", + "transform_matrix": [ + [ + -0.22710511088371277, + 0.009220322594046593, + 0.9738266468048096, + -22.43915367126465 + ], + [ + -0.9736899733543396, + 0.017088502645492554, + -0.22723504900932312, + -10.857489585876465 + ], + [ + -0.018736418336629868, + -0.9998115301132202, + 0.0050968509167432785, + -0.4969116151332855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3956, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_495117425", + "mask_path": "../../mask/hdr_front_03956.png" + }, + { + "file_path": "../../rgb/hdr_front_03957.png", + "transform_matrix": [ + [ + -0.22241677343845367, + 0.016929995268583298, + 0.9748046398162842, + -22.515453338623047 + ], + [ + -0.97467041015625, + 0.020153628662228584, + -0.2227361649274826, + -10.84553337097168 + ], + [ + -0.02341677062213421, + -0.9996535778045654, + 0.012018661946058273, + -0.5092538595199585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3957, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_595117568", + "mask_path": "../../mask/hdr_front_03957.png" + }, + { + "file_path": "../../rgb/hdr_front_03958.png", + "transform_matrix": [ + [ + -0.22052901983261108, + 0.015627220273017883, + 0.9752551913261414, + -22.573930740356445 + ], + [ + -0.9750784635543823, + 0.02134358324110508, + -0.22083106637001038, + -10.833876609802246 + ], + [ + -0.02426641434431076, + -0.9996500611305237, + 0.010530885308980942, + -0.5219475030899048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3958, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_695117950", + "mask_path": "../../mask/hdr_front_03958.png" + }, + { + "file_path": "../../rgb/hdr_front_03959.png", + "transform_matrix": [ + [ + -0.2235974669456482, + 0.016292814165353775, + 0.974545419216156, + -22.642087936401367 + ], + [ + -0.9743472337722778, + 0.022452594712376595, + -0.2239273637533188, + -10.815207481384277 + ], + [ + -0.02552947588264942, + -0.9996151924133301, + 0.010854513384401798, + -0.5179152488708496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3959, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_795117616", + "mask_path": "../../mask/hdr_front_03959.png" + }, + { + "file_path": "../../rgb/hdr_front_03960.png", + "transform_matrix": [ + [ + -0.2360977828502655, + 0.02039143443107605, + 0.9715152978897095, + -22.705854415893555 + ], + [ + -0.971327543258667, + 0.0237918421626091, + -0.23655156791210175, + -10.79248332977295 + ], + [ + -0.027937764301896095, + -0.9995089769363403, + 0.014189562760293484, + -0.50145423412323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3960, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_895117759", + "mask_path": "../../mask/hdr_front_03960.png" + }, + { + "file_path": "../../rgb/hdr_front_03961.png", + "transform_matrix": [ + [ + -0.25394195318222046, + 0.012690187431871891, + 0.9671362042427063, + -22.754730224609375 + ], + [ + -0.9669146537780762, + 0.021768096834421158, + -0.25416943430900574, + -10.773624420166016 + ], + [ + -0.024278171360492706, + -0.9996824860572815, + 0.006742494646459818, + -0.49072712659835815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3961, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_995116949", + "mask_path": "../../mask/hdr_front_03961.png" + }, + { + "file_path": "../../rgb/hdr_front_03962.png", + "transform_matrix": [ + [ + -0.2667336165904999, + 0.012373233214020729, + 0.9636908769607544, + -22.812875747680664 + ], + [ + -0.9634976387023926, + 0.020358499139547348, + -0.26694154739379883, + -10.757039070129395 + ], + [ + -0.022922229021787643, + -0.9997162222862244, + 0.006491285748779774, + -0.48682287335395813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3962, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_95117807", + "mask_path": "../../mask/hdr_front_03962.png" + }, + { + "file_path": "../../rgb/hdr_front_03963.png", + "transform_matrix": [ + [ + -0.2769596576690674, + 0.01896030269563198, + 0.9606944918632507, + -22.86875343322754 + ], + [ + -0.9605619311332703, + 0.02032390795648098, + -0.27732253074645996, + -10.739518165588379 + ], + [ + -0.0247831828892231, + -0.9996136426925659, + 0.012583643198013306, + -0.5012481808662415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3963, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_195116996", + "mask_path": "../../mask/hdr_front_03963.png" + }, + { + "file_path": "../../rgb/hdr_front_03965.png", + "transform_matrix": [ + [ + -0.3305593729019165, + 0.025865284726023674, + 0.9434307217597961, + -22.943767547607422 + ], + [ + -0.9434053301811218, + 0.019303003326058388, + -0.33107972145080566, + -10.688541412353516 + ], + [ + -0.026774508878588676, + -0.9994791746139526, + 0.01802065782248974, + -0.5070414543151855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3965, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_395117044", + "mask_path": "../../mask/hdr_front_03965.png" + }, + { + "file_path": "../../rgb/hdr_front_03967.png", + "transform_matrix": [ + [ + -0.412637859582901, + 0.023236051201820374, + 0.9105988144874573, + -23.000713348388672 + ], + [ + -0.9104113578796387, + 0.022054750472307205, + -0.4131157696247101, + -10.625018119812012 + ], + [ + -0.029682202264666557, + -0.9994867444038391, + 0.012053743936121464, + -0.489662230014801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3967, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_595117330", + "mask_path": "../../mask/hdr_front_03967.png" + }, + { + "file_path": "../../rgb/hdr_front_03969.png", + "transform_matrix": [ + [ + -0.4723804295063019, + 0.01996823586523533, + 0.88116854429245, + -23.069061279296875 + ], + [ + -0.8808813691139221, + 0.023422041907906532, + -0.4727572798728943, + -10.571073532104492 + ], + [ + -0.030078893527388573, + -0.9995262026786804, + 0.006525533273816109, + -0.4910699725151062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3969, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_795117855", + "mask_path": "../../mask/hdr_front_03969.png" + }, + { + "file_path": "../../rgb/hdr_front_03971.png", + "transform_matrix": [ + [ + -0.5153793692588806, + 0.02348513901233673, + 0.8566403388977051, + -23.097558975219727 + ], + [ + -0.8564708828926086, + 0.019725756719708443, + -0.5158182978630066, + -10.523092269897461 + ], + [ + -0.029011942446231842, + -0.9995296597480774, + 0.009948089718818665, + -0.4907301068305969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3971, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_995117425", + "mask_path": "../../mask/hdr_front_03971.png" + }, + { + "file_path": "../../rgb/hdr_front_03978.png", + "transform_matrix": [ + [ + -0.7143633365631104, + 0.029551740735769272, + 0.6991506814956665, + -23.01703453063965 + ], + [ + -0.6992977857589722, + 0.006742504425346851, + -0.714798629283905, + -10.449756622314453 + ], + [ + -0.025837568566203117, + -0.9995405673980713, + 0.01584886945784092, + -0.4886312484741211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3978, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549381_695117235", + "mask_path": "../../mask/hdr_front_03978.png" + }, + { + "file_path": "../../rgb/hdr_front_03983.png", + "transform_matrix": [ + [ + -0.855645477771759, + 0.018067805096507072, + 0.5172470211982727, + -22.917497634887695 + ], + [ + -0.5173909068107605, + -0.0041341898031532764, + -0.855739176273346, + -10.391768455505371 + ], + [ + -0.013322930783033371, + -0.9998282194137573, + 0.012885519303381443, + -0.49278199672698975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3983, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549382_195116758", + "mask_path": "../../mask/hdr_front_03983.png" + }, + { + "file_path": "../../rgb/hdr_front_03987.png", + "transform_matrix": [ + [ + -0.8866111040115356, + 0.03404988721013069, + 0.4612606465816498, + -22.8558349609375 + ], + [ + -0.4612850248813629, + 0.007604976184666157, + -0.8872194290161133, + -10.412554740905762 + ], + [ + -0.033717598766088486, + -0.9993911981582642, + 0.008964047767221928, + -0.48391398787498474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3987, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549382_595117807", + "mask_path": "../../mask/hdr_front_03987.png" + }, + { + "file_path": "../../rgb/hdr_front_03990.png", + "transform_matrix": [ + [ + -0.8844040632247925, + 0.02005075290799141, + 0.4662911593914032, + -22.819454193115234 + ], + [ + -0.4663127064704895, + 0.003872061613947153, + -0.8846114873886108, + -10.478121757507324 + ], + [ + -0.0195426307618618, + -0.9997915029525757, + 0.0059254528023302555, + -0.49544045329093933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3990, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549382_895117282", + "mask_path": "../../mask/hdr_front_03990.png" + }, + { + "file_path": "../../rgb/hdr_front_03992.png", + "transform_matrix": [ + [ + -0.892727255821228, + 0.031881336122751236, + 0.44946807622909546, + -22.777528762817383 + ], + [ + -0.44942420721054077, + 0.008931579068303108, + -0.8932738304138184, + -10.529696464538574 + ], + [ + -0.032493218779563904, + -0.9994518160820007, + 0.006354779936373234, + -0.48381057381629944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3992, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549383_95117092", + "mask_path": "../../mask/hdr_front_03992.png" + }, + { + "file_path": "../../rgb/hdr_front_03994.png", + "transform_matrix": [ + [ + -0.8974196910858154, + 0.030807403847575188, + 0.44010090827941895, + -22.72496223449707 + ], + [ + -0.44016027450561523, + 0.005192143842577934, + -0.8979042768478394, + -10.600616455078125 + ], + [ + -0.02994716726243496, + -0.9995118975639343, + 0.008900664746761322, + -0.4843348264694214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3994, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549383_295117855", + "mask_path": "../../mask/hdr_front_03994.png" + }, + { + "file_path": "../../rgb/hdr_front_03996.png", + "transform_matrix": [ + [ + -0.8962733745574951, + 0.017056450247764587, + 0.443173885345459, + -22.693714141845703 + ], + [ + -0.4431533217430115, + 0.005170838907361031, + -0.8964309096336365, + -10.666197776794434 + ], + [ + -0.017581509426236153, + -0.9998412132263184, + 0.0029241384472697973, + -0.49346792697906494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3996, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549383_495116949", + "mask_path": "../../mask/hdr_front_03996.png" + }, + { + "file_path": "../../rgb/hdr_front_03998.png", + "transform_matrix": [ + [ + -0.9203091859817505, + 0.023321760818362236, + 0.3904959559440613, + -22.633298873901367 + ], + [ + -0.39080607891082764, + -0.010496688075363636, + -0.9204131960868835, + -10.744025230407715 + ], + [ + -0.017366740852594376, + -0.9996729493141174, + 0.0187744852155447, + -0.49961692094802856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3998, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549383_695117473", + "mask_path": "../../mask/hdr_front_03998.png" + }, + { + "file_path": "../../rgb/hdr_front_04000.png", + "transform_matrix": [ + [ + -0.9559140205383301, + 0.03532477468252182, + 0.291514128446579, + -22.55397605895996 + ], + [ + -0.29192015528678894, + -0.006825983989983797, + -0.9564183354377747, + -10.795232772827148 + ], + [ + -0.03179539367556572, + -0.9993525743484497, + 0.016837069764733315, + -0.4883544147014618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4000, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549383_895117521", + "mask_path": "../../mask/hdr_front_04000.png" + }, + { + "file_path": "../../rgb/hdr_front_04002.png", + "transform_matrix": [ + [ + -0.9823227524757385, + 0.01764065958559513, + 0.18636195361614227, + -22.481983184814453 + ], + [ + -0.1864771991968155, + -0.00511624850332737, + -0.9824459552764893, + -10.856505393981934 + ], + [ + -0.016377519816160202, + -0.9998313784599304, + 0.008315387181937695, + -0.4867297112941742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4002, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_95117807", + "mask_path": "../../mask/hdr_front_04002.png" + }, + { + "file_path": "../../rgb/hdr_front_04004.png", + "transform_matrix": [ + [ + -0.9974358081817627, + 0.021523945033550262, + 0.06825337558984756, + -22.404443740844727 + ], + [ + -0.06849495321512222, + -0.010692794807255268, + -0.9975941777229309, + -10.932368278503418 + ], + [ + -0.02074234001338482, + -0.9997112154960632, + 0.012139658443629742, + -0.4989783465862274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4004, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_295117139", + "mask_path": "../../mask/hdr_front_04004.png" + }, + { + "file_path": "../../rgb/hdr_front_04006.png", + "transform_matrix": [ + [ + -0.9957453608512878, + 0.03368547558784485, + -0.08576931804418564, + -22.32100486755371 + ], + [ + 0.08498331159353256, + -0.024113232269883156, + -0.9960905909538269, + -11.012531280517578 + ], + [ + -0.03562195971608162, + -0.9991415739059448, + 0.021147936582565308, + -0.4959656298160553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4006, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_495117187", + "mask_path": "../../mask/hdr_front_04006.png" + }, + { + "file_path": "../../rgb/hdr_front_04007.png", + "transform_matrix": [ + [ + -0.9854267835617065, + 0.03783147409558296, + -0.16583989560604095, + -22.272998809814453 + ], + [ + 0.164769247174263, + -0.029872842133045197, + -0.98587965965271, + -11.063960075378418 + ], + [ + -0.042251382023096085, + -0.9988375902175903, + 0.023204036056995392, + -0.49569833278656006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4007, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_595117807", + "mask_path": "../../mask/hdr_front_04007.png" + }, + { + "file_path": "../../rgb/hdr_front_04009.png", + "transform_matrix": [ + [ + -0.9510154128074646, + 0.03336925059556961, + -0.3073371648788452, + -22.200931549072266 + ], + [ + 0.30663031339645386, + -0.024685824289917946, + -0.9515084624290466, + -11.130727767944336 + ], + [ + -0.039337992668151855, + -0.9991382360458374, + 0.013244573026895523, + -0.4904607832431793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4009, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_795117139", + "mask_path": "../../mask/hdr_front_04009.png" + }, + { + "file_path": "../../rgb/hdr_front_04011.png", + "transform_matrix": [ + [ + -0.8933443427085876, + 0.03207645192742348, + -0.4482265114784241, + -22.118925094604492 + ], + [ + 0.4473799169063568, + -0.03034990094602108, + -0.8938289284706116, + -11.202713012695312 + ], + [ + -0.042274489998817444, + -0.999024510383606, + 0.012762552127242088, + -0.49264079332351685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4011, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_995116949", + "mask_path": "../../mask/hdr_front_04011.png" + }, + { + "file_path": "../../rgb/hdr_front_04013.png", + "transform_matrix": [ + [ + -0.8024260401725769, + 0.023950958624482155, + -0.5962707996368408, + -22.068519592285156 + ], + [ + 0.5952302813529968, + -0.03917825594544411, + -0.8025994896888733, + -11.284679412841797 + ], + [ + -0.04258386790752411, + -0.9989451766014099, + 0.017181312665343285, + -0.49708354473114014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4013, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549385_195117712", + "mask_path": "../../mask/hdr_front_04013.png" + }, + { + "file_path": "../../rgb/hdr_front_04015.png", + "transform_matrix": [ + [ + -0.686720073223114, + 0.01945929229259491, + -0.7266615033149719, + -22.019508361816406 + ], + [ + 0.7252799868583679, + -0.04880991205573082, + -0.6867216229438782, + -11.388937950134277 + ], + [ + -0.04883139953017235, + -0.9986185431480408, + 0.019405309110879898, + -0.49026983976364136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4015, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549385_395117998", + "mask_path": "../../mask/hdr_front_04015.png" + }, + { + "file_path": "../../rgb/hdr_front_04018.png", + "transform_matrix": [ + [ + -0.507270336151123, + 0.01811119168996811, + -0.8615967035293579, + -21.938533782958984 + ], + [ + 0.8606339693069458, + -0.041052062064409256, + -0.507566511631012, + -11.48803424835205 + ], + [ + -0.04456295445561409, + -0.9989928603172302, + 0.005237384233623743, + -0.4940779209136963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4018, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549385_695116519", + "mask_path": "../../mask/hdr_front_04018.png" + }, + { + "file_path": "../../rgb/hdr_front_04022.png", + "transform_matrix": [ + [ + -0.24862442910671234, + 0.0008409144938923419, + -0.9685995578765869, + -21.900863647460938 + ], + [ + 0.967549204826355, + -0.046352874487638474, + -0.24839502573013306, + -11.621541976928711 + ], + [ + -0.045106250792741776, + -0.9989248514175415, + 0.010710830800235271, + -0.49042823910713196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4022, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549386_95116615", + "mask_path": "../../mask/hdr_front_04022.png" + }, + { + "file_path": "../../rgb/hdr_front_04028.png", + "transform_matrix": [ + [ + -0.1311604082584381, + -0.0007350122323259711, + -0.9913608431816101, + -21.857881546020508 + ], + [ + 0.9909647703170776, + -0.02837570197880268, + -0.13108694553375244, + -11.697184562683105 + ], + [ + -0.028034210205078125, + -0.9995970726013184, + 0.004450140055269003, + -0.4995002746582031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4028, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549386_695116519", + "mask_path": "../../mask/hdr_front_04028.png" + }, + { + "file_path": "../../rgb/hdr_front_04035.png", + "transform_matrix": [ + [ + -0.11140461266040802, + -0.011795965023338795, + -0.993705153465271, + -21.577577590942383 + ], + [ + 0.9932082295417786, + -0.03509421646595001, + -0.11093230545520782, + -11.686408996582031 + ], + [ + -0.033564746379852295, + -0.9993144273757935, + 0.01562550477683544, + -0.5103758573532104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4035, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549387_395121812", + "mask_path": "../../mask/hdr_front_04035.png" + }, + { + "file_path": "../../rgb/hdr_front_04037.png", + "transform_matrix": [ + [ + -0.09072215855121613, + -0.006083486136049032, + -0.9958577752113342, + -21.48980140686035 + ], + [ + 0.9955672025680542, + -0.02546624094247818, + -0.09054012596607208, + -11.682583808898926 + ], + [ + -0.024809950962662697, + -0.999657154083252, + 0.008366871625185013, + -0.5080233812332153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4037, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549387_595118045", + "mask_path": "../../mask/hdr_front_04037.png" + }, + { + "file_path": "../../rgb/hdr_front_04038.png", + "transform_matrix": [ + [ + -0.08475738018751144, + -0.004754810594022274, + -0.9963903427124023, + -21.428783416748047 + ], + [ + 0.9961102604866028, + -0.02458455041050911, + -0.08461624383926392, + -11.674939155578613 + ], + [ + -0.024093471467494965, + -0.9996864795684814, + 0.0068200379610061646, + -0.5087403059005737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4038, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549387_695118188", + "mask_path": "../../mask/hdr_front_04038.png" + }, + { + "file_path": "../../rgb/hdr_front_04039.png", + "transform_matrix": [ + [ + -0.08727788180112839, + -0.00796344131231308, + -0.9961521625518799, + -21.363252639770508 + ], + [ + 0.99579918384552, + -0.028488798066973686, + -0.08701920509338379, + -11.664352416992188 + ], + [ + -0.02768620289862156, + -0.9995624423027039, + 0.010416430421173573, + -0.5115914344787598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4039, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549387_795117855", + "mask_path": "../../mask/hdr_front_04039.png" + }, + { + "file_path": "../../rgb/hdr_front_04041.png", + "transform_matrix": [ + [ + -0.09250891953706741, + -0.011687848716974258, + -0.9956433176994324, + -21.260339736938477 + ], + [ + 0.9955253601074219, + -0.020433960482478142, + -0.09225811064243317, + -11.639338493347168 + ], + [ + -0.019266635179519653, + -0.9997228980064392, + 0.013525872491300106, + -0.5246285200119019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4041, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549387_995117187", + "mask_path": "../../mask/hdr_front_04041.png" + }, + { + "file_path": "../../rgb/hdr_front_04042.png", + "transform_matrix": [ + [ + -0.09188611060380936, + -0.01429501362144947, + -0.9956669807434082, + -21.195764541625977 + ], + [ + 0.9956369996070862, + -0.017629552632570267, + -0.0916302427649498, + -11.626395225524902 + ], + [ + -0.016243303194642067, + -0.9997423887252808, + 0.015852557495236397, + -0.5272498726844788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4042, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_95117330", + "mask_path": "../../mask/hdr_front_04042.png" + }, + { + "file_path": "../../rgb/hdr_front_04043.png", + "transform_matrix": [ + [ + -0.08370387554168701, + -0.012834087014198303, + -0.9964080452919006, + -21.133859634399414 + ], + [ + 0.9963123798370361, + -0.019988110288977623, + -0.08343841135501862, + -11.621670722961426 + ], + [ + -0.0188454557210207, + -0.9997178912162781, + 0.014459844678640366, + -0.5115141272544861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4043, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_195116758", + "mask_path": "../../mask/hdr_front_04043.png" + }, + { + "file_path": "../../rgb/hdr_front_04044.png", + "transform_matrix": [ + [ + -0.0729089006781578, + -0.009366870857775211, + -0.9972946047782898, + -21.083175659179688 + ], + [ + 0.9972441792488098, + -0.014444447122514248, + -0.07276955246925354, + -11.61827564239502 + ], + [ + -0.013723745010793209, + -0.9998518228530884, + 0.010394185781478882, + -0.5093604326248169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4044, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_295117139", + "mask_path": "../../mask/hdr_front_04044.png" + }, + { + "file_path": "../../rgb/hdr_front_04045.png", + "transform_matrix": [ + [ + -0.061130035668611526, + -0.006735685281455517, + -0.9981071949005127, + -21.019084930419922 + ], + [ + 0.9980465769767761, + -0.013323787599802017, + -0.06103641539812088, + -11.612275123596191 + ], + [ + -0.012887442484498024, + -0.99988853931427, + 0.00753701152279973, + -0.5111068487167358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4045, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_395117044", + "mask_path": "../../mask/hdr_front_04045.png" + }, + { + "file_path": "../../rgb/hdr_front_04046.png", + "transform_matrix": [ + [ + -0.057040560990571976, + -0.006135451607406139, + -0.998353123664856, + -20.937070846557617 + ], + [ + 0.9981884956359863, + -0.01951282098889351, + -0.056911248713731766, + -11.60327434539795 + ], + [ + -0.019131505861878395, + -0.9997907876968384, + 0.007237359881401062, + -0.5112929940223694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4046, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_495117425", + "mask_path": "../../mask/hdr_front_04046.png" + }, + { + "file_path": "../../rgb/hdr_front_04047.png", + "transform_matrix": [ + [ + -0.06074191629886627, + -0.008447892963886261, + -0.9981178641319275, + -20.875810623168945 + ], + [ + 0.997857391834259, + -0.02487073466181755, + -0.060515571385622025, + -11.593734741210938 + ], + [ + -0.024312689900398254, + -0.99965500831604, + 0.009940488263964653, + -0.5184492468833923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4047, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_595117568", + "mask_path": "../../mask/hdr_front_04047.png" + }, + { + "file_path": "../../rgb/hdr_front_04048.png", + "transform_matrix": [ + [ + -0.06233343482017517, + -0.007897879928350449, + -0.9980241656303406, + -20.819137573242188 + ], + [ + 0.9978340268135071, + -0.021553143858909607, + -0.062150996178388596, + -11.585456848144531 + ], + [ + -0.021019695326685905, + -0.9997365474700928, + 0.009224255569279194, + -0.5247990489006042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4048, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_695117950", + "mask_path": "../../mask/hdr_front_04048.png" + }, + { + "file_path": "../../rgb/hdr_front_04049.png", + "transform_matrix": [ + [ + -0.061582885682582855, + -0.01022716611623764, + -0.9980496764183044, + -20.746213912963867 + ], + [ + 0.997960090637207, + -0.017488328740000725, + -0.06139816343784332, + -11.57873249053955 + ], + [ + -0.016826286911964417, + -0.9997947812080383, + 0.011283285915851593, + -0.5263687968254089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4049, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_795117378", + "mask_path": "../../mask/hdr_front_04049.png" + }, + { + "file_path": "../../rgb/hdr_front_04050.png", + "transform_matrix": [ + [ + -0.05335627868771553, + -0.013449035584926605, + -0.9984850287437439, + -20.675752639770508 + ], + [ + 0.9984594583511353, + -0.015960391610860825, + -0.05313993990421295, + -11.575834274291992 + ], + [ + -0.015221528708934784, + -0.9997822046279907, + 0.014279905706644058, + -0.5168834924697876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4050, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_895117998", + "mask_path": "../../mask/hdr_front_04050.png" + }, + { + "file_path": "../../rgb/hdr_front_04051.png", + "transform_matrix": [ + [ + -0.04168858006596565, + -0.00907976645976305, + -0.9990894198417664, + -20.62291717529297 + ], + [ + 0.9990673661231995, + -0.011636636219918728, + -0.0415819026529789, + -11.575039863586426 + ], + [ + -0.011248484253883362, + -0.9998911023139954, + 0.009556411765515804, + -0.5123368501663208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4051, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_995116949", + "mask_path": "../../mask/hdr_front_04051.png" + }, + { + "file_path": "../../rgb/hdr_front_04052.png", + "transform_matrix": [ + [ + -0.02946593053638935, + -0.006668625865131617, + -0.9995436072349548, + -20.559337615966797 + ], + [ + 0.9995047450065613, + -0.011254125274717808, + -0.029389701783657074, + -11.574202537536621 + ], + [ + -0.011053000576794147, + -0.9999144673347473, + 0.00699693663045764, + -0.5127002000808716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4052, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_95117568", + "mask_path": "../../mask/hdr_front_04052.png" + }, + { + "file_path": "../../rgb/hdr_front_04053.png", + "transform_matrix": [ + [ + -0.023607192561030388, + -0.008215067908167839, + -0.9996876120567322, + -20.475072860717773 + ], + [ + 0.9995741844177246, + -0.01734720915555954, + -0.02346196211874485, + -11.569310188293457 + ], + [ + -0.017149046063423157, + -0.999815821647644, + 0.008621089160442352, + -0.5161172151565552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4053, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_195117235", + "mask_path": "../../mask/hdr_front_04053.png" + }, + { + "file_path": "../../rgb/hdr_front_04054.png", + "transform_matrix": [ + [ + -0.027159519493579865, + -0.012133953161537647, + -0.9995574355125427, + -20.404682159423828 + ], + [ + 0.9993714690208435, + -0.02311593107879162, + -0.02687385492026806, + -11.560577392578125 + ], + [ + -0.022779613733291626, + -0.9996591806411743, + 0.012754145078361034, + -0.5248338580131531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4054, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_295117616", + "mask_path": "../../mask/hdr_front_04054.png" + }, + { + "file_path": "../../rgb/hdr_front_04055.png", + "transform_matrix": [ + [ + -0.028143305331468582, + -0.012052896432578564, + -0.9995312690734863, + -20.34637451171875 + ], + [ + 0.9993636012077332, + -0.022265002131462097, + -0.027870098128914833, + -11.554618835449219 + ], + [ + -0.02191864885389805, + -0.9996795058250427, + 0.012671835720539093, + -0.5292750000953674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4055, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_395117521", + "mask_path": "../../mask/hdr_front_04055.png" + }, + { + "file_path": "../../rgb/hdr_front_04056.png", + "transform_matrix": [ + [ + -0.02822617068886757, + -0.014251542277634144, + -0.9994999766349792, + -20.272193908691406 + ], + [ + 0.9994103908538818, + -0.01995433121919632, + -0.027939122170209885, + -11.547684669494629 + ], + [ + -0.019546177238225937, + -0.9996993541717529, + 0.014806374907493591, + -0.5300097465515137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4056, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_495117425", + "mask_path": "../../mask/hdr_front_04056.png" + }, + { + "file_path": "../../rgb/hdr_front_04057.png", + "transform_matrix": [ + [ + -0.02072342485189438, + -0.01695929281413555, + -0.9996414184570312, + -20.194181442260742 + ], + [ + 0.9996143579483032, + -0.018834570422768593, + -0.020403331145644188, + -11.548685073852539 + ], + [ + -0.0184817872941494, + -0.9996787905693054, + 0.0173430684953928, + -0.5251718759536743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4057, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_595117330", + "mask_path": "../../mask/hdr_front_04057.png" + }, + { + "file_path": "../../rgb/hdr_front_04058.png", + "transform_matrix": [ + [ + -0.008256467059254646, + -0.011294912546873093, + -0.9999021291732788, + -20.134248733520508 + ], + [ + 0.9998942613601685, + -0.012060806155204773, + -0.008120162412524223, + -11.552750587463379 + ], + [ + -0.011967909522354603, + -0.9998635053634644, + 0.011393297463655472, + -0.5151068568229675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4058, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_695117235", + "mask_path": "../../mask/hdr_front_04058.png" + }, + { + "file_path": "../../rgb/hdr_front_04059.png", + "transform_matrix": [ + [ + 0.004137346055358648, + -0.00820483360439539, + -0.9999577403068542, + -20.0705623626709 + ], + [ + 0.9999423623085022, + -0.009875418618321419, + 0.0042183129116892815, + -11.551406860351562 + ], + [ + -0.009909612126648426, + -0.9999175667762756, + 0.00816350243985653, + -0.5167545676231384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4059, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_795117855", + "mask_path": "../../mask/hdr_front_04059.png" + }, + { + "file_path": "../../rgb/hdr_front_04060.png", + "transform_matrix": [ + [ + 0.011325931176543236, + -0.007422000169754028, + -0.9999083280563354, + -19.98250961303711 + ], + [ + 0.9998509287834167, + -0.012945597991347313, + 0.011421374045312405, + -11.549620628356934 + ], + [ + -0.01302917767316103, + -0.9998886585235596, + 0.007274272385984659, + -0.5186420679092407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4060, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_895116806", + "mask_path": "../../mask/hdr_front_04060.png" + }, + { + "file_path": "../../rgb/hdr_front_04061.png", + "transform_matrix": [ + [ + 0.008019124157726765, + -0.010400170460343361, + -0.99991375207901, + -19.902681350708008 + ], + [ + 0.9998061060905457, + -0.01789689064025879, + 0.00820440798997879, + -11.546189308166504 + ], + [ + -0.017980674281716347, + -0.9997857809066772, + 0.010254637338221073, + -0.5231350660324097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4061, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_995117187", + "mask_path": "../../mask/hdr_front_04061.png" + }, + { + "file_path": "../../rgb/hdr_front_04062.png", + "transform_matrix": [ + [ + 0.005977220833301544, + -0.010885324329137802, + -0.9999229311943054, + -19.841705322265625 + ], + [ + 0.9997866153717041, + -0.019707167521119118, + 0.006190942134708166, + -11.54167366027832 + ], + [ + -0.019773034378886223, + -0.999746561050415, + 0.01076520700007677, + -0.5302572250366211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4062, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_95117092", + "mask_path": "../../mask/hdr_front_04062.png" + }, + { + "file_path": "../../rgb/hdr_front_04063.png", + "transform_matrix": [ + [ + 0.006261692848056555, + -0.011956704780459404, + -0.9999089241027832, + -19.768573760986328 + ], + [ + 0.9998167157173157, + -0.018014630302786827, + 0.00647653266787529, + -11.540509223937988 + ], + [ + -0.018090426921844482, + -0.9997662901878357, + 0.011841712519526482, + -0.5329333543777466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4063, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_195117235", + "mask_path": "../../mask/hdr_front_04063.png" + }, + { + "file_path": "../../rgb/hdr_front_04064.png", + "transform_matrix": [ + [ + 0.013695630244910717, + -0.013725237920880318, + -0.9998120069503784, + -19.692838668823242 + ], + [ + 0.9997403621673584, + -0.018021877855062485, + 0.013942049816250801, + -11.544368743896484 + ], + [ + -0.018209844827651978, + -0.9997434020042419, + 0.01347485464066267, + -0.5262106657028198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4064, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_295118808", + "mask_path": "../../mask/hdr_front_04064.png" + }, + { + "file_path": "../../rgb/hdr_front_04065.png", + "transform_matrix": [ + [ + 0.026100309565663338, + -0.008504322730004787, + -0.99962317943573, + -19.63448715209961 + ], + [ + 0.9995870590209961, + -0.01180269569158554, + 0.02619977854192257, + -11.549145698547363 + ], + [ + -0.012021055445075035, + -0.9998942017555237, + 0.008192756213247776, + -0.5175583362579346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4065, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_395116806", + "mask_path": "../../mask/hdr_front_04065.png" + }, + { + "file_path": "../../rgb/hdr_front_04066.png", + "transform_matrix": [ + [ + 0.03776884824037552, + -0.004330276511609554, + -0.9992770552635193, + -19.570022583007812 + ], + [ + 0.9992446303367615, + -0.00898564700037241, + 0.037806570529937744, + -11.551987648010254 + ], + [ + -0.009142862632870674, + -0.9999502897262573, + 0.003987628500908613, + -0.5173227787017822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4066, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_495118141", + "mask_path": "../../mask/hdr_front_04066.png" + }, + { + "file_path": "../../rgb/hdr_front_04067.png", + "transform_matrix": [ + [ + 0.0434861034154892, + -0.004264597315341234, + -0.9990449547767639, + -19.483102798461914 + ], + [ + 0.9989790916442871, + -0.012058931402862072, + 0.043534718453884125, + -11.55159854888916 + ], + [ + -0.012233071029186249, + -0.9999182224273682, + 0.0037358475383371115, + -0.518854022026062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4067, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_595117568", + "mask_path": "../../mask/hdr_front_04067.png" + }, + { + "file_path": "../../rgb/hdr_front_04068.png", + "transform_matrix": [ + [ + 0.04010942578315735, + -0.00816431175917387, + -0.9991620182991028, + -19.41088104248047 + ], + [ + 0.9990415573120117, + -0.017214089632034302, + 0.04024525359272957, + -11.551037788391113 + ], + [ + -0.017528235912322998, + -0.9998185038566589, + 0.007466039154678583, + -0.5271711945533752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4068, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_695116996", + "mask_path": "../../mask/hdr_front_04068.png" + }, + { + "file_path": "../../rgb/hdr_front_04069.png", + "transform_matrix": [ + [ + 0.03806507587432861, + -0.008248928934335709, + -0.999241292476654, + -19.3524169921875 + ], + [ + 0.9991077780723572, + -0.017995748668909073, + 0.038208555430173874, + -11.549752235412598 + ], + [ + -0.01829727366566658, + -0.9998040199279785, + 0.007556558586657047, + -0.5325672030448914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4069, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_795117378", + "mask_path": "../../mask/hdr_front_04069.png" + }, + { + "file_path": "../../rgb/hdr_front_04070.png", + "transform_matrix": [ + [ + 0.04024918004870415, + -0.009923085570335388, + -0.9991404414176941, + -19.281890869140625 + ], + [ + 0.9990442395210266, + -0.016657916828989983, + 0.04041074588894844, + -11.551618576049805 + ], + [ + -0.01704459637403488, + -0.9998120069503784, + 0.00924313347786665, + -0.5328718423843384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4070, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_895118474", + "mask_path": "../../mask/hdr_front_04070.png" + }, + { + "file_path": "../../rgb/hdr_front_04071.png", + "transform_matrix": [ + [ + 0.05027652159333229, + -0.01326752919703722, + -0.9986472725868225, + -19.213674545288086 + ], + [ + 0.9985823035240173, + -0.01683664880692959, + 0.050496943295001984, + -11.561568260192871 + ], + [ + -0.017483841627836227, + -0.9997702836990356, + 0.012402231805026531, + -0.5205336809158325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4071, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_995117187", + "mask_path": "../../mask/hdr_front_04071.png" + }, + { + "file_path": "../../rgb/hdr_front_04072.png", + "transform_matrix": [ + [ + 0.060131385922431946, + -0.006614722777158022, + -0.9981685876846313, + -19.160537719726562 + ], + [ + 0.9981260299682617, + -0.010958421975374222, + 0.06020144373178482, + -11.568387985229492 + ], + [ + -0.011336566880345345, + -0.9999181032180786, + 0.005943382624536753, + -0.5154924392700195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4072, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_95117568", + "mask_path": "../../mask/hdr_front_04072.png" + }, + { + "file_path": "../../rgb/hdr_front_04073.png", + "transform_matrix": [ + [ + 0.06640946120023727, + -0.002778215566650033, + -0.9977886080741882, + -19.0982608795166 + ], + [ + 0.997764527797699, + -0.0073021468706429005, + 0.06642818450927734, + -11.571288108825684 + ], + [ + -0.007470550015568733, + -0.999969482421875, + 0.002287073526531458, + -0.5170455574989319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4073, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_195117950", + "mask_path": "../../mask/hdr_front_04073.png" + }, + { + "file_path": "../../rgb/hdr_front_04074.png", + "transform_matrix": [ + [ + 0.06469164043664932, + -0.0030763973481953144, + -0.9979006052017212, + -19.018177032470703 + ], + [ + 0.997858464717865, + -0.009487925097346306, + 0.06471816450357437, + -11.570387840270996 + ], + [ + -0.009667104110121727, + -0.9999502897262573, + 0.002456019865348935, + -0.5180794596672058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4074, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_295117378", + "mask_path": "../../mask/hdr_front_04074.png" + }, + { + "file_path": "../../rgb/hdr_front_04075.png", + "transform_matrix": [ + [ + 0.05365381017327309, + -0.005406653508543968, + -0.9985449910163879, + -18.949111938476562 + ], + [ + 0.9984210133552551, + -0.016366463154554367, + 0.05373577028512955, + -11.568562507629395 + ], + [ + -0.016633179038763046, + -0.9998514652252197, + 0.004519993904978037, + -0.5247605443000793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4075, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_395118236", + "mask_path": "../../mask/hdr_front_04075.png" + }, + { + "file_path": "../../rgb/hdr_front_04076.png", + "transform_matrix": [ + [ + 0.04372178018093109, + -0.005597091279923916, + -0.9990280866622925, + -18.89122200012207 + ], + [ + 0.998877227306366, + -0.01801462098956108, + 0.04381610453128815, + -11.567473411560059 + ], + [ + -0.018242355436086655, + -0.9998220801353455, + 0.004803176037967205, + -0.5290802121162415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4076, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_495118379", + "mask_path": "../../mask/hdr_front_04076.png" + }, + { + "file_path": "../../rgb/hdr_front_04077.png", + "transform_matrix": [ + [ + 0.035189080983400345, + -0.006416081916540861, + -0.9993600845336914, + -18.82073211669922 + ], + [ + 0.9992411136627197, + -0.01648988574743271, + 0.035290755331516266, + -11.566521644592285 + ], + [ + -0.016705764457583427, + -0.9998434782028198, + 0.005830948706716299, + -0.5247763991355896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4077, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_595117568", + "mask_path": "../../mask/hdr_front_04077.png" + }, + { + "file_path": "../../rgb/hdr_front_04078.png", + "transform_matrix": [ + [ + 0.03209415450692177, + -0.0074276309460401535, + -0.9994572401046753, + -18.756454467773438 + ], + [ + 0.9993634819984436, + -0.015343504957854748, + 0.03220517188310623, + -11.567076683044434 + ], + [ + -0.015574387274682522, + -0.9998547434806824, + 0.006930466275662184, + -0.5138298273086548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4078, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_695117712", + "mask_path": "../../mask/hdr_front_04078.png" + }, + { + "file_path": "../../rgb/hdr_front_04079.png", + "transform_matrix": [ + [ + 0.02786421775817871, + 0.00031295372173190117, + -0.9996116757392883, + -18.703079223632812 + ], + [ + 0.9995580911636353, + -0.010371807031333447, + 0.02785947360098362, + -11.567727088928223 + ], + [ + -0.010359060019254684, + -0.9999461770057678, + -0.0006018176209181547, + -0.5091420412063599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4079, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_795117378", + "mask_path": "../../mask/hdr_front_04079.png" + }, + { + "file_path": "../../rgb/hdr_front_04080.png", + "transform_matrix": [ + [ + 0.01682046428322792, + 0.004907358903437853, + -0.9998465180397034, + -18.639184951782227 + ], + [ + 0.9998349547386169, + -0.006948499474674463, + 0.01678616553544998, + -11.563206672668457 + ], + [ + -0.006865055300295353, + -0.9999638199806213, + -0.0050234259106218815, + -0.5055360198020935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4080, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_895120143", + "mask_path": "../../mask/hdr_front_04080.png" + }, + { + "file_path": "../../rgb/hdr_front_04081.png", + "transform_matrix": [ + [ + -0.005451057106256485, + 0.001287121674977243, + -0.9999843835830688, + -18.56667137145996 + ], + [ + 0.9999420642852783, + -0.009275645948946476, + -0.005462765693664551, + -11.550707817077637 + ], + [ + -0.009282530285418034, + -0.9999561905860901, + -0.0012364848516881466, + -0.5111760497093201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4081, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_995118856", + "mask_path": "../../mask/hdr_front_04081.png" + }, + { + "file_path": "../../rgb/hdr_front_04082.png", + "transform_matrix": [ + [ + -0.034767795354127884, + -0.0001658675610087812, + -0.9993954300880432, + -18.505800247192383 + ], + [ + 0.9993027448654175, + -0.013624953106045723, + -0.03476230055093765, + -11.53525447845459 + ], + [ + -0.01361094880849123, + -0.9999071955680847, + 0.0006394615047611296, + -0.5205715894699097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4082, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_95122098", + "mask_path": "../../mask/hdr_front_04082.png" + }, + { + "file_path": "../../rgb/hdr_front_04083.png", + "transform_matrix": [ + [ + -0.0621982179582119, + -0.0017993429210036993, + -0.9980621933937073, + -18.45034408569336 + ], + [ + 0.9979800581932068, + -0.01306586991995573, + -0.062169551849365234, + -11.522680282592773 + ], + [ + -0.012928687036037445, + -0.9999130368232727, + 0.002608382375910878, + -0.5207863450050354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4083, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_195119619", + "mask_path": "../../mask/hdr_front_04083.png" + }, + { + "file_path": "../../rgb/hdr_front_04084.png", + "transform_matrix": [ + [ + -0.08322722464799881, + -0.00504183117300272, + -0.9965178370475769, + -18.38408660888672 + ], + [ + 0.9965103268623352, + -0.006801843177527189, + -0.08319219201803207, + -11.51102066040039 + ], + [ + -0.006358716171234846, + -0.99996417760849, + 0.005590335465967655, + -0.5173578858375549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4084, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_295118808", + "mask_path": "../../mask/hdr_front_04084.png" + }, + { + "file_path": "../../rgb/hdr_front_04085.png", + "transform_matrix": [ + [ + -0.09392041712999344, + -0.0021459150593727827, + -0.9955773949623108, + -18.326332092285156 + ], + [ + 0.9955768585205078, + -0.0025846788194030523, + -0.09391479939222336, + -11.50205135345459 + ], + [ + -0.0023717149160802364, + -0.9999943971633911, + 0.0023791776038706303, + -0.5103408694267273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4085, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_395118713", + "mask_path": "../../mask/hdr_front_04085.png" + }, + { + "file_path": "../../rgb/hdr_front_04086.png", + "transform_matrix": [ + [ + -0.10151698440313339, + 0.002219449495896697, + -0.9948313236236572, + -18.271900177001953 + ], + [ + 0.9948241710662842, + 0.0046251206658780575, + -0.10150592029094696, + -11.49036979675293 + ], + [ + 0.004375928547233343, + -0.9999869465827942, + -0.002677490236237645, + -0.5034372210502625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4086, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_495121002", + "mask_path": "../../mask/hdr_front_04086.png" + }, + { + "file_path": "../../rgb/hdr_front_04087.png", + "transform_matrix": [ + [ + -0.10500883311033249, + 0.001191403716802597, + -0.9944706559181213, + -18.202774047851562 + ], + [ + 0.9944442510604858, + 0.007502948399633169, + -0.10499706864356995, + -11.477825164794922 + ], + [ + 0.0073363687843084335, + -0.9999712109565735, + -0.0019726604223251343, + -0.5071496963500977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4087, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_595119237", + "mask_path": "../../mask/hdr_front_04087.png" + }, + { + "file_path": "../../rgb/hdr_front_04088.png", + "transform_matrix": [ + [ + -0.11018525063991547, + -0.002516997279599309, + -0.9939078688621521, + -18.132551193237305 + ], + [ + 0.9939025640487671, + 0.0038632177747786045, + -0.11019444465637207, + -11.465476989746094 + ], + [ + 0.004117041826248169, + -0.9999894499778748, + 0.002075980417430401, + -0.5175122618675232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4088, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_695119380", + "mask_path": "../../mask/hdr_front_04088.png" + }, + { + "file_path": "../../rgb/hdr_front_04089.png", + "transform_matrix": [ + [ + -0.11297936737537384, + -0.0021032134536653757, + -0.9935951232910156, + -18.072702407836914 + ], + [ + 0.9935963749885559, + 0.0011606430634856224, + -0.11298197507858276, + -11.45177936553955 + ], + [ + 0.00139083550311625, + -0.9999971985816956, + 0.001958616776391864, + -0.5217069983482361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4089, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_795119047", + "mask_path": "../../mask/hdr_front_04089.png" + }, + { + "file_path": "../../rgb/hdr_front_04090.png", + "transform_matrix": [ + [ + -0.11013753712177277, + -0.004244405776262283, + -0.9939073324203491, + -18.002159118652344 + ], + [ + 0.9939161539077759, + 0.00014902008115313947, + -0.1101391613483429, + -11.440094947814941 + ], + [ + 0.0006155876908451319, + -0.9999910593032837, + 0.004202170763164759, + -0.5210651159286499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4090, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_895120382", + "mask_path": "../../mask/hdr_front_04090.png" + }, + { + "file_path": "../../rgb/hdr_front_04091.png", + "transform_matrix": [ + [ + -0.09976053237915039, + -0.007121489383280277, + -0.9949859976768494, + -17.93052101135254 + ], + [ + 0.9950041174888611, + -0.004574493505060673, + -0.09972959011793137, + -11.435800552368164 + ], + [ + -0.0038413323927670717, + -0.9999642372131348, + 0.007542264182120562, + -0.5118809938430786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4091, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_995119094", + "mask_path": "../../mask/hdr_front_04091.png" + }, + { + "file_path": "../../rgb/hdr_front_04092.png", + "transform_matrix": [ + [ + -0.08696598559617996, + 0.0012384704314172268, + -0.9962105751037598, + -17.868410110473633 + ], + [ + 0.9962109327316284, + -0.0008369666174985468, + -0.08696704357862473, + -11.43378734588623 + ], + [ + -0.0009415005333721638, + -0.999998927116394, + -0.0011609899811446667, + -0.5023204684257507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4092, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_95119476", + "mask_path": "../../mask/hdr_front_04092.png" + }, + { + "file_path": "../../rgb/hdr_front_04093.png", + "transform_matrix": [ + [ + -0.07901094853878021, + 0.005712735932320356, + -0.9968574047088623, + -17.79490089416504 + ], + [ + 0.9968735575675964, + 0.001065969467163086, + -0.0790061354637146, + -11.425285339355469 + ], + [ + 0.0006112801493145525, + -0.9999831914901733, + -0.005779098719358444, + -0.5004091262817383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4093, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_195118427", + "mask_path": "../../mask/hdr_front_04093.png" + }, + { + "file_path": "../../rgb/hdr_front_04094.png", + "transform_matrix": [ + [ + -0.08073706924915314, + 0.0004859884502366185, + -0.9967353343963623, + -17.717002868652344 + ], + [ + 0.9967267513275146, + -0.004135139286518097, + -0.08073839545249939, + -11.40855884552002 + ], + [ + -0.004160875920206308, + -0.9999913573265076, + -0.00015053863171488047, + -0.5097730755805969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4094, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_295118093", + "mask_path": "../../mask/hdr_front_04094.png" + }, + { + "file_path": "../../rgb/hdr_front_04095.png", + "transform_matrix": [ + [ + -0.08409503102302551, + -0.001118672313168645, + -0.9964571595191956, + -17.6584529876709 + ], + [ + 0.9964240193367004, + -0.00831905473023653, + -0.08408290892839432, + -11.398539543151855 + ], + [ + -0.00819551944732666, + -0.9999648332595825, + 0.0018142631743103266, + -0.5199212431907654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4095, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_395118474", + "mask_path": "../../mask/hdr_front_04095.png" + }, + { + "file_path": "../../rgb/hdr_front_04096.png", + "transform_matrix": [ + [ + -0.08178942650556564, + -0.003754330798983574, + -0.996642529964447, + -17.59406852722168 + ], + [ + 0.996599555015564, + -0.01033136248588562, + -0.08174698054790497, + -11.394559860229492 + ], + [ + -0.009989770129323006, + -0.9999396204948425, + 0.004586560185998678, + -0.5200263261795044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4096, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_495119571", + "mask_path": "../../mask/hdr_front_04096.png" + }, + { + "file_path": "../../rgb/hdr_front_04097.png", + "transform_matrix": [ + [ + -0.07268309593200684, + -0.008027247153222561, + -0.9973227977752686, + -17.52517318725586 + ], + [ + 0.9972832202911377, + -0.012584060430526733, + -0.07257893681526184, + -11.395270347595215 + ], + [ + -0.011967756785452366, + -0.9998886585235596, + 0.008920087479054928, + -0.5151937007904053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4097, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_595119476", + "mask_path": "../../mask/hdr_front_04097.png" + }, + { + "file_path": "../../rgb/hdr_front_04098.png", + "transform_matrix": [ + [ + -0.060478582978248596, + -0.0017485335702076554, + -0.9981680512428284, + -17.468215942382812 + ], + [ + 0.9981264472007751, + -0.009394441731274128, + -0.06045961007475853, + -11.396602630615234 + ], + [ + -0.009271513670682907, + -0.9999544024467468, + 0.002313419943675399, + -0.5072810053825378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4098, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_695120334", + "mask_path": "../../mask/hdr_front_04098.png" + }, + { + "file_path": "../../rgb/hdr_front_04099.png", + "transform_matrix": [ + [ + -0.05021851137280464, + 0.001666572061367333, + -0.9987369179725647, + -17.401975631713867 + ], + [ + 0.998707115650177, + -0.007819464430212975, + -0.050230056047439575, + -11.392959594726562 + ], + [ + -0.00789329782128334, + -0.9999681115150452, + -0.0012717354111373425, + -0.5023024082183838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4099, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_795119285", + "mask_path": "../../mask/hdr_front_04099.png" + }, + { + "file_path": "../../rgb/hdr_front_04100.png", + "transform_matrix": [ + [ + -0.048096854239702225, + -0.0013581066159531474, + -0.9988417625427246, + -17.325592041015625 + ], + [ + 0.998751699924469, + -0.013560734689235687, + -0.048074085265398026, + -11.385551452636719 + ], + [ + -0.013479739427566528, + -0.9999072551727295, + 0.0020086399745196104, + -0.5088839530944824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4100, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_895119667", + "mask_path": "../../mask/hdr_front_04100.png" + }, + { + "file_path": "../../rgb/hdr_front_04101.png", + "transform_matrix": [ + [ + -0.05239370837807655, + -1.0537632078921888e-05, + -0.9986264705657959, + -17.259519577026367 + ], + [ + 0.9984019994735718, + -0.02120223455131054, + -0.05238170549273491, + -11.378438949584961 + ], + [ + -0.02117255888879299, + -0.999775230884552, + 0.001121384440921247, + -0.5169119834899902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4101, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_995118379", + "mask_path": "../../mask/hdr_front_04101.png" + }, + { + "file_path": "../../rgb/hdr_front_04102.png", + "transform_matrix": [ + [ + -0.05235894024372101, + -0.003723500296473503, + -0.9986214637756348, + -17.198097229003906 + ], + [ + 0.9983835816383362, + -0.022333569824695587, + -0.05226320028305054, + -11.375999450683594 + ], + [ + -0.022108174860477448, + -0.9997437000274658, + 0.004886843729764223, + -0.5217503905296326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4102, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_95118999", + "mask_path": "../../mask/hdr_front_04102.png" + }, + { + "file_path": "../../rgb/hdr_front_04103.png", + "transform_matrix": [ + [ + -0.046551287174224854, + -0.008105061016976833, + -0.9988830089569092, + -17.124805450439453 + ], + [ + 0.9986889362335205, + -0.021696070209145546, + -0.046366188675165176, + -11.377862930297852 + ], + [ + -0.021296033635735512, + -0.999731719493866, + 0.009104413911700249, + -0.5200883746147156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4103, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_195118427", + "mask_path": "../../mask/hdr_front_04103.png" + }, + { + "file_path": "../../rgb/hdr_front_04104.png", + "transform_matrix": [ + [ + -0.03334624692797661, + -0.004111264832317829, + -0.9994353652000427, + -17.062942504882812 + ], + [ + 0.9991565942764282, + -0.024111563339829445, + -0.0332377590239048, + -11.383374214172363 + ], + [ + -0.023961300030350685, + -0.9997008442878723, + 0.004911827854812145, + -0.5113663673400879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4104, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_295118808", + "mask_path": "../../mask/hdr_front_04104.png" + }, + { + "file_path": "../../rgb/hdr_front_04105.png", + "transform_matrix": [ + [ + -0.02193247526884079, + -0.0006078647566027939, + -0.9997592568397522, + -17.002479553222656 + ], + [ + 0.9995453357696533, + -0.020709194242954254, + -0.021915191784501076, + -11.382585525512695 + ], + [ + -0.020690886303782463, + -0.9997854232788086, + 0.00106179213616997, + -0.5037321448326111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4105, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_395118951", + "mask_path": "../../mask/hdr_front_04105.png" + }, + { + "file_path": "../../rgb/hdr_front_04106.png", + "transform_matrix": [ + [ + -0.018237778916954994, + -0.003684088820591569, + -0.9998268485069275, + -16.927034378051758 + ], + [ + 0.9995900988578796, + -0.022136062383651733, + -0.018151897937059402, + -11.377854347229004 + ], + [ + -0.022065356373786926, + -0.9997482299804688, + 0.004086291883140802, + -0.5057456493377686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4106, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_495118618", + "mask_path": "../../mask/hdr_front_04106.png" + }, + { + "file_path": "../../rgb/hdr_front_04107.png", + "transform_matrix": [ + [ + -0.022543393075466156, + -0.0072777364403009415, + -0.9997193813323975, + -16.857648849487305 + ], + [ + 0.999437153339386, + -0.025012819096446037, + -0.022354943677783012, + -11.374099731445312 + ], + [ + -0.02484310418367386, + -0.9996606707572937, + 0.007837514393031597, + -0.5187368988990784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4107, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_595119237", + "mask_path": "../../mask/hdr_front_04107.png" + }, + { + "file_path": "../../rgb/hdr_front_04108.png", + "transform_matrix": [ + [ + -0.02372019924223423, + -0.009452208876609802, + -0.9996739625930786, + -16.79598045349121 + ], + [ + 0.9993935227394104, + -0.025723058730363846, + -0.023470325395464897, + -11.37253475189209 + ], + [ + -0.025492822751402855, + -0.999624490737915, + 0.010056632570922375, + -0.5231971144676208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4108, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_695118665", + "mask_path": "../../mask/hdr_front_04108.png" + }, + { + "file_path": "../../rgb/hdr_front_04109.png", + "transform_matrix": [ + [ + -0.018389957025647163, + -0.013498284853994846, + -0.9997397661209106, + -16.729246139526367 + ], + [ + 0.9994916319847107, + -0.026292981579899788, + -0.01803039200603962, + -11.376362800598145 + ], + [ + -0.02604275941848755, + -0.9995632767677307, + 0.013974949717521667, + -0.5228511691093445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4109, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_795120000", + "mask_path": "../../mask/hdr_front_04109.png" + }, + { + "file_path": "../../rgb/hdr_front_04110.png", + "transform_matrix": [ + [ + -0.007497607264667749, + -0.009994203224778175, + -0.9999219179153442, + -16.669816970825195 + ], + [ + 0.999570369720459, + -0.0284089595079422, + -0.00721102487295866, + -11.382110595703125 + ], + [ + -0.028334667906165123, + -0.9995465278625488, + 0.010202908888459206, + -0.5154237151145935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4110, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_895121335", + "mask_path": "../../mask/hdr_front_04110.png" + }, + { + "file_path": "../../rgb/hdr_front_04111.png", + "transform_matrix": [ + [ + 1.364613763144007e-05, + -0.004759002476930618, + -0.9999887347221375, + -16.612281799316406 + ], + [ + 0.9997789263725281, + -0.021024227142333984, + 0.00011369951243977994, + -11.382346153259277 + ], + [ + -0.02102453075349331, + -0.9997676610946655, + 0.004757662769407034, + -0.5091937780380249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4111, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_995119333", + "mask_path": "../../mask/hdr_front_04111.png" + }, + { + "file_path": "../../rgb/hdr_front_04112.png", + "transform_matrix": [ + [ + -0.00135668960865587, + -0.002975278301164508, + -0.999994695186615, + -16.538217544555664 + ], + [ + 0.9998455047607422, + -0.017524737864732742, + -0.0013043457875028253, + -11.376326560974121 + ], + [ + -0.017520761117339134, + -0.9998420476913452, + 0.0029985946603119373, + -0.5098084807395935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4112, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_95118284", + "mask_path": "../../mask/hdr_front_04112.png" + }, + { + "file_path": "../../rgb/hdr_front_04113.png", + "transform_matrix": [ + [ + -0.010653754696249962, + -0.003893309971317649, + -0.9999357461929321, + -16.469871520996094 + ], + [ + 0.9996837377548218, + -0.022820165380835533, + -0.010562218725681305, + -11.370424270629883 + ], + [ + -0.022777575999498367, + -0.9997320175170898, + 0.00413519935682416, + -0.5202253460884094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4113, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_195118427", + "mask_path": "../../mask/hdr_front_04113.png" + }, + { + "file_path": "../../rgb/hdr_front_04114.png", + "transform_matrix": [ + [ + -0.015736786648631096, + -0.00807272270321846, + -0.9998435974121094, + -16.410076141357422 + ], + [ + 0.999553382396698, + -0.025535989552736282, + -0.015526042319834232, + -11.37158489227295 + ], + [ + -0.02540665492415428, + -0.9996412992477417, + 0.008470971137285233, + -0.5228806734085083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4114, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_295118570", + "mask_path": "../../mask/hdr_front_04114.png" + }, + { + "file_path": "../../rgb/hdr_front_04115.png", + "transform_matrix": [ + [ + -0.01414586417376995, + -0.012606172822415829, + -0.9998204708099365, + -16.343364715576172 + ], + [ + 0.9996006488800049, + -0.024645689874887466, + -0.01383200939744711, + -11.374932289123535 + ], + [ + -0.024466892704367638, + -0.9996167421340942, + 0.012949771247804165, + -0.5200800895690918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4115, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_395118236", + "mask_path": "../../mask/hdr_front_04115.png" + }, + { + "file_path": "../../rgb/hdr_front_04116.png", + "transform_matrix": [ + [ + -0.007623002398759127, + -0.007380770985037088, + -0.9999437928199768, + -16.286439895629883 + ], + [ + 0.9997092485427856, + -0.022930879145860672, + -0.007451958488672972, + -11.378690719604492 + ], + [ + -0.022874586284160614, + -0.9997098445892334, + 0.00755342748016119, + -0.5124106407165527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4116, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_495117902", + "mask_path": "../../mask/hdr_front_04116.png" + }, + { + "file_path": "../../rgb/hdr_front_04117.png", + "transform_matrix": [ + [ + -0.004877798724919558, + -0.004397630225867033, + -0.9999784231185913, + -16.228256225585938 + ], + [ + 0.9997923970222473, + -0.01980104111135006, + -0.004789811559021473, + -11.378284454345703 + ], + [ + -0.019779548048973083, + -0.9997943043708801, + 0.004493303131312132, + -0.5070908665657043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4117, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_595118284", + "mask_path": "../../mask/hdr_front_04117.png" + }, + { + "file_path": "../../rgb/hdr_front_04118.png", + "transform_matrix": [ + [ + -0.009711707010865211, + -0.008324905298650265, + -0.9999181628227234, + -16.159330368041992 + ], + [ + 0.9997183680534363, + -0.02173575758934021, + -0.009528802707791328, + -11.374604225158691 + ], + [ + -0.021654654294252396, + -0.9997291564941406, + 0.008533651009202003, + -0.5136014223098755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4118, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_695117950", + "mask_path": "../../mask/hdr_front_04118.png" + }, + { + "file_path": "../../rgb/hdr_front_04119.png", + "transform_matrix": [ + [ + -0.019037913531064987, + -0.010091979056596756, + -0.9997678399085999, + -16.09634017944336 + ], + [ + 0.9995549917221069, + -0.02315991371870041, + -0.018800076097249985, + -11.368925094604492 + ], + [ + -0.022964805364608765, + -0.9996808171272278, + 0.010528404265642166, + -0.5274680256843567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4119, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_795117855", + "mask_path": "../../mask/hdr_front_04119.png" + }, + { + "file_path": "../../rgb/hdr_front_04120.png", + "transform_matrix": [ + [ + -0.022970208898186684, + -0.011332969181239605, + -0.9996718764305115, + -16.036605834960938 + ], + [ + 0.9994639158248901, + -0.0235944502055645, + -0.022697947919368744, + -11.366408348083496 + ], + [ + -0.023329472169280052, + -0.999657392501831, + 0.011868863366544247, + -0.5269941091537476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4120, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_895118713", + "mask_path": "../../mask/hdr_front_04120.png" + }, + { + "file_path": "../../rgb/hdr_front_04121.png", + "transform_matrix": [ + [ + -0.01847044937312603, + -0.013707422651350498, + -0.999735414981842, + -15.96912956237793 + ], + [ + 0.9995502233505249, + -0.023881880566477776, + -0.018139583989977837, + -11.37100887298584 + ], + [ + -0.023626914247870445, + -0.9996208548545837, + 0.014142366126179695, + -0.5219136476516724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4121, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_995115518", + "mask_path": "../../mask/hdr_front_04121.png" + }, + { + "file_path": "../../rgb/hdr_front_04122.png", + "transform_matrix": [ + [ + -0.0054201907478272915, + -0.008396988734602928, + -0.999950110912323, + -15.913884162902832 + ], + [ + 0.9997514486312866, + -0.02167532779276371, + -0.0052370973862707615, + -11.37946605682373 + ], + [ + -0.021630266681313515, + -0.9997298717498779, + 0.008512385189533234, + -0.5168476700782776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4122, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_95117568", + "mask_path": "../../mask/hdr_front_04122.png" + }, + { + "file_path": "../../rgb/hdr_front_04123.png", + "transform_matrix": [ + [ + 0.006511605344712734, + -0.0027548782527446747, + -0.9999750256538391, + -15.857123374938965 + ], + [ + 0.9998459219932556, + -0.01628359779715538, + 0.006555626168847084, + -11.378905296325684 + ], + [ + -0.016301248222589493, + -0.9998636245727539, + 0.002648421563208103, + -0.5116392374038696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4123, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_195117235", + "mask_path": "../../mask/hdr_front_04123.png" + }, + { + "file_path": "../../rgb/hdr_front_04124.png", + "transform_matrix": [ + [ + 0.010602813214063644, + -0.003350241342559457, + -0.9999381899833679, + -15.783280372619629 + ], + [ + 0.9997809529304504, + -0.018010366708040237, + 0.010661488398909569, + -11.374836921691895 + ], + [ + -0.01804497092962265, + -0.9998322129249573, + 0.0031585469841957092, + -0.5135471820831299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4124, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_295116662", + "mask_path": "../../mask/hdr_front_04124.png" + }, + { + "file_path": "../../rgb/hdr_front_04125.png", + "transform_matrix": [ + [ + 0.00506798829883337, + -0.00838811881840229, + -0.9999520182609558, + -15.718932151794434 + ], + [ + 0.9997084736824036, + -0.023565396666526794, + 0.005264433100819588, + -11.371493339538574 + ], + [ + -0.02360842376947403, + -0.9996870756149292, + 0.00826624408364296, + -0.5283117890357971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4125, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_395118236", + "mask_path": "../../mask/hdr_front_04125.png" + }, + { + "file_path": "../../rgb/hdr_front_04126.png", + "transform_matrix": [ + [ + 0.00016518084157723933, + -0.009913928806781769, + -0.9999508857727051, + -15.66352367401123 + ], + [ + 0.999727189540863, + -0.023353051394224167, + 0.00039667607052251697, + -11.368215560913086 + ], + [ + -0.023355834186077118, + -0.9996781349182129, + 0.009907366707921028, + -0.5301809310913086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4126, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_495118618", + "mask_path": "../../mask/hdr_front_04126.png" + }, + { + "file_path": "../../rgb/hdr_front_04127.png", + "transform_matrix": [ + [ + -0.0013215667568147182, + -0.01033964566886425, + -0.9999456405639648, + -15.598031997680664 + ], + [ + 0.9997529983520508, + -0.02219872735440731, + -0.0010917726904153824, + -11.369136810302734 + ], + [ + -0.02218623273074627, + -0.9997000694274902, + 0.010366429574787617, + -0.5236788988113403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4127, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_595118999", + "mask_path": "../../mask/hdr_front_04127.png" + }, + { + "file_path": "../../rgb/hdr_front_04128.png", + "transform_matrix": [ + [ + 0.001871647429652512, + -0.0057566482573747635, + -0.999981701374054, + -15.538944244384766 + ], + [ + 0.9997150897979736, + -0.023784227669239044, + 0.002008068608120084, + -11.370892524719238 + ], + [ + -0.023795347660779953, + -0.9997005462646484, + 0.005710490979254246, + -0.5138327479362488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4128, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_695119142", + "mask_path": "../../mask/hdr_front_04128.png" + }, + { + "file_path": "../../rgb/hdr_front_04129.png", + "transform_matrix": [ + [ + 0.006348986644297838, + 0.0015287741553038359, + -0.9999787211418152, + -15.484899520874023 + ], + [ + 0.9998049139976501, + -0.01871514320373535, + 0.006319271866232157, + -11.37101936340332 + ], + [ + -0.018705081194639206, + -0.9998237490653992, + -0.001647298107855022, + -0.5065550804138184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4129, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_795118570", + "mask_path": "../../mask/hdr_front_04129.png" + }, + { + "file_path": "../../rgb/hdr_front_04130.png", + "transform_matrix": [ + [ + 0.005256909877061844, + 0.0020592110231518745, + -0.9999840259552002, + -15.417032241821289 + ], + [ + 0.9998301267623901, + -0.01767602562904358, + 0.005219702143222094, + -11.367197036743164 + ], + [ + -0.017664991319179535, + -0.9998416304588318, + -0.002151782624423504, + -0.5068355798721313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4130, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_895118236", + "mask_path": "../../mask/hdr_front_04130.png" + }, + { + "file_path": "../../rgb/hdr_front_04131.png", + "transform_matrix": [ + [ + -0.004376943223178387, + -0.002564326161518693, + -0.9999871253967285, + -15.35135269165039 + ], + [ + 0.9997101426124573, + -0.023684360086917877, + -0.004314995836466551, + -11.361908912658691 + ], + [ + -0.023672986775636673, + -0.9997161626815796, + 0.002667248249053955, + -0.5170696973800659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4131, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_995117187", + "mask_path": "../../mask/hdr_front_04131.png" + }, + { + "file_path": "../../rgb/hdr_front_04132.png", + "transform_matrix": [ + [ + -0.012127473950386047, + -0.002129224594682455, + -0.9999241828918457, + -15.297018051147461 + ], + [ + 0.9995749592781067, + -0.026539230719208717, + -0.012066724710166454, + -11.357189178466797 + ], + [ + -0.026511525735259056, + -0.9996455311775208, + 0.0024501734878867865, + -0.5269154906272888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4132, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_95118522", + "mask_path": "../../mask/hdr_front_04132.png" + }, + { + "file_path": "../../rgb/hdr_front_04133.png", + "transform_matrix": [ + [ + -0.018642893061041832, + -0.0028233053162693977, + -0.9998222589492798, + -15.235404014587402 + ], + [ + 0.9995110630989075, + -0.02515682578086853, + -0.018566051498055458, + -11.354927062988281 + ], + [ + -0.02509993501007557, + -0.9996795654296875, + 0.0032909209839999676, + -0.5247380137443542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4133, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_195117473", + "mask_path": "../../mask/hdr_front_04133.png" + }, + { + "file_path": "../../rgb/hdr_front_04134.png", + "transform_matrix": [ + [ + -0.021567652001976967, + -0.006736395880579948, + -0.999744713306427, + -15.174052238464355 + ], + [ + 0.9995064735412598, + -0.022992193698883057, + -0.021407587453722954, + -11.352651596069336 + ], + [ + -0.02284211292862892, + -0.9997130036354065, + 0.00722895935177803, + -0.5186328887939453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4134, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_295118570", + "mask_path": "../../mask/hdr_front_04134.png" + }, + { + "file_path": "../../rgb/hdr_front_04136.png", + "transform_matrix": [ + [ + -0.019805582240223885, + 0.00044320299639366567, + -0.9998037815093994, + -15.073054313659668 + ], + [ + 0.9996902942657471, + -0.015063062310218811, + -0.019810011610388756, + -11.349026679992676 + ], + [ + -0.015068885870277882, + -0.9998863935470581, + -0.00014473301416728646, + -0.5142839550971985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4136, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_495121240", + "mask_path": "../../mask/hdr_front_04136.png" + }, + { + "file_path": "../../rgb/hdr_front_04137.png", + "transform_matrix": [ + [ + -0.02625446580350399, + -0.0006397300167009234, + -0.9996551275253296, + -15.002309799194336 + ], + [ + 0.99955153465271, + -0.01442281249910593, + -0.026242515072226524, + -11.341106414794922 + ], + [ + -0.014401048421859741, + -0.9998958110809326, + 0.00101810647174716, + -0.5181912779808044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4137, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_595119476", + "mask_path": "../../mask/hdr_front_04137.png" + }, + { + "file_path": "../../rgb/hdr_front_04138.png", + "transform_matrix": [ + [ + -0.041405949741601944, + -0.003803778439760208, + -0.9991351962089539, + -14.93723201751709 + ], + [ + 0.9990100264549255, + -0.016440803185105324, + -0.04133817180991173, + -11.326902389526367 + ], + [ + -0.016269342973828316, + -0.9998575448989868, + 0.004480759147554636, + -0.523466169834137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4138, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_695119619", + "mask_path": "../../mask/hdr_front_04138.png" + }, + { + "file_path": "../../rgb/hdr_front_04139.png", + "transform_matrix": [ + [ + -0.055375512689352036, + -0.005083935335278511, + -0.9984527230262756, + -14.883732795715332 + ], + [ + 0.9983161091804504, + -0.0175813976675272, + -0.05527842789888382, + -11.317534446716309 + ], + [ + -0.017273157835006714, + -0.9998325705528259, + 0.006048953626304865, + -0.5288796424865723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4139, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_795118808", + "mask_path": "../../mask/hdr_front_04139.png" + }, + { + "file_path": "../../rgb/hdr_front_04140.png", + "transform_matrix": [ + [ + -0.06549861282110214, + -0.009731779806315899, + -0.9978052377700806, + -14.822196960449219 + ], + [ + 0.9977553486824036, + -0.014604809693992138, + -0.0653528943657875, + -11.310279846191406 + ], + [ + -0.013936754316091537, + -0.9998460412025452, + 0.010666530579328537, + -0.5304797291755676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4140, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_895119905", + "mask_path": "../../mask/hdr_front_04140.png" + }, + { + "file_path": "../../rgb/hdr_front_04141.png", + "transform_matrix": [ + [ + -0.06654712557792664, + -0.014175831340253353, + -0.9976826310157776, + -14.761655807495117 + ], + [ + 0.997722327709198, + -0.012003645300865173, + -0.06637921184301376, + -11.304879188537598 + ], + [ + -0.011034845374524593, + -0.99982750415802, + 0.014942350797355175, + -0.5222774744033813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4141, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_995119094", + "mask_path": "../../mask/hdr_front_04141.png" + }, + { + "file_path": "../../rgb/hdr_left_03878.png", + "transform_matrix": [ + [ + -0.9869287610054016, + 0.0018464871682226658, + -0.16114653646945953, + -15.237924575805664 + ], + [ + 0.16115516424179077, + 0.0063882796093821526, + -0.9869083166122437, + -11.240915298461914 + ], + [ + -0.0007928652339614928, + -0.9999779462814331, + -0.006602345034480095, + -0.5185297727584839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3878, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549369_595117568", + "mask_path": "../../mask/hdr_left_03878.png" + }, + { + "file_path": "../../rgb/hdr_left_03879.png", + "transform_matrix": [ + [ + -0.9872934818267822, + 0.002529590856283903, + -0.15888679027557373, + -15.308601379394531 + ], + [ + 0.158902108669281, + 0.007935646921396255, + -0.9872623682022095, + -11.243698120117188 + ], + [ + -0.0012365012662485242, + -0.9999653697013855, + -0.008236766792833805, + -0.5270630717277527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3879, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549369_695116758", + "mask_path": "../../mask/hdr_left_03879.png" + }, + { + "file_path": "../../rgb/hdr_left_03880.png", + "transform_matrix": [ + [ + -0.9862499237060547, + 0.0024212603457272053, + -0.16524283587932587, + -15.397760391235352 + ], + [ + 0.16525903344154358, + 0.010127104818820953, + -0.9861981868743896, + -11.238134384155273 + ], + [ + -0.000714411202352494, + -0.9999458193778992, + -0.01038799062371254, + -0.518500804901123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3880, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549369_795116662", + "mask_path": "../../mask/hdr_left_03880.png" + }, + { + "file_path": "../../rgb/hdr_left_03881.png", + "transform_matrix": [ + [ + -0.983892023563385, + 0.00012555881403386593, + -0.17876355350017548, + -15.4710111618042 + ], + [ + 0.178758442401886, + 0.008272134698927402, + -0.9838581085205078, + -11.232941627502441 + ], + [ + 0.001355223124846816, + -0.9999658465385437, + -0.008161327801644802, + -0.5032858848571777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3881, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549369_895116806", + "mask_path": "../../mask/hdr_left_03881.png" + }, + { + "file_path": "../../rgb/hdr_left_03882.png", + "transform_matrix": [ + [ + -0.9821516871452332, + -0.003034409135580063, + -0.1880660504102707, + -15.54233169555664 + ], + [ + 0.1880568414926529, + 0.0030815941281616688, + -0.9821532964706421, + -11.233014106750488 + ], + [ + 0.0035597970709204674, + -0.9999906420707703, + -0.0024559469893574715, + -0.5002398490905762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3882, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549369_995116472", + "mask_path": "../../mask/hdr_left_03882.png" + }, + { + "file_path": "../../rgb/hdr_left_03883.png", + "transform_matrix": [ + [ + -0.9820672273635864, + 0.0005306053208187222, + -0.18853046000003815, + -15.638030052185059 + ], + [ + 0.18853098154067993, + 0.0043080211617052555, + -0.9820577502250671, + -11.236895561218262 + ], + [ + 0.00029110716423019767, + -0.9999906420707703, + -0.004330797120928764, + -0.5112451910972595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3883, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_95117092", + "mask_path": "../../mask/hdr_left_03883.png" + }, + { + "file_path": "../../rgb/hdr_left_03884.png", + "transform_matrix": [ + [ + -0.9828901290893555, + 0.0025144843384623528, + -0.18417534232139587, + -15.715936660766602 + ], + [ + 0.18419229984283447, + 0.011928364634513855, + -0.9828178286552429, + -11.23837947845459 + ], + [ + -0.00027436952223069966, + -0.9999257326126099, + -0.012187420390546322, + -0.5223919749259949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3884, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_195117473", + "mask_path": "../../mask/hdr_left_03884.png" + }, + { + "file_path": "../../rgb/hdr_left_03885.png", + "transform_matrix": [ + [ + -0.9826562404632568, + 0.003570915898308158, + -0.18540190160274506, + -15.792829513549805 + ], + [ + 0.1854347288608551, + 0.014850839041173458, + -0.9825443029403687, + -11.23281192779541 + ], + [ + -0.0007552110473625362, + -0.9998833537101746, + -0.01525543350726366, + -0.5187940001487732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3885, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_295116901", + "mask_path": "../../mask/hdr_left_03885.png" + }, + { + "file_path": "../../rgb/hdr_left_03886.png", + "transform_matrix": [ + [ + -0.9807807207107544, + 0.007356698624789715, + -0.19497424364089966, + -15.883058547973633 + ], + [ + 0.19506144523620605, + 0.014006937853991985, + -0.9806909561157227, + -11.224297523498535 + ], + [ + -0.004483656957745552, + -0.9998748302459717, + -0.015172739513218403, + -0.5083413124084473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3886, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_395117044", + "mask_path": "../../mask/hdr_left_03886.png" + }, + { + "file_path": "../../rgb/hdr_left_03887.png", + "transform_matrix": [ + [ + -0.9779800176620483, + 0.001249768421985209, + -0.2086947113275528, + -15.945643424987793 + ], + [ + 0.2086976021528244, + 0.00872880406677723, + -0.9779412746429443, + -11.216083526611328 + ], + [ + 0.0005994547391310334, + -0.9999611377716064, + -0.0087974164634943, + -0.5014262795448303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3887, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_495116949", + "mask_path": "../../mask/hdr_left_03887.png" + }, + { + "file_path": "../../rgb/hdr_left_03888.png", + "transform_matrix": [ + [ + -0.9764699935913086, + -0.0006935495184734464, + -0.2156522572040558, + -16.023345947265625 + ], + [ + 0.21564006805419922, + 0.007967403158545494, + -0.9764404296875, + -11.212748527526855 + ], + [ + 0.002395397750660777, + -0.9999680519104004, + -0.00763037009164691, + -0.5027725100517273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3888, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_595117807", + "mask_path": "../../mask/hdr_left_03888.png" + }, + { + "file_path": "../../rgb/hdr_left_03889.png", + "transform_matrix": [ + [ + -0.9770398736000061, + 0.00631851376965642, + -0.21296264231204987, + -16.120426177978516 + ], + [ + 0.2130281925201416, + 0.012713948264718056, + -0.9769634008407593, + -11.213772773742676 + ], + [ + -0.003465360263362527, + -0.9998993277549744, + -0.01376805454492569, + -0.5178965926170349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3889, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_695116996", + "mask_path": "../../mask/hdr_left_03889.png" + }, + { + "file_path": "../../rgb/hdr_left_03890.png", + "transform_matrix": [ + [ + -0.9777927994728088, + 0.007800494786351919, + -0.20942865312099457, + -16.192869186401367 + ], + [ + 0.20953772962093353, + 0.017832383513450623, + -0.9776378870010376, + -11.21068286895752 + ], + [ + -0.0038914482574909925, + -0.9998105764389038, + -0.01907086931169033, + -0.5271823406219482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3890, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_795117616", + "mask_path": "../../mask/hdr_left_03890.png" + }, + { + "file_path": "../../rgb/hdr_left_03891.png", + "transform_matrix": [ + [ + -0.9772014617919922, + 0.007343187462538481, + -0.21218708157539368, + -16.27825164794922 + ], + [ + 0.21229895949363708, + 0.02185909077525139, + -0.976960301399231, + -11.201350212097168 + ], + [ + -0.0025357857812196016, + -0.9997341632843018, + -0.022919686511158943, + -0.5201728343963623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3891, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_895117521", + "mask_path": "../../mask/hdr_left_03891.png" + }, + { + "file_path": "../../rgb/hdr_left_03892.png", + "transform_matrix": [ + [ + -0.9746140837669373, + 0.008241241797804832, + -0.22373946011066437, + -16.3618106842041 + ], + [ + 0.22387361526489258, + 0.023343592882156372, + -0.9743385910987854, + -11.18930435180664 + ], + [ + -0.0028068763203918934, + -0.9996935129165649, + -0.024595990777015686, + -0.5033516883850098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3892, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_995116710", + "mask_path": "../../mask/hdr_left_03892.png" + }, + { + "file_path": "../../rgb/hdr_left_03893.png", + "transform_matrix": [ + [ + -0.9717219471931458, + 0.0032260464504361153, + -0.23610585927963257, + -16.423227310180664 + ], + [ + 0.23612576723098755, + 0.017569560557603836, + -0.9715636968612671, + -11.182878494262695 + ], + [ + 0.0010139674413949251, + -0.999840497970581, + -0.017834482714533806, + -0.4992256462574005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3893, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_95118522", + "mask_path": "../../mask/hdr_left_03893.png" + }, + { + "file_path": "../../rgb/hdr_left_03894.png", + "transform_matrix": [ + [ + -0.9709531664848328, + 0.005318669136613607, + -0.2392103672027588, + -16.50845718383789 + ], + [ + 0.2392655462026596, + 0.015829965472221375, + -0.9708250761032104, + -11.182379722595215 + ], + [ + -0.0013768055941909552, + -0.9998605847358704, + -0.016642726957798004, + -0.5033842921257019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3894, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_195116519", + "mask_path": "../../mask/hdr_left_03894.png" + }, + { + "file_path": "../../rgb/hdr_left_03895.png", + "transform_matrix": [ + [ + -0.972338855266571, + 0.008421346545219421, + -0.23342274129390717, + -16.59015655517578 + ], + [ + 0.23353083431720734, + 0.015703147277235985, + -0.9722225666046143, + -11.180617332458496 + ], + [ + -0.0045219529420137405, + -0.9998412728309631, + -0.017235416918992996, + -0.5184977054595947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3895, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_295116901", + "mask_path": "../../mask/hdr_left_03895.png" + }, + { + "file_path": "../../rgb/hdr_left_03896.png", + "transform_matrix": [ + [ + -0.9732919335365295, + 0.008467741310596466, + -0.2294144481420517, + -16.662673950195312 + ], + [ + 0.22953477501869202, + 0.018220344558358192, + -0.9731298685073853, + -11.175662994384766 + ], + [ + -0.004060202278196812, + -0.9997982382774353, + -0.019677354022860527, + -0.5171223878860474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3896, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_395116567", + "mask_path": "../../mask/hdr_left_03896.png" + }, + { + "file_path": "../../rgb/hdr_left_03897.png", + "transform_matrix": [ + [ + -0.9728397130966187, + 0.01092417724430561, + -0.23122172057628632, + -16.74146842956543 + ], + [ + 0.23139165341854095, + 0.018353471532464027, + -0.9726875424385071, + -11.166935920715332 + ], + [ + -0.006382089573889971, + -0.9997720122337341, + -0.020382747054100037, + -0.5098455548286438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3897, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_495116710", + "mask_path": "../../mask/hdr_left_03897.png" + }, + { + "file_path": "../../rgb/hdr_left_03898.png", + "transform_matrix": [ + [ + -0.9712634086608887, + 0.007868580520153046, + -0.2378768026828766, + -16.80369758605957 + ], + [ + 0.23797857761383057, + 0.016690049320459366, + -0.9711269736289978, + -11.159013748168945 + ], + [ + -0.0036712156143039465, + -0.9998297691345215, + -0.018082989379763603, + -0.5041266083717346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3898, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_595116376", + "mask_path": "../../mask/hdr_left_03898.png" + }, + { + "file_path": "../../rgb/hdr_left_03899.png", + "transform_matrix": [ + [ + -0.9702575206756592, + 0.004039640072733164, + -0.2420414388179779, + -16.869152069091797 + ], + [ + 0.24207355082035065, + 0.0125825684517622, + -0.9701762795448303, + -11.155332565307617 + ], + [ + -0.0008736613090150058, + -0.9999127388000488, + -0.013186216354370117, + -0.4999958574771881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3899, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_695117712", + "mask_path": "../../mask/hdr_left_03899.png" + }, + { + "file_path": "../../rgb/hdr_left_03900.png", + "transform_matrix": [ + [ + -0.9713929295539856, + 0.005988387390971184, + -0.2374025583267212, + -16.958316802978516 + ], + [ + 0.2374652475118637, + 0.014108560979366302, + -0.9712935090065002, + -11.155157089233398 + ], + [ + -0.002467075362801552, + -0.9998826384544373, + -0.01512698270380497, + -0.5068854689598083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3900, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_795116901", + "mask_path": "../../mask/hdr_left_03900.png" + }, + { + "file_path": "../../rgb/hdr_left_03901.png", + "transform_matrix": [ + [ + -0.9742443561553955, + 0.007148223929107189, + -0.22538131475448608, + -17.035778045654297 + ], + [ + 0.2254810631275177, + 0.01991802081465721, + -0.9740438461303711, + -11.156418800354004 + ], + [ + -0.0024735345505177975, + -0.9997761249542236, + -0.021016806364059448, + -0.5165430903434753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3901, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_895117282", + "mask_path": "../../mask/hdr_left_03901.png" + }, + { + "file_path": "../../rgb/hdr_left_03902.png", + "transform_matrix": [ + [ + -0.9766736030578613, + 0.008260824717581272, + -0.21456991136074066, + -17.10685157775879 + ], + [ + 0.21469715237617493, + 0.020384665578603745, + -0.976468026638031, + -11.15465259552002 + ], + [ + -0.0036924942396581173, + -0.9997581243515015, + -0.0216827392578125, + -0.5194259285926819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3902, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_995116233", + "mask_path": "../../mask/hdr_left_03902.png" + }, + { + "file_path": "../../rgb/hdr_left_03903.png", + "transform_matrix": [ + [ + -0.9778280854225159, + 0.010610992088913918, + -0.2091398537158966, + -17.19502830505371 + ], + [ + 0.20931072533130646, + 0.018956037238240242, + -0.977665364742279, + -11.151049613952637 + ], + [ + -0.0064095379784703255, + -0.9997640252113342, + -0.020756740123033524, + -0.5150134563446045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3903, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_95116853", + "mask_path": "../../mask/hdr_left_03903.png" + }, + { + "file_path": "../../rgb/hdr_left_03904.png", + "transform_matrix": [ + [ + -0.9772368669509888, + 0.005722330417484045, + -0.2120736688375473, + -17.2609920501709 + ], + [ + 0.21213625371456146, + 0.01461919117718935, + -0.9771307706832886, + -11.145973205566406 + ], + [ + -0.002491119783371687, + -0.9998767971992493, + -0.015500323846936226, + -0.5065656900405884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3904, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_195116996", + "mask_path": "../../mask/hdr_left_03904.png" + }, + { + "file_path": "../../rgb/hdr_left_03905.png", + "transform_matrix": [ + [ + -0.9766675233840942, + 0.0018745784182101488, + -0.214748814702034, + -17.32731056213379 + ], + [ + 0.21475695073604584, + 0.007894550450146198, + -0.9766355752944946, + -11.14498233795166 + ], + [ + -0.00013543547538574785, + -0.999967098236084, + -0.008112926967442036, + -0.5043649673461914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3905, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_295116186", + "mask_path": "../../mask/hdr_left_03905.png" + }, + { + "file_path": "../../rgb/hdr_left_03906.png", + "transform_matrix": [ + [ + -0.977569580078125, + 0.004523706156760454, + -0.21056391298770905, + -17.422048568725586 + ], + [ + 0.21059736609458923, + 0.008999635465443134, + -0.9775314331054688, + -11.148124694824219 + ], + [ + -0.002527066273614764, + -0.9999492764472961, + -0.009750450029969215, + -0.5114378929138184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3906, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_395116329", + "mask_path": "../../mask/hdr_left_03906.png" + }, + { + "file_path": "../../rgb/hdr_left_03907.png", + "transform_matrix": [ + [ + -0.9800673127174377, + 0.009017270989716053, + -0.19846056401729584, + -17.503110885620117 + ], + [ + 0.1985694319009781, + 0.013430900871753693, + -0.9799947738647461, + -11.152159690856934 + ], + [ + -0.006171375513076782, + -0.999869167804718, + -0.014953739009797573, + -0.5211575031280518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3907, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_495117425", + "mask_path": "../../mask/hdr_left_03907.png" + }, + { + "file_path": "../../rgb/hdr_left_03908.png", + "transform_matrix": [ + [ + -0.981836199760437, + 0.007702589500695467, + -0.18957383930683136, + -17.569244384765625 + ], + [ + 0.18966107070446014, + 0.01286502368748188, + -0.9817652702331543, + -11.15538501739502 + ], + [ + -0.005123263690620661, + -0.9998876452445984, + -0.014092220924794674, + -0.5227299928665161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3908, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_595116615", + "mask_path": "../../mask/hdr_left_03908.png" + }, + { + "file_path": "../../rgb/hdr_left_03909.png", + "transform_matrix": [ + [ + -0.9825080633163452, + 0.007893367670476437, + -0.1860523372888565, + -17.656421661376953 + ], + [ + 0.186122864484787, + 0.009408828802406788, + -0.9824813604354858, + -11.155508041381836 + ], + [ + -0.006004552822560072, + -0.9999246597290039, + -0.010713383555412292, + -0.5211204290390015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3909, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_695116758", + "mask_path": "../../mask/hdr_left_03909.png" + }, + { + "file_path": "../../rgb/hdr_left_03910.png", + "transform_matrix": [ + [ + -0.9817062616348267, + 0.009397284127771854, + -0.19016961753368378, + -17.735593795776367 + ], + [ + 0.1902572363615036, + 0.009523107670247555, + -0.9816880226135254, + -11.153597831726074 + ], + [ + -0.007414195220917463, + -0.9999104738235474, + -0.011136792600154877, + -0.5091018080711365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3910, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_795116901", + "mask_path": "../../mask/hdr_left_03910.png" + }, + { + "file_path": "../../rgb/hdr_left_03911.png", + "transform_matrix": [ + [ + -0.9807137250900269, + 0.0024581297766417265, + -0.19543404877185822, + -17.7961483001709 + ], + [ + 0.19543930888175964, + 0.0021156298462301493, + -0.9807134866714478, + -11.154193878173828 + ], + [ + -0.001997255487367511, + -0.9999947547912598, + -0.0025552392471581697, + -0.5035591721534729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3911, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_895117759", + "mask_path": "../../mask/hdr_left_03911.png" + }, + { + "file_path": "../../rgb/hdr_left_03912.png", + "transform_matrix": [ + [ + -0.9811461567878723, + -0.001286282204091549, + -0.19326283037662506, + -17.88413429260254 + ], + [ + 0.193264901638031, + -0.0017454979242756963, + -0.9811450242996216, + -11.159995079040527 + ], + [ + 0.0009246887639164925, + -0.9999976754188538, + 0.0019611839670687914, + -0.504342257976532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3912, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_995116949", + "mask_path": "../../mask/hdr_left_03912.png" + }, + { + "file_path": "../../rgb/hdr_left_03913.png", + "transform_matrix": [ + [ + -0.983585000038147, + 0.00336568895727396, + -0.1804136335849762, + -17.976099014282227 + ], + [ + 0.18041779100894928, + 0.0009733813931234181, + -0.9835895299911499, + -11.168012619018555 + ], + [ + -0.0031348455231636763, + -0.9999939203262329, + -0.0015646334504708648, + -0.5134824514389038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3913, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_95117330", + "mask_path": "../../mask/hdr_left_03913.png" + }, + { + "file_path": "../../rgb/hdr_left_03914.png", + "transform_matrix": [ + [ + -0.9858005046844482, + 0.0047183954156935215, + -0.16785398125648499, + -18.03943634033203 + ], + [ + 0.16787563264369965, + 0.004641381092369556, + -0.9857971668243408, + -11.174416542053223 + ], + [ + -0.0038723067846149206, + -0.9999781250953674, + -0.005367578938603401, + -0.5216721296310425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3914, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_195117473", + "mask_path": "../../mask/hdr_left_03914.png" + }, + { + "file_path": "../../rgb/hdr_left_03915.png", + "transform_matrix": [ + [ + -0.9868757724761963, + 0.006561145186424255, + -0.16134768724441528, + -18.11589813232422 + ], + [ + 0.16137194633483887, + 0.0033499132841825485, + -0.9868879318237305, + -11.177062034606934 + ], + [ + -0.005934614688158035, + -0.999972939491272, + -0.0043647270649671555, + -0.5220472812652588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3915, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_295116186", + "mask_path": "../../mask/hdr_left_03915.png" + }, + { + "file_path": "../../rgb/hdr_left_03916.png", + "transform_matrix": [ + [ + -0.9865582585334778, + 0.011755252256989479, + -0.16298647224903107, + -18.195484161376953 + ], + [ + 0.16303880512714386, + 0.0036345315165817738, + -0.9866129159927368, + -11.175950050354004 + ], + [ + -0.011005504056811333, + -0.9999243021011353, + -0.005502236541360617, + -0.5095952749252319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3916, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_395116567", + "mask_path": "../../mask/hdr_left_03916.png" + }, + { + "file_path": "../../rgb/hdr_left_03917.png", + "transform_matrix": [ + [ + -0.9858011603355408, + 0.005402667447924614, + -0.16782967746257782, + -18.252243041992188 + ], + [ + 0.16782517731189728, + -0.0012803332647308707, + -0.9858158826828003, + -11.175312042236328 + ], + [ + -0.0055409143678843975, + -0.999984622001648, + 0.0003554530849214643, + -0.5040335059165955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3917, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_495115756", + "mask_path": "../../mask/hdr_left_03917.png" + }, + { + "file_path": "../../rgb/hdr_left_03918.png", + "transform_matrix": [ + [ + -0.9858854413032532, + 0.00230394396930933, + -0.1674051135778427, + -18.329526901245117 + ], + [ + 0.16739815473556519, + -0.0029397564940154552, + -0.985884964466095, + -11.179766654968262 + ], + [ + -0.00276355491951108, + -0.9999930262565613, + 0.0025125895626842976, + -0.5044214129447937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3918, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_595116376", + "mask_path": "../../mask/hdr_left_03918.png" + }, + { + "file_path": "../../rgb/hdr_left_03919.png", + "transform_matrix": [ + [ + -0.9872814416885376, + 0.00853490736335516, + -0.15875260531902313, + -18.422409057617188 + ], + [ + 0.1587723195552826, + 0.0016799134900793433, + -0.9873138070106506, + -11.187670707702637 + ], + [ + -0.008159941993653774, + -0.9999622106552124, + -0.0030136501882225275, + -0.5126596093177795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3919, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_695116519", + "mask_path": "../../mask/hdr_left_03919.png" + }, + { + "file_path": "../../rgb/hdr_left_03920.png", + "transform_matrix": [ + [ + -0.9885237812995911, + 0.010893248952925205, + -0.15067225694656372, + -18.48450469970703 + ], + [ + 0.1507350206375122, + 0.005185864400118589, + -0.9885606169700623, + -11.191216468811035 + ], + [ + -0.009987270459532738, + -0.999927282333374, + -0.0067683435045182705, + -0.5222516059875488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3920, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_795119762", + "mask_path": "../../mask/hdr_left_03920.png" + }, + { + "file_path": "../../rgb/hdr_left_03921.png", + "transform_matrix": [ + [ + -0.9887375235557556, + 0.013202289119362831, + -0.14907623827457428, + -18.55869483947754 + ], + [ + 0.14917366206645966, + 0.006723661441355944, + -0.9887881875038147, + -11.190441131591797 + ], + [ + -0.012051929719746113, + -0.9998902678489685, + -0.008617367595434189, + -0.5227375030517578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3921, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_895117044", + "mask_path": "../../mask/hdr_left_03921.png" + }, + { + "file_path": "../../rgb/hdr_left_03922.png", + "transform_matrix": [ + [ + -0.9873396158218384, + 0.017475463449954987, + -0.15765446424484253, + -18.636362075805664 + ], + [ + 0.15783070027828217, + 0.00920112431049347, + -0.9874233603477478, + -11.186697006225586 + ], + [ + -0.01580508053302765, + -0.9998049736022949, + -0.01184279564768076, + -0.5097682476043701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3922, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_995116949", + "mask_path": "../../mask/hdr_left_03922.png" + }, + { + "file_path": "../../rgb/hdr_left_03923.png", + "transform_matrix": [ + [ + -0.9852744936943054, + 0.011129098013043404, + -0.1706172376871109, + -18.690771102905273 + ], + [ + 0.170670285820961, + 0.0039966534823179245, + -0.9853200912475586, + -11.182394981384277 + ], + [ + -0.010283824987709522, + -0.9999301433563232, + -0.0058372048661112785, + -0.49939626455307007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3923, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_95117092", + "mask_path": "../../mask/hdr_left_03923.png" + }, + { + "file_path": "../../rgb/hdr_left_03924.png", + "transform_matrix": [ + [ + -0.9840620756149292, + 0.00753159262239933, + -0.177665576338768, + -18.75775909423828 + ], + [ + 0.17766223847866058, + -0.0011142513249069452, + -0.9840908646583557, + -11.183487892150879 + ], + [ + -0.007609735708683729, + -0.9999710917472839, + -0.00024158474116120487, + -0.4971107542514801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3924, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_195116281", + "mask_path": "../../mask/hdr_left_03924.png" + }, + { + "file_path": "../../rgb/hdr_left_03925.png", + "transform_matrix": [ + [ + -0.984295666217804, + 0.011135184206068516, + -0.1761757880449295, + -18.84617042541504 + ], + [ + 0.1761920154094696, + 0.0004846879164688289, + -0.9843556880950928, + -11.188834190368652 + ], + [ + -0.01087559200823307, + -0.999937891960144, + -0.002439003437757492, + -0.5057311654090881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3925, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_295118093", + "mask_path": "../../mask/hdr_left_03925.png" + }, + { + "file_path": "../../rgb/hdr_left_03926.png", + "transform_matrix": [ + [ + -0.984856128692627, + 0.01262687984853983, + -0.17291270196437836, + -18.91497802734375 + ], + [ + 0.17300456762313843, + 0.00657770736142993, + -0.9848990440368652, + -11.192438125610352 + ], + [ + -0.01129883248358965, + -0.9998986721038818, + -0.008662599138915539, + -0.5170096158981323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3926, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_395117282", + "mask_path": "../../mask/hdr_left_03926.png" + }, + { + "file_path": "../../rgb/hdr_left_03927.png", + "transform_matrix": [ + [ + -0.984313428401947, + 0.01566949672996998, + -0.1757313758134842, + -18.979782104492188 + ], + [ + 0.17589910328388214, + 0.010048436932265759, + -0.9843569397926331, + -11.19051456451416 + ], + [ + -0.013658550567924976, + -0.9998267292976379, + -0.012647061608731747, + -0.5151768922805786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3927, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_495116949", + "mask_path": "../../mask/hdr_left_03927.png" + }, + { + "file_path": "../../rgb/hdr_left_03928.png", + "transform_matrix": [ + [ + -0.9822840690612793, + 0.01973479799926281, + -0.18635588884353638, + -19.046064376831055 + ], + [ + 0.18661551177501678, + 0.012235037051141262, + -0.9823569059371948, + -11.18459701538086 + ], + [ + -0.017106540501117706, + -0.9997304081916809, + -0.01570109836757183, + -0.5057674050331116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3928, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_595117092", + "mask_path": "../../mask/hdr_left_03928.png" + }, + { + "file_path": "../../rgb/hdr_left_03929.png", + "transform_matrix": [ + [ + -0.9799763560295105, + 0.014736085198819637, + -0.19856804609298706, + -19.10246467590332 + ], + [ + 0.1986834555864334, + 0.006815233733505011, + -0.9800400137901306, + -11.181102752685547 + ], + [ + -0.013088664971292019, + -0.9998682141304016, + -0.009606580249965191, + -0.4999377429485321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3929, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_695116996", + "mask_path": "../../mask/hdr_left_03929.png" + }, + { + "file_path": "../../rgb/hdr_left_03930.png", + "transform_matrix": [ + [ + -0.979077935218811, + 0.013529621995985508, + -0.20303504168987274, + -19.173999786376953 + ], + [ + 0.20311780273914337, + 0.00503808818757534, + -0.979141354560852, + -11.181475639343262 + ], + [ + -0.012224503792822361, + -0.9998958110809326, + -0.007680784445255995, + -0.499330997467041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3930, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_795119047", + "mask_path": "../../mask/hdr_left_03930.png" + }, + { + "file_path": "../../rgb/hdr_left_03931.png", + "transform_matrix": [ + [ + -0.9800704717636108, + 0.01415273267775774, + -0.19814494252204895, + -19.248136520385742 + ], + [ + 0.19824789464473724, + 0.0062695275992155075, + -0.9801319241523743, + -11.182496070861816 + ], + [ + -0.012629269622266293, + -0.9998802542686462, + -0.008950326591730118, + -0.5111697912216187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3931, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_895117044", + "mask_path": "../../mask/hdr_left_03931.png" + }, + { + "file_path": "../../rgb/hdr_left_03932.png", + "transform_matrix": [ + [ + -0.9803054928779602, + 0.015896450728178024, + -0.19684594869613647, + -19.309402465820312 + ], + [ + 0.1969684511423111, + 0.006532202009111643, + -0.9803881049156189, + -11.1807222366333 + ], + [ + -0.01429885346442461, + -0.9998523592948914, + -0.009534651413559914, + -0.5174298882484436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3932, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_995116710", + "mask_path": "../../mask/hdr_left_03932.png" + }, + { + "file_path": "../../rgb/hdr_left_03933.png", + "transform_matrix": [ + [ + -0.9792429804801941, + 0.019483065232634544, + -0.20175115764141083, + -19.378286361694336 + ], + [ + 0.20191262662410736, + 0.00669077830389142, + -0.9793806076049805, + -11.17103099822998 + ], + [ + -0.01773146726191044, + -0.9997878670692444, + -0.010485770180821419, + -0.5118185877799988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3933, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_95116853", + "mask_path": "../../mask/hdr_left_03933.png" + }, + { + "file_path": "../../rgb/hdr_left_03934.png", + "transform_matrix": [ + [ + -0.9766864776611328, + 0.01817461848258972, + -0.21389953792095184, + -19.44078254699707 + ], + [ + 0.214045450091362, + 0.006480248179286718, + -0.9768021702766418, + -11.16409683227539 + ], + [ + -0.016366882249712944, + -0.9998138546943665, + -0.010219362564384937, + -0.5059528946876526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3934, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_195117712", + "mask_path": "../../mask/hdr_left_03934.png" + }, + { + "file_path": "../../rgb/hdr_left_03935.png", + "transform_matrix": [ + [ + -0.9743868112564087, + 0.012572799809277058, + -0.22452667355537415, + -19.501771926879883 + ], + [ + 0.22454696893692017, + 0.0002075460652122274, + -0.9744632244110107, + -11.161258697509766 + ], + [ + -0.012205132283270359, + -0.9999209642410278, + -0.0030254132580012083, + -0.50185626745224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3935, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_295117855", + "mask_path": "../../mask/hdr_left_03935.png" + }, + { + "file_path": "../../rgb/hdr_left_03936.png", + "transform_matrix": [ + [ + -0.9739181995391846, + 0.01197129674255848, + -0.22658315300941467, + -19.57830047607422 + ], + [ + 0.22658219933509827, + -0.001453885925002396, + -0.9739909172058105, + -11.161396026611328 + ], + [ + -0.011989361606538296, + -0.999927282333374, + -0.0012965126661583781, + -0.5035803914070129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3936, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_395117044", + "mask_path": "../../mask/hdr_left_03936.png" + }, + { + "file_path": "../../rgb/hdr_left_03937.png", + "transform_matrix": [ + [ + -0.9748522639274597, + 0.014213568530976772, + -0.2223982810974121, + -19.64557456970215 + ], + [ + 0.22243058681488037, + 0.0007140873931348324, + -0.9749482274055481, + -11.16213321685791 + ], + [ + -0.013698683120310307, + -0.9998987317085266, + -0.003857660572975874, + -0.5147501826286316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3937, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_495116949", + "mask_path": "../../mask/hdr_left_03937.png" + }, + { + "file_path": "../../rgb/hdr_left_03938.png", + "transform_matrix": [ + [ + -0.9748847484588623, + 0.018201345577836037, + -0.22196486592292786, + -19.700252532958984 + ], + [ + 0.22200971841812134, + 0.0004566982388496399, + -0.975044310092926, + -11.15825080871582 + ], + [ + -0.01764575019478798, + -0.9998342394828796, + -0.00448610121384263, + -0.5194700360298157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3938, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_595116853", + "mask_path": "../../mask/hdr_left_03938.png" + }, + { + "file_path": "../../rgb/hdr_left_03939.png", + "transform_matrix": [ + [ + -0.9735755324363708, + 0.021446557715535164, + -0.22735579311847687, + -19.76797866821289 + ], + [ + 0.22743092477321625, + 0.001099156797863543, + -0.973793625831604, + -11.150967597961426 + ], + [ + -0.020634621381759644, + -0.999769389629364, + -0.005947718862444162, + -0.5155236721038818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3939, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_695116281", + "mask_path": "../../mask/hdr_left_03939.png" + }, + { + "file_path": "../../rgb/hdr_left_03940.png", + "transform_matrix": [ + [ + -0.9708881974220276, + 0.01553113292902708, + -0.23902909457683563, + -19.82530403137207 + ], + [ + 0.2391275316476822, + 0.004795865621417761, + -0.9709763526916504, + -11.144317626953125 + ], + [ + -0.01393401063978672, + -0.999867856502533, + -0.008370167575776577, + -0.5065755844116211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3940, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_795117378", + "mask_path": "../../mask/hdr_left_03940.png" + }, + { + "file_path": "../../rgb/hdr_left_03941.png", + "transform_matrix": [ + [ + -0.9689410328865051, + 0.010556940920650959, + -0.24706612527370453, + -19.881921768188477 + ], + [ + 0.24708788096904755, + 0.0007868895190767944, + -0.9689927101135254, + -11.141366004943848 + ], + [ + -0.010035187005996704, + -0.9999439716339111, + -0.0033709409181028605, + -0.4989437460899353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3941, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_895117282", + "mask_path": "../../mask/hdr_left_03941.png" + }, + { + "file_path": "../../rgb/hdr_left_03942.png", + "transform_matrix": [ + [ + -0.9688209295272827, + 0.012566019780933857, + -0.24744300544261932, + -19.94647789001465 + ], + [ + 0.24742378294467926, + -0.003086324082687497, + -0.9689024686813354, + -11.138993263244629 + ], + [ + -0.012938936240971088, + -0.9999163150787354, + -0.00011903495760634542, + -0.5009021162986755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3942, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_995116710", + "mask_path": "../../mask/hdr_left_03942.png" + }, + { + "file_path": "../../rgb/hdr_left_03943.png", + "transform_matrix": [ + [ + -0.9697688817977905, + 0.013179443776607513, + -0.24366873502731323, + -20.002344131469727 + ], + [ + 0.24367588758468628, + -0.0010862165363505483, + -0.9698561429977417, + -11.135692596435547 + ], + [ + -0.013046841137111187, + -0.9999126195907593, + -0.002158131217584014, + -0.5095006227493286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3943, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_95117807", + "mask_path": "../../mask/hdr_left_03943.png" + }, + { + "file_path": "../../rgb/hdr_left_03944.png", + "transform_matrix": [ + [ + -0.9694559574127197, + 0.01673774980008602, + -0.24469329416751862, + -20.059974670410156 + ], + [ + 0.24474364519119263, + 0.000995572772808373, + -0.9695873260498047, + -11.130289077758789 + ], + [ + -0.015985099598765373, + -0.9998594522476196, + -0.0050616213120520115, + -0.5114271640777588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3944, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_195116519", + "mask_path": "../../mask/hdr_left_03944.png" + }, + { + "file_path": "../../rgb/hdr_left_03945.png", + "transform_matrix": [ + [ + -0.9672170281410217, + 0.021069955080747604, + -0.25307556986808777, + -20.11986541748047 + ], + [ + 0.2531934082508087, + 0.003082897048443556, + -0.9674107432365417, + -11.12130355834961 + ], + [ + -0.019603094086050987, + -0.999773383140564, + -0.008316601626574993, + -0.5038216710090637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3945, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_295116901", + "mask_path": "../../mask/hdr_left_03945.png" + }, + { + "file_path": "../../rgb/hdr_left_03946.png", + "transform_matrix": [ + [ + -0.9641106724739075, + 0.015300435945391655, + -0.2650596499443054, + -20.17304229736328 + ], + [ + 0.26510101556777954, + 0.0007056212634779513, + -0.964220404624939, + -11.114198684692383 + ], + [ + -0.014565959572792053, + -0.9998827576637268, + -0.004736454226076603, + -0.496390700340271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3946, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_395116806", + "mask_path": "../../mask/hdr_left_03946.png" + }, + { + "file_path": "../../rgb/hdr_left_03947.png", + "transform_matrix": [ + [ + -0.9628737568855286, + 0.014337279833853245, + -0.2695710361003876, + -20.234119415283203 + ], + [ + 0.2695773243904114, + -0.0015299527440220118, + -0.9629774689674377, + -11.110360145568848 + ], + [ + -0.014218909665942192, + -0.9998961091041565, + -0.002391850110143423, + -0.49440431594848633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3947, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_495117187", + "mask_path": "../../mask/hdr_left_03947.png" + }, + { + "file_path": "../../rgb/hdr_left_03948.png", + "transform_matrix": [ + [ + -0.9637779593467712, + 0.01868625171482563, + -0.2660502791404724, + -20.297950744628906 + ], + [ + 0.2660803198814392, + -0.0009038883144967258, + -0.9639503955841064, + -11.10642147064209 + ], + [ + -0.018253101035952568, + -0.9998250007629395, + -0.004100893158465624, + -0.5045434236526489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3948, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_595117330", + "mask_path": "../../mask/hdr_left_03948.png" + }, + { + "file_path": "../../rgb/hdr_left_03949.png", + "transform_matrix": [ + [ + -0.9642355442047119, + 0.017804933711886406, + -0.2644481956958771, + -20.35491180419922 + ], + [ + 0.26443716883659363, + -0.0030148206278681755, + -0.964398205280304, + -11.101277351379395 + ], + [ + -0.017968304455280304, + -0.9998369812965393, + -0.0018012882210314274, + -0.5109788179397583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3949, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_695117712", + "mask_path": "../../mask/hdr_left_03949.png" + }, + { + "file_path": "../../rgb/hdr_left_03950.png", + "transform_matrix": [ + [ + -0.9629719853401184, + 0.019120080396533012, + -0.2689224183559418, + -20.415607452392578 + ], + [ + 0.2689453363418579, + -0.0014105316950008273, + -0.9631543159484863, + -11.091713905334473 + ], + [ + -0.018794910982251167, + -0.9998162388801575, + -0.0037839498836547136, + -0.5057012438774109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3950, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_795117855", + "mask_path": "../../mask/hdr_left_03950.png" + }, + { + "file_path": "../../rgb/hdr_left_03951.png", + "transform_matrix": [ + [ + -0.9598748087882996, + 0.015730973333120346, + -0.2799871563911438, + -20.470842361450195 + ], + [ + 0.28004032373428345, + 0.001239480683580041, + -0.9599874019622803, + -11.082688331604004 + ], + [ + -0.01475449837744236, + -0.999875545501709, + -0.005595050752162933, + -0.4993709921836853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3951, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_895117044", + "mask_path": "../../mask/hdr_left_03951.png" + }, + { + "file_path": "../../rgb/hdr_left_03952.png", + "transform_matrix": [ + [ + -0.9574393630027771, + 0.009657973423600197, + -0.2884724736213684, + -20.52881622314453 + ], + [ + 0.2884635031223297, + -0.002340696519240737, + -0.9574880599975586, + -11.078243255615234 + ], + [ + -0.009922618977725506, + -0.9999507069587708, + -0.000544892973266542, + -0.4951212704181671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3952, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_995116710", + "mask_path": "../../mask/hdr_left_03952.png" + }, + { + "file_path": "../../rgb/hdr_left_03953.png", + "transform_matrix": [ + [ + -0.9572303891181946, + 0.009860771708190441, + -0.28915879130363464, + -20.600391387939453 + ], + [ + 0.28913751244544983, + -0.003550139022991061, + -0.9572809338569641, + -11.074338912963867 + ], + [ + -0.010466083884239197, + -0.9999451041221619, + 0.0005471862968988717, + -0.49876007437705994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3953, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_95117807", + "mask_path": "../../mask/hdr_left_03953.png" + }, + { + "file_path": "../../rgb/hdr_left_03954.png", + "transform_matrix": [ + [ + -0.9584123492240906, + 0.00945915188640356, + -0.2852301001548767, + -20.665523529052734 + ], + [ + 0.28522899746894836, + -0.001496155047789216, + -0.9584582448005676, + -11.070146560668945 + ], + [ + -0.009492949582636356, + -0.9999542236328125, + -0.001264088088646531, + -0.5071592926979065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3954, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_195117712", + "mask_path": "../../mask/hdr_left_03954.png" + }, + { + "file_path": "../../rgb/hdr_left_03955.png", + "transform_matrix": [ + [ + -0.9579886794090271, + 0.012456591241061687, + -0.2865350544452667, + -20.725200653076172 + ], + [ + 0.28654149174690247, + -0.0013054804876446724, + -0.9580669403076172, + -11.062700271606445 + ], + [ + -0.012308313511312008, + -0.9999216198921204, + -0.002318691462278366, + -0.5078952312469482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3955, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_295117616", + "mask_path": "../../mask/hdr_left_03955.png" + }, + { + "file_path": "../../rgb/hdr_left_03956.png", + "transform_matrix": [ + [ + -0.9556461572647095, + 0.01761316880583763, + -0.2939901053905487, + -20.78606414794922 + ], + [ + 0.2940104603767395, + -0.0014793907757848501, + -0.9558010101318359, + -11.051000595092773 + ], + [ + -0.017269611358642578, + -0.9998437762260437, + -0.003764678258448839, + -0.5024408102035522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3956, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_395116567", + "mask_path": "../../mask/hdr_left_03956.png" + }, + { + "file_path": "../../rgb/hdr_left_03957.png", + "transform_matrix": [ + [ + -0.9521193504333496, + 0.011129464954137802, + -0.3055238723754883, + -20.836811065673828 + ], + [ + 0.30549466609954834, + -0.004275462124496698, + -0.9521842002868652, + -11.04068660736084 + ], + [ + -0.011903555132448673, + -0.9999289512634277, + 0.0006707590073347092, + -0.4977332353591919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3957, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_495116710", + "mask_path": "../../mask/hdr_left_03957.png" + }, + { + "file_path": "../../rgb/hdr_left_03958.png", + "transform_matrix": [ + [ + -0.9495217204093933, + 0.007961567491292953, + -0.3136002719402313, + -20.896038055419922 + ], + [ + 0.3135627806186676, + -0.005615236237645149, + -0.9495509266853333, + -11.033279418945312 + ], + [ + -0.009320852346718311, + -0.9999525547027588, + 0.0028353394009172916, + -0.4952337145805359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3958, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_595116615", + "mask_path": "../../mask/hdr_left_03958.png" + }, + { + "file_path": "../../rgb/hdr_left_03959.png", + "transform_matrix": [ + [ + -0.9492982625961304, + 0.014061542227864265, + -0.314062237739563, + -20.970741271972656 + ], + [ + 0.31405481696128845, + -0.0027893877122551203, + -0.9494007229804993, + -11.025009155273438 + ], + [ + -0.014226078987121582, + -0.9998972415924072, + -0.0017681330209597945, + -0.5019722580909729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3959, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_695117235", + "mask_path": "../../mask/hdr_left_03959.png" + }, + { + "file_path": "../../rgb/hdr_left_03960.png", + "transform_matrix": [ + [ + -0.9500451683998108, + 0.015881113708019257, + -0.31170815229415894, + -21.0366268157959 + ], + [ + 0.31173843145370483, + -0.0005913914064876735, + -0.9501677751541138, + -11.018536567687988 + ], + [ + -0.015274065546691418, + -0.9998738169670105, + -0.004388901870697737, + -0.5130715370178223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3960, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_795118093", + "mask_path": "../../mask/hdr_left_03960.png" + }, + { + "file_path": "../../rgb/hdr_left_03961.png", + "transform_matrix": [ + [ + -0.9500583410263062, + 0.01716957800090313, + -0.31159958243370056, + -21.10633087158203 + ], + [ + 0.3115982413291931, + -0.002821281785145402, + -0.9502097964286804, + -11.010741233825684 + ], + [ + -0.017193809151649475, + -0.9998486638069153, + -0.0026696245186030865, + -0.5170773863792419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3961, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_895117998", + "mask_path": "../../mask/hdr_left_03961.png" + }, + { + "file_path": "../../rgb/hdr_left_03962.png", + "transform_matrix": [ + [ + -0.9484963417053223, + 0.018875136971473694, + -0.3162252902984619, + -21.18694496154785 + ], + [ + 0.31618648767471313, + -0.005083190277218819, + -0.9486833810806274, + -10.99834156036377 + ], + [ + -0.019513960927724838, + -0.9998089075088501, + -0.0011466735741123557, + -0.5126953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3962, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_995116472", + "mask_path": "../../mask/hdr_left_03962.png" + }, + { + "file_path": "../../rgb/hdr_left_03963.png", + "transform_matrix": [ + [ + -0.9444882273674011, + 0.013778391294181347, + -0.3282560110092163, + -21.252338409423828 + ], + [ + 0.3282029330730438, + -0.006014438346028328, + -0.9445880651473999, + -10.985566139221191 + ], + [ + -0.014989180490374565, + -0.9998870491981506, + 0.001158459926955402, + -0.5051903128623962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3963, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_95116615", + "mask_path": "../../mask/hdr_left_03963.png" + }, + { + "file_path": "../../rgb/hdr_left_03964.png", + "transform_matrix": [ + [ + -0.940032958984375, + 0.008617582730948925, + -0.3409746587276459, + -21.321260452270508 + ], + [ + 0.3409044146537781, + -0.008656754158437252, + -0.940058171749115, + -10.973593711853027 + ], + [ + -0.011052761226892471, + -0.999925434589386, + 0.005199862644076347, + -0.5038857460021973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3964, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_195116996", + "mask_path": "../../mask/hdr_left_03964.png" + }, + { + "file_path": "../../rgb/hdr_left_03965.png", + "transform_matrix": [ + [ + -0.9382200241088867, + 0.008212688378989697, + -0.3459416925907135, + -21.416337966918945 + ], + [ + 0.34590446949005127, + -0.0056294891983270645, + -0.938252866268158, + -10.961176872253418 + ], + [ + -0.009653053246438503, + -0.9999505281448364, + 0.002440897049382329, + -0.5070170760154724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3965, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_295116901", + "mask_path": "../../mask/hdr_left_03965.png" + }, + { + "file_path": "../../rgb/hdr_left_03966.png", + "transform_matrix": [ + [ + -0.9395348429679871, + 0.012252051383256912, + -0.3422338664531708, + -21.501890182495117 + ], + [ + 0.34227558970451355, + 0.001425372902303934, + -0.939598560333252, + -10.951266288757324 + ], + [ + -0.01102419849485159, + -0.9999240040779114, + -0.005532762035727501, + -0.5150473117828369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3966, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_395116329", + "mask_path": "../../mask/hdr_left_03966.png" + }, + { + "file_path": "../../rgb/hdr_left_03967.png", + "transform_matrix": [ + [ + -0.9397090673446655, + 0.012553589418530464, + -0.3417445123195648, + -21.57204818725586 + ], + [ + 0.3418083190917969, + 0.0032806077506393194, + -0.9397639632225037, + -10.940413475036621 + ], + [ + -0.010676279664039612, + -0.9999158382415771, + -0.007373735308647156, + -0.5208450555801392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3967, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_495116472", + "mask_path": "../../mask/hdr_left_03967.png" + }, + { + "file_path": "../../rgb/hdr_left_03968.png", + "transform_matrix": [ + [ + -0.938492476940155, + 0.011957488022744656, + -0.34509241580963135, + -21.658714294433594 + ], + [ + 0.34515634179115295, + 0.003704679664224386, + -0.9385378360748291, + -10.92335033416748 + ], + [ + -0.009944098070263863, + -0.9999216794967651, + -0.007604013662785292, + -0.5194309949874878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3968, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_595115900", + "mask_path": "../../mask/hdr_left_03968.png" + }, + { + "file_path": "../../rgb/hdr_left_03969.png", + "transform_matrix": [ + [ + -0.9340857863426208, + 0.012852593325078487, + -0.3568170964717865, + -21.736230850219727 + ], + [ + 0.3569210171699524, + 0.006908046547323465, + -0.9341089725494385, + -10.90392017364502 + ], + [ + -0.009540814906358719, + -0.9998936653137207, + -0.011040063574910164, + -0.5066255331039429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3969, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_695116281", + "mask_path": "../../mask/hdr_left_03969.png" + }, + { + "file_path": "../../rgb/hdr_left_03970.png", + "transform_matrix": [ + [ + -0.9287731051445007, + 0.0067619760520756245, + -0.37058719992637634, + -21.799959182739258 + ], + [ + 0.3706109821796417, + 0.002639327198266983, + -0.9287844896316528, + -10.887982368469238 + ], + [ + -0.005302317440509796, + -0.999973714351654, + -0.004957395605742931, + -0.49926185607910156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3970, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_795116901", + "mask_path": "../../mask/hdr_left_03970.png" + }, + { + "file_path": "../../rgb/hdr_left_03971.png", + "transform_matrix": [ + [ + -0.9265994429588318, + 0.004321398679167032, + -0.3760250210762024, + -21.88558006286621 + ], + [ + 0.376036137342453, + 0.002100191544741392, + -0.9266026020050049, + -10.873655319213867 + ], + [ + -0.003214495489373803, + -0.9999884963035583, + -0.0035710351075977087, + -0.5003278851509094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3971, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_895116567", + "mask_path": "../../mask/hdr_left_03971.png" + }, + { + "file_path": "../../rgb/hdr_left_03972.png", + "transform_matrix": [ + [ + -0.9284162521362305, + 0.010484613478183746, + -0.37139374017715454, + -21.974863052368164 + ], + [ + 0.37146082520484924, + 0.0053369347006082535, + -0.9284332394599915, + -10.861198425292969 + ], + [ + -0.007752160541713238, + -0.9999307990074158, + -0.008849517442286015, + -0.510758638381958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3972, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_995116949", + "mask_path": "../../mask/hdr_left_03972.png" + }, + { + "file_path": "../../rgb/hdr_left_03973.png", + "transform_matrix": [ + [ + -0.929257333278656, + 0.01247269194573164, + -0.3692224323749542, + -22.043909072875977 + ], + [ + 0.36931684613227844, + 0.006299537140876055, + -0.9292821884155273, + -10.847709655761719 + ], + [ + -0.009264718741178513, + -0.9999023675918579, + -0.010460264980793, + -0.5188719034194946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3973, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_95116138", + "mask_path": "../../mask/hdr_left_03973.png" + }, + { + "file_path": "../../rgb/hdr_left_03974.png", + "transform_matrix": [ + [ + -0.9280251264572144, + 0.012015215121209621, + -0.3723238408565521, + -22.123851776123047 + ], + [ + 0.37242865562438965, + 0.008080540224909782, + -0.9280256032943726, + -10.82621955871582 + ], + [ + -0.00814184918999672, + -0.9998952746391296, + -0.01197375450283289, + -0.5151214003562927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3974, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_195116996", + "mask_path": "../../mask/hdr_left_03974.png" + }, + { + "file_path": "../../rgb/hdr_left_03975.png", + "transform_matrix": [ + [ + -0.9236082434654236, + 0.01417537685483694, + -0.3830757439136505, + -22.199434280395508 + ], + [ + 0.38323062658309937, + 0.010506503283977509, + -0.9235928654670715, + -10.803922653198242 + ], + [ + -0.009067490696907043, + -0.9998443722724915, + -0.015136324800550938, + -0.5026172399520874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3975, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_295116901", + "mask_path": "../../mask/hdr_left_03975.png" + }, + { + "file_path": "../../rgb/hdr_left_03976.png", + "transform_matrix": [ + [ + -0.9184889197349548, + 0.007186359725892544, + -0.3953813314437866, + -22.260330200195312 + ], + [ + 0.39541852474212646, + 0.004763525910675526, + -0.9184886813163757, + -10.788461685180664 + ], + [ + -0.004717180505394936, + -0.9999629259109497, + -0.007216861937195063, + -0.49849385023117065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3976, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_395116806", + "mask_path": "../../mask/hdr_left_03976.png" + }, + { + "file_path": "../../rgb/hdr_left_03977.png", + "transform_matrix": [ + [ + -0.9165774583816528, + 0.007547013461589813, + -0.3997860252857208, + -22.338884353637695 + ], + [ + 0.3998214900493622, + 0.003932512365281582, + -0.9165845513343811, + -10.775529861450195 + ], + [ + -0.005345313344150782, + -0.9999638795852661, + -0.006621906999498606, + -0.49571359157562256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3977, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_495117425", + "mask_path": "../../mask/hdr_left_03977.png" + }, + { + "file_path": "../../rgb/hdr_left_03978.png", + "transform_matrix": [ + [ + -0.9183592796325684, + 0.015319189056754112, + -0.39545080065727234, + -22.415578842163086 + ], + [ + 0.39558589458465576, + 0.006990550085902214, + -0.918402373790741, + -10.763113975524902 + ], + [ + -0.0113047631457448, + -0.9998582601547241, + -0.012479888275265694, + -0.5070284008979797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3978, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_595117568", + "mask_path": "../../mask/hdr_left_03978.png" + }, + { + "file_path": "../../rgb/hdr_left_03979.png", + "transform_matrix": [ + [ + -0.9191490411758423, + 0.01404204498976469, + -0.39365941286087036, + -22.474218368530273 + ], + [ + 0.3937906324863434, + 0.008177606388926506, + -0.9191638231277466, + -10.751263618469238 + ], + [ + -0.009687746874988079, + -0.9998680353164673, + -0.01304606068879366, + -0.5197525024414062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3979, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_695117950", + "mask_path": "../../mask/hdr_left_03979.png" + }, + { + "file_path": "../../rgb/hdr_left_03980.png", + "transform_matrix": [ + [ + -0.9178929924964905, + 0.014666135422885418, + -0.3965568244457245, + -22.5421142578125 + ], + [ + 0.3967074751853943, + 0.00929195899516344, + -0.9178981184959412, + -10.73291301727295 + ], + [ + -0.009777226485311985, + -0.9998493194580078, + -0.014347187243402004, + -0.5155649781227112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3980, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_795117616", + "mask_path": "../../mask/hdr_left_03980.png" + }, + { + "file_path": "../../rgb/hdr_left_03981.png", + "transform_matrix": [ + [ + -0.9126346111297607, + 0.018595362082123756, + -0.40835294127464294, + -22.604835510253906 + ], + [ + 0.40858128666877747, + 0.010653766803443432, + -0.912659764289856, + -10.711495399475098 + ], + [ + -0.012620742432773113, + -0.9997704029083252, + -0.01732071116566658, + -0.4985932409763336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3981, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_895117759", + "mask_path": "../../mask/hdr_left_03981.png" + }, + { + "file_path": "../../rgb/hdr_left_03982.png", + "transform_matrix": [ + [ + -0.9051260352134705, + 0.010653427802026272, + -0.42500969767570496, + -22.652233123779297 + ], + [ + 0.4251013696193695, + 0.008664471097290516, + -0.9051041603088379, + -10.694483757019043 + ], + [ + -0.005959977861493826, + -0.9999057054519653, + -0.012371224351227283, + -0.4888303279876709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3982, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_995116949", + "mask_path": "../../mask/hdr_left_03982.png" + }, + { + "file_path": "../../rgb/hdr_left_03983.png", + "transform_matrix": [ + [ + -0.8994230031967163, + 0.010163062252104282, + -0.43696096539497375, + -22.709339141845703 + ], + [ + 0.43703851103782654, + 0.007282716687768698, + -0.8994132876396179, + -10.679259300231934 + ], + [ + -0.0059585305862128735, + -0.9999219179153442, + -0.010991889983415604, + -0.48508507013320923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3983, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_95117807", + "mask_path": "../../mask/hdr_left_03983.png" + }, + { + "file_path": "../../rgb/hdr_left_03984.png", + "transform_matrix": [ + [ + -0.8946002721786499, + 0.01661057025194168, + -0.4465583860874176, + -22.7643985748291 + ], + [ + 0.4467162489891052, + 0.0072727506048977375, + -0.894646167755127, + -10.662859916687012 + ], + [ + -0.011612876318395138, + -0.9998356103897095, + -0.013926413841545582, + -0.4988378882408142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3984, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_195116996", + "mask_path": "../../mask/hdr_left_03984.png" + }, + { + "file_path": "../../rgb/hdr_left_03986.png", + "transform_matrix": [ + [ + -0.8678923845291138, + 0.02278435230255127, + -0.49622946977615356, + -22.835269927978516 + ], + [ + 0.49647483229637146, + 0.006405209191143513, + -0.8680274486541748, + -10.61789321899414 + ], + [ + -0.016598990187048912, + -0.9997199773788452, + -0.016870882362127304, + -0.5039970874786377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3986, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_395117044", + "mask_path": "../../mask/hdr_left_03986.png" + }, + { + "file_path": "../../rgb/hdr_left_03988.png", + "transform_matrix": [ + [ + -0.820753276348114, + 0.019027886912226677, + -0.5709658265113831, + -22.886390686035156 + ], + [ + 0.571191668510437, + 0.00948049034923315, + -0.8207619190216064, + -10.564234733581543 + ], + [ + -0.010204332880675793, + -0.9997740387916565, + -0.01864970661699772, + -0.48679104447364807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3988, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_595117330", + "mask_path": "../../mask/hdr_left_03988.png" + }, + { + "file_path": "../../rgb/hdr_left_03990.png", + "transform_matrix": [ + [ + -0.7810057997703552, + 0.014932189136743546, + -0.6243451833724976, + -22.950939178466797 + ], + [ + 0.6245061159133911, + 0.011156178079545498, + -0.7809402942657471, + -10.518031120300293 + ], + [ + -0.004695842508226633, + -0.9998263120651245, + -0.018038280308246613, + -0.48859500885009766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3990, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_795117855", + "mask_path": "../../mask/hdr_left_03990.png" + }, + { + "file_path": "../../rgb/hdr_left_03992.png", + "transform_matrix": [ + [ + -0.7490853071212769, + 0.017848169431090355, + -0.6622331142425537, + -22.976961135864258 + ], + [ + 0.6624221205711365, + 0.007723729591816664, + -0.7490909695625305, + -10.475961685180664 + ], + [ + -0.008254993706941605, + -0.9998109936714172, + -0.017608750611543655, + -0.48809415102005005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3992, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_995117425", + "mask_path": "../../mask/hdr_left_03992.png" + }, + { + "file_path": "../../rgb/hdr_left_03999.png", + "transform_matrix": [ + [ + -0.5581520795822144, + 0.021075034514069557, + -0.8294709324836731, + -22.888460159301758 + ], + [ + 0.8296095728874207, + -0.003455296391621232, + -0.5583332180976868, + -10.434491157531738 + ], + [ + -0.014632961712777615, + -0.9997720122337341, + -0.015555467456579208, + -0.4858546555042267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3999, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549381_695117235", + "mask_path": "../../mask/hdr_left_03999.png" + }, + { + "file_path": "../../rgb/hdr_left_04004.png", + "transform_matrix": [ + [ + -0.3537203371524811, + 0.007480968255549669, + -0.9353212714195251, + -22.788814544677734 + ], + [ + 0.9352466464042664, + -0.01212275493890047, + -0.3537890613079071, + -10.406315803527832 + ], + [ + -0.013985355384647846, + -0.9998985528945923, + -0.002708482788875699, + -0.4915238618850708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4004, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549382_195116758", + "mask_path": "../../mask/hdr_left_04004.png" + }, + { + "file_path": "../../rgb/hdr_left_04008.png", + "transform_matrix": [ + [ + -0.29299384355545044, + 0.02297702431678772, + -0.9558382034301758, + -22.728382110595703 + ], + [ + 0.9560925960540771, + 0.0003127802337985486, + -0.2930643558502197, + -10.435333251953125 + ], + [ + -0.006434780545532703, + -0.999735951423645, + -0.022059807553887367, + -0.48087283968925476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4008, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549382_595117807", + "mask_path": "../../mask/hdr_left_04008.png" + }, + { + "file_path": "../../rgb/hdr_left_04011.png", + "transform_matrix": [ + [ + -0.2983929514884949, + 0.009015076793730259, + -0.9544005393981934, + -22.691844940185547 + ], + [ + 0.9544241428375244, + -0.0034825901966542006, + -0.29843324422836304, + -10.500182151794434 + ], + [ + -0.006014183163642883, + -0.9999533295631409, + -0.00756502291187644, + -0.49409419298171997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4011, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549382_895117282", + "mask_path": "../../mask/hdr_left_04011.png" + }, + { + "file_path": "../../rgb/hdr_left_04013.png", + "transform_matrix": [ + [ + -0.28029704093933105, + 0.020711947232484818, + -0.9596897959709167, + -22.65038299560547 + ], + [ + 0.9599045515060425, + 0.0017875141929835081, + -0.2803211808204651, + -10.554168701171875 + ], + [ + -0.004090539179742336, + -0.9997839331626892, + -0.02038252167403698, + -0.4811013340950012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4013, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549383_95117092", + "mask_path": "../../mask/hdr_left_04013.png" + }, + { + "file_path": "../../rgb/hdr_left_04015.png", + "transform_matrix": [ + [ + -0.2702392339706421, + 0.019563473761081696, + -0.9625943899154663, + -22.59807586669922 + ], + [ + 0.9627673029899597, + -0.0018356699729338288, + -0.27032509446144104, + -10.626408576965332 + ], + [ + -0.007055503316223621, + -0.9998070001602173, + -0.0183390025049448, + -0.4816856384277344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4015, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549383_295117855", + "mask_path": "../../mask/hdr_left_04015.png" + }, + { + "file_path": "../../rgb/hdr_left_04017.png", + "transform_matrix": [ + [ + -0.27352017164230347, + 0.005833028815686703, + -0.9618485569953918, + -22.56671714782715 + ], + [ + 0.9618601202964783, + -0.001894456217996776, + -0.27353495359420776, + -10.691567420959473 + ], + [ + -0.003417718457058072, + -0.9999812245368958, + -0.005092385690659285, + -0.49256011843681335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4017, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549383_495116949", + "mask_path": "../../mask/hdr_left_04017.png" + }, + { + "file_path": "../../rgb/hdr_left_04019.png", + "transform_matrix": [ + [ + -0.21733826398849487, + 0.011709090322256088, + -0.9760261178016663, + -22.507991790771484 + ], + [ + 0.975910484790802, + -0.01690259948372841, + -0.21751528978347778, + -10.776677131652832 + ], + [ + -0.019044285640120506, + -0.9997886419296265, + -0.007753439247608185, + -0.4974783658981323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4019, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549383_695117473", + "mask_path": "../../mask/hdr_left_04019.png" + }, + { + "file_path": "../../rgb/hdr_left_04021.png", + "transform_matrix": [ + [ + -0.11350207775831223, + 0.023106787353754044, + -0.9932690262794495, + -22.432825088500977 + ], + [ + 0.993431568145752, + -0.011976582929491997, + -0.11379927396774292, + -10.840871810913086 + ], + [ + -0.014525502920150757, + -0.9996612668037415, + -0.02159564383327961, + -0.4848882555961609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4021, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549383_895117521", + "mask_path": "../../mask/hdr_left_04021.png" + }, + { + "file_path": "../../rgb/hdr_left_04023.png", + "transform_matrix": [ + [ + -0.0053730253130197525, + 0.004932898096740246, + -0.9999734163284302, + -22.366453170776367 + ], + [ + 0.9999456405639648, + -0.008911293931305408, + -0.00541683379560709, + -10.915018081665039 + ], + [ + -0.008937777020037174, + -0.9999482035636902, + -0.004884746391326189, + -0.4855193495750427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4023, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_95117807", + "mask_path": "../../mask/hdr_left_04023.png" + }, + { + "file_path": "../../rgb/hdr_left_04025.png", + "transform_matrix": [ + [ + 0.11353357881307602, + 0.008455926552414894, + -0.9934982061386108, + -22.29669189453125 + ], + [ + 0.9934627413749695, + -0.012951431795954704, + 0.11341928690671921, + -11.004188537597656 + ], + [ + -0.011908157728612423, + -0.9998804330825806, + -0.00987106654793024, + -0.49701783061027527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4025, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_295117139", + "mask_path": "../../mask/hdr_left_04025.png" + }, + { + "file_path": "../../rgb/hdr_left_04027.png", + "transform_matrix": [ + [ + 0.2647492587566376, + 0.0204293355345726, + -0.9641007781028748, + -22.225584030151367 + ], + [ + 0.9641479253768921, + -0.02434385009109974, + 0.2642463445663452, + -11.099994659423828 + ], + [ + -0.018071547150611877, + -0.9994949102401733, + -0.02614191733300686, + -0.49176597595214844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4027, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_495117187", + "mask_path": "../../mask/hdr_left_04027.png" + }, + { + "file_path": "../../rgb/hdr_left_04028.png", + "transform_matrix": [ + [ + 0.34164345264434814, + 0.024602267891168594, + -0.9395075440406799, + -22.184959411621094 + ], + [ + 0.939639687538147, + -0.02903647907078266, + 0.34093114733695984, + -11.158808708190918 + ], + [ + -0.018892312422394753, + -0.9992756247520447, + -0.03303738310933113, + -0.49065569043159485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4028, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_595117807", + "mask_path": "../../mask/hdr_left_04028.png" + }, + { + "file_path": "../../rgb/hdr_left_04030.png", + "transform_matrix": [ + [ + 0.47455495595932007, + 0.0204020943492651, + -0.8799893856048584, + -22.127609252929688 + ], + [ + 0.8801732063293457, + -0.021931665018200874, + 0.4741456210613251, + -11.237408638000488 + ], + [ + -0.00962606817483902, + -0.9995513558387756, + -0.028365151956677437, + -0.4865044355392456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4030, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_795117139", + "mask_path": "../../mask/hdr_left_04030.png" + }, + { + "file_path": "../../rgb/hdr_left_04032.png", + "transform_matrix": [ + [ + 0.6026694178581238, + 0.01967875100672245, + -0.7977482676506042, + -22.062654495239258 + ], + [ + 0.7979444265365601, + -0.025659974664449692, + 0.6021845936775208, + -11.319282531738281 + ], + [ + -0.008619958534836769, + -0.9994770288467407, + -0.031167026609182358, + -0.48842114210128784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4032, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_995116949", + "mask_path": "../../mask/hdr_left_04032.png" + }, + { + "file_path": "../../rgb/hdr_left_04034.png", + "transform_matrix": [ + [ + 0.7317758798599243, + 0.012552207335829735, + -0.6814296841621399, + -22.03328514099121 + ], + [ + 0.681423008441925, + -0.03241300210356712, + 0.731171727180481, + -11.409217834472656 + ], + [ + -0.012909363955259323, + -0.9993957877159119, + -0.03227240592241287, + -0.49248284101486206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4034, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549385_195117712", + "mask_path": "../../mask/hdr_left_04034.png" + }, + { + "file_path": "../../rgb/hdr_left_04036.png", + "transform_matrix": [ + [ + 0.8390465378761292, + 0.009410183876752853, + -0.5439782738685608, + -22.006454467773438 + ], + [ + 0.5438803434371948, + -0.04017060250043869, + 0.8382006883621216, + -11.517672538757324 + ], + [ + -0.013964309357106686, + -0.9991486072540283, + -0.03882301226258278, + -0.4848520755767822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4036, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549385_395117998", + "mask_path": "../../mask/hdr_left_04036.png" + }, + { + "file_path": "../../rgb/hdr_left_04039.png", + "transform_matrix": [ + [ + 0.9392579197883606, + 0.01024622842669487, + -0.34305909276008606, + -21.954557418823242 + ], + [ + 0.3432111144065857, + -0.030384231358766556, + 0.9387666583061218, + -11.616490364074707 + ], + [ + -0.0008047695737332106, + -0.9994858503341675, + -0.03205524757504463, + -0.4902181327342987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4039, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549385_695116519", + "mask_path": "../../mask/hdr_left_04039.png" + }, + { + "file_path": "../../rgb/hdr_left_04043.png", + "transform_matrix": [ + [ + 0.9976015686988831, + -0.003755725920200348, + -0.06911468505859375, + -21.9518985748291 + ], + [ + 0.06894824653863907, + -0.03392180800437927, + 0.9970434308052063, + -11.74049186706543 + ], + [ + -0.006089115981012583, + -0.9994174838066101, + -0.03358149528503418, + -0.4860800802707672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4043, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549386_95116615", + "mask_path": "../../mask/hdr_left_04043.png" + }, + { + "file_path": "../../rgb/hdr_left_04049.png", + "transform_matrix": [ + [ + 0.9987147450447083, + -0.003812780836597085, + 0.05053947865962982, + -21.92276954650879 + ], + [ + -0.05059275031089783, + -0.015477852895855904, + 0.9985994696617126, + -11.809246063232422 + ], + [ + -0.003025198355317116, + -0.9998729825019836, + -0.015650860965251923, + -0.4973991811275482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4049, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549386_695116519", + "mask_path": "../../mask/hdr_left_04049.png" + }, + { + "file_path": "../../rgb/hdr_left_04056.png", + "transform_matrix": [ + [ + 0.9974024295806885, + -0.0146153150126338, + 0.07053233683109283, + -21.644689559936523 + ], + [ + -0.07084538787603378, + -0.02213878557085991, + 0.997241735458374, + -11.797115325927734 + ], + [ + -0.013013497926294804, + -0.9996480941772461, + -0.0231167022138834, + -0.5068238973617554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4056, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549387_395121812", + "mask_path": "../../mask/hdr_left_04056.png" + }, + { + "file_path": "../../rgb/hdr_left_04058.png", + "transform_matrix": [ + [ + 0.995796263217926, + -0.008633405901491642, + 0.09118825197219849, + -21.5591983795166 + ], + [ + -0.0912916511297226, + -0.012452819384634495, + 0.995746374130249, + -11.791910171508789 + ], + [ + -0.007461132016032934, + -0.9998852014541626, + -0.013188624754548073, + -0.5059436559677124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4058, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549387_595118045", + "mask_path": "../../mask/hdr_left_04058.png" + }, + { + "file_path": "../../rgb/hdr_left_04059.png", + "transform_matrix": [ + [ + 0.995245099067688, + -0.007226879708468914, + 0.09713347256183624, + -21.49883270263672 + ], + [ + -0.09721264243125916, + -0.011555989272892475, + 0.995196521282196, + -11.783851623535156 + ], + [ + -0.006069692317396402, + -0.9999071359634399, + -0.012203582562506199, + -0.5068563222885132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4059, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549387_695118188", + "mask_path": "../../mask/hdr_left_04059.png" + }, + { + "file_path": "../../rgb/hdr_left_04060.png", + "transform_matrix": [ + [ + 0.995455265045166, + -0.01046815700829029, + 0.09465255588293076, + -21.433029174804688 + ], + [ + -0.09480762481689453, + -0.015467263758182526, + 0.995375394821167, + -11.77342700958252 + ], + [ + -0.008955730125308037, + -0.9998255968093872, + -0.016389425843954086, + -0.5090544819831848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4060, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549387_795117855", + "mask_path": "../../mask/hdr_left_04060.png" + }, + { + "file_path": "../../rgb/hdr_left_04062.png", + "transform_matrix": [ + [ + 0.9958879351615906, + -0.014260556548833847, + 0.08946368098258972, + -21.32954216003418 + ], + [ + -0.08957576751708984, + -0.007423867471516132, + 0.9959523677825928, + -11.748790740966797 + ], + [ + -0.013538666069507599, + -0.999870777130127, + -0.008670737966895103, + -0.5227099061012268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4062, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549387_995117187", + "mask_path": "../../mask/hdr_left_04062.png" + }, + { + "file_path": "../../rgb/hdr_left_04063.png", + "transform_matrix": [ + [ + 0.9957888126373291, + -0.016859307885169983, + 0.09011362493038177, + -21.26503562927246 + ], + [ + -0.09020299464464188, + -0.004617379512637854, + 0.9959126710891724, + -11.73580551147461 + ], + [ + -0.016374312341213226, + -0.9998472332954407, + -0.006118691526353359, + -0.5254575610160828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4063, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_95117330", + "mask_path": "../../mask/hdr_left_04063.png" + }, + { + "file_path": "../../rgb/hdr_left_04064.png", + "transform_matrix": [ + [ + 0.9950417280197144, + -0.01529157068580389, + 0.09827549755573273, + -21.204029083251953 + ], + [ + -0.09839047491550446, + -0.006955684628337622, + 0.995123565196991, + -11.73050594329834 + ], + [ + -0.01453342940658331, + -0.9998589754104614, + -0.008425739593803883, + -0.5095648765563965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4064, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_195116758", + "mask_path": "../../mask/hdr_left_04064.png" + }, + { + "file_path": "../../rgb/hdr_left_04065.png", + "transform_matrix": [ + [ + 0.9939721822738647, + -0.011683449149131775, + 0.10900753736495972, + -21.154518127441406 + ], + [ + -0.10903099924325943, + -0.0013857162557542324, + 0.994037389755249, + -11.726356506347656 + ], + [ + -0.011462731286883354, + -0.9999307990074158, + -0.002651219954714179, + -0.5082581043243408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4065, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_295117139", + "mask_path": "../../mask/hdr_left_04065.png" + }, + { + "file_path": "../../rgb/hdr_left_04066.png", + "transform_matrix": [ + [ + 0.9926486015319824, + -0.008898204192519188, + 0.12070437520742416, + -21.091697692871094 + ], + [ + -0.12071125954389572, + -0.00023862066154833883, + 0.9926876425743103, + -11.719510078430176 + ], + [ + -0.00880433525890112, + -0.9999604225158691, + -0.001310977735556662, + -0.5103161334991455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4066, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_395117044", + "mask_path": "../../mask/hdr_left_04066.png" + }, + { + "file_path": "../../rgb/hdr_left_04067.png", + "transform_matrix": [ + [ + 0.9921523928642273, + -0.008244406431913376, + 0.12476279586553574, + -21.010120391845703 + ], + [ + -0.12481697648763657, + -0.006419631652534008, + 0.9921589493751526, + -11.710205078125 + ], + [ + -0.007378831040114164, + -0.9999454021453857, + -0.00739829009398818, + -0.5098851919174194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4067, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_495117425", + "mask_path": "../../mask/hdr_left_04067.png" + }, + { + "file_path": "../../rgb/hdr_left_04068.png", + "transform_matrix": [ + [ + 0.9925825595855713, + -0.010605155490338802, + 0.12110976874828339, + -20.94846534729004 + ], + [ + -0.12123225629329681, + -0.011786342598497868, + 0.9925541877746582, + -11.700922012329102 + ], + [ + -0.009098750539124012, + -0.9998743534088135, + -0.012984598986804485, + -0.5162961483001709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4068, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_595117568", + "mask_path": "../../mask/hdr_left_04068.png" + }, + { + "file_path": "../../rgb/hdr_left_04069.png", + "transform_matrix": [ + [ + 0.9927805066108704, + -0.010076059959828854, + 0.11952073872089386, + -20.891620635986328 + ], + [ + -0.11960727721452713, + -0.008471573702991009, + 0.9927851557731628, + -11.692767143249512 + ], + [ + -0.008990834467113018, + -0.9999133944511414, + -0.0096155796200037, + -0.5230405330657959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4069, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_695117950", + "mask_path": "../../mask/hdr_left_04069.png" + }, + { + "file_path": "../../rgb/hdr_left_04070.png", + "transform_matrix": [ + [ + 0.9926610589027405, + -0.012395274825394154, + 0.12029308080673218, + -20.81877899169922 + ], + [ + -0.12035534530878067, + -0.004404428415000439, + 0.9927210807800293, + -11.685992240905762 + ], + [ + -0.011775229126214981, + -0.9999135136604309, + -0.005863937549293041, + -0.5248778462409973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4070, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_795117378", + "mask_path": "../../mask/hdr_left_04070.png" + }, + { + "file_path": "../../rgb/hdr_left_04071.png", + "transform_matrix": [ + [ + 0.9915878772735596, + -0.015508920885622501, + 0.12850284576416016, + -20.74919891357422 + ], + [ + -0.12856175005435944, + -0.002858813153579831, + 0.9916973114013672, + -11.682490348815918 + ], + [ + -0.015012791380286217, + -0.9998756647109985, + -0.0048286160454154015, + -0.5153203010559082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4071, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_895117998", + "mask_path": "../../mask/hdr_left_04071.png" + }, + { + "file_path": "../../rgb/hdr_left_04072.png", + "transform_matrix": [ + [ + 0.9900862574577332, + -0.010986928828060627, + 0.14003053307533264, + -20.697603225708008 + ], + [ + -0.1400226503610611, + 0.001488290261477232, + 0.9901471734046936, + -11.680840492248535 + ], + [ + -0.011087081395089626, + -0.9999386072158813, + -6.487953214673325e-05, + -0.5115547180175781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4072, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_995116949", + "mask_path": "../../mask/hdr_left_04072.png" + }, + { + "file_path": "../../rgb/hdr_left_04073.png", + "transform_matrix": [ + [ + 0.9883290529251099, + -0.00841536745429039, + 0.15210168063640594, + -20.635311126708984 + ], + [ + -0.15209105610847473, + 0.0018931098747998476, + 0.9883646965026855, + -11.679083824157715 + ], + [ + -0.008605397306382656, + -0.9999628663063049, + 0.0005911128828302026, + -0.5121404528617859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4073, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_95117568", + "mask_path": "../../mask/hdr_left_04073.png" + }, + { + "file_path": "../../rgb/hdr_left_04074.png", + "transform_matrix": [ + [ + 0.9874041676521301, + -0.009884576313197613, + 0.1579088419675827, + -20.551660537719727 + ], + [ + -0.1579560786485672, + -0.004190464969724417, + 0.9874371886253357, + -11.673737525939941 + ], + [ + -0.009098687209188938, + -0.999942421913147, + -0.00569900730624795, + -0.5148035287857056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4074, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_195117235", + "mask_path": "../../mask/hdr_left_04074.png" + }, + { + "file_path": "../../rgb/hdr_left_04075.png", + "transform_matrix": [ + [ + 0.9879047274589539, + -0.013849805109202862, + 0.15444184839725494, + -20.480899810791016 + ], + [ + -0.15458537638187408, + -0.009965990670025349, + 0.987929105758667, + -11.66525936126709 + ], + [ + -0.012143460102379322, + -0.9998544454574585, + -0.01198642235249281, + -0.5226157307624817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4075, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_295117616", + "mask_path": "../../mask/hdr_left_04075.png" + }, + { + "file_path": "../../rgb/hdr_left_04076.png", + "transform_matrix": [ + [ + 0.9880573749542236, + -0.013781698420643806, + 0.15346863865852356, + -20.422489166259766 + ], + [ + -0.1536010056734085, + -0.00911659561097622, + 0.9880908727645874, + -11.659378051757812 + ], + [ + -0.012218459509313107, + -0.9998635053634644, + -0.01112459972500801, + -0.5271517038345337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4076, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_395117521", + "mask_path": "../../mask/hdr_left_04076.png" + }, + { + "file_path": "../../rgb/hdr_left_04077.png", + "transform_matrix": [ + [ + 0.9880334734916687, + -0.015981202945113182, + 0.1534094661474228, + -20.34830093383789 + ], + [ + -0.1535329967737198, + -0.006805603392422199, + 0.9881200194358826, + -11.652451515197754 + ], + [ + -0.01474730297923088, + -0.9998492002487183, + -0.009177802130579948, + -0.5279611945152283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4077, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_495117425", + "mask_path": "../../mask/hdr_left_04077.png" + }, + { + "file_path": "../../rgb/hdr_left_04078.png", + "transform_matrix": [ + [ + 0.986804187297821, + -0.01858992502093315, + 0.16084764897823334, + -20.27107048034668 + ], + [ + -0.16097697615623474, + -0.005673006642609835, + 0.9869418740272522, + -11.652875900268555 + ], + [ + -0.017434682697057724, + -0.9998111128807068, + -0.008590691722929478, + -0.5230320692062378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4078, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_595117330", + "mask_path": "../../mask/hdr_left_04078.png" + }, + { + "file_path": "../../rgb/hdr_left_04079.png", + "transform_matrix": [ + [ + 0.9848245978355408, + -0.012761923484504223, + 0.1730826050043106, + -20.212430953979492 + ], + [ + -0.17308250069618225, + 0.0011205488117411733, + 0.9849066138267517, + -11.655991554260254 + ], + [ + -0.01276325061917305, + -0.9999179840087891, + -0.0011053186608478427, + -0.5141057372093201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4079, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_695117235", + "mask_path": "../../mask/hdr_left_04079.png" + }, + { + "file_path": "../../rgb/hdr_left_04080.png", + "transform_matrix": [ + [ + 0.9826470613479614, + -0.009508684277534485, + 0.18524125218391418, + -20.1500186920166 + ], + [ + -0.18521757423877716, + 0.003323148936033249, + 0.9826919436454773, + -11.65367603302002 + ], + [ + -0.00995969120413065, + -0.9999492764472961, + 0.0015043079620227218, + -0.5162198543548584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4080, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_795117855", + "mask_path": "../../mask/hdr_left_04080.png" + }, + { + "file_path": "../../rgb/hdr_left_04081.png", + "transform_matrix": [ + [ + 0.981299877166748, + -0.008631015196442604, + 0.1922914981842041, + -20.062698364257812 + ], + [ + -0.19229643046855927, + 0.00026182489818893373, + 0.9813368320465088, + -11.651314735412598 + ], + [ + -0.008520280010998249, + -0.9999627470970154, + -0.0014027809957042336, + -0.5178576111793518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4081, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_895116806", + "mask_path": "../../mask/hdr_left_04081.png" + }, + { + "file_path": "../../rgb/hdr_left_04082.png", + "transform_matrix": [ + [ + 0.9818927645683289, + -0.011652556248009205, + 0.18907852470874786, + -19.98253631591797 + ], + [ + -0.18914298713207245, + -0.00469399755820632, + 0.9819382429122925, + -11.648138046264648 + ], + [ + -0.010554557666182518, + -0.9999211430549622, + -0.0068129971623420715, + -0.5216069221496582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4082, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_995117187", + "mask_path": "../../mask/hdr_left_04082.png" + }, + { + "file_path": "../../rgb/hdr_left_04083.png", + "transform_matrix": [ + [ + 0.9822697043418884, + -0.012164618819952011, + 0.18707838654518127, + -19.921350479125977 + ], + [ + -0.1871660202741623, + -0.006507108453661203, + 0.982306718826294, + -11.643781661987305 + ], + [ + -0.010732047259807587, + -0.9999048709869385, + -0.008668532595038414, + -0.5285047888755798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4083, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_95117092", + "mask_path": "../../mask/hdr_left_04083.png" + }, + { + "file_path": "../../rgb/hdr_left_04084.png", + "transform_matrix": [ + [ + 0.9822004437446594, + -0.013232133351266384, + 0.1873692274093628, + -19.848247528076172 + ], + [ + -0.18744602799415588, + -0.004813934676349163, + 0.9822630882263184, + -11.642595291137695 + ], + [ + -0.012095452286303043, + -0.9999009370803833, + -0.007208556868135929, + -0.5312685370445251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4084, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_195117235", + "mask_path": "../../mask/hdr_left_04084.png" + }, + { + "file_path": "../../rgb/hdr_left_04085.png", + "transform_matrix": [ + [ + 0.9807526469230652, + -0.014902304857969284, + 0.19468462467193604, + -19.773269653320312 + ], + [ + -0.1947743445634842, + -0.004812039900571108, + 0.9808362722396851, + -11.645856857299805 + ], + [ + -0.01367989182472229, + -0.999877393245697, + -0.0076220049522817135, + -0.5244044661521912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4085, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_295118808", + "mask_path": "../../mask/hdr_left_04085.png" + }, + { + "file_path": "../../rgb/hdr_left_04086.png", + "transform_matrix": [ + [ + 0.9783405661582947, + -0.009517940692603588, + 0.20678256452083588, + -19.716171264648438 + ], + [ + -0.20677849650382996, + 0.0014212317764759064, + 0.9783867597579956, + -11.649643898010254 + ], + [ + -0.009606112726032734, + -0.9999537467956543, + -0.0005776512552984059, + -0.5168046951293945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4086, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_395116806", + "mask_path": "../../mask/hdr_left_04086.png" + }, + { + "file_path": "../../rgb/hdr_left_04087.png", + "transform_matrix": [ + [ + 0.9759032726287842, + -0.005189851392060518, + 0.21814145147800446, + -19.65287208557129 + ], + [ + -0.21812090277671814, + 0.004249291960150003, + 0.9759123921394348, + -11.651529312133789 + ], + [ + -0.0059917885810136795, + -0.9999775290489197, + 0.0030148853547871113, + -0.5171968340873718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4087, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_495118141", + "mask_path": "../../mask/hdr_left_04087.png" + }, + { + "file_path": "../../rgb/hdr_left_04088.png", + "transform_matrix": [ + [ + 0.9746401309967041, + -0.005048436112701893, + 0.22372086346149445, + -19.566518783569336 + ], + [ + -0.22371773421764374, + 0.0011805604444816709, + 0.9746532440185547, + -11.650664329528809 + ], + [ + -0.00518459128215909, + -0.9999866485595703, + 2.1199315597186796e-05, + -0.5184308886528015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4088, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_595117568", + "mask_path": "../../mask/hdr_left_04088.png" + }, + { + "file_path": "../../rgb/hdr_left_04089.png", + "transform_matrix": [ + [ + 0.9753520488739014, + -0.008992514573037624, + 0.2204711139202118, + -19.49396514892578 + ], + [ + -0.22051317989826202, + -0.003977790009230375, + 0.9753759503364563, + -11.650375366210938 + ], + [ + -0.007894093170762062, + -0.9999516606330872, + -0.005862712394446135, + -0.5259099006652832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4089, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_695116996", + "mask_path": "../../mask/hdr_left_04089.png" + }, + { + "file_path": "../../rgb/hdr_left_04090.png", + "transform_matrix": [ + [ + 0.9757998585700989, + -0.009104202501475811, + 0.21847616136074066, + -19.435298919677734 + ], + [ + -0.21852503716945648, + -0.004761279094964266, + 0.9758197069168091, + -11.649258613586426 + ], + [ + -0.007843834348022938, + -0.9999472498893738, + -0.006635548546910286, + -0.5312198400497437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4090, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_795117378", + "mask_path": "../../mask/hdr_left_04090.png" + }, + { + "file_path": "../../rgb/hdr_left_04091.png", + "transform_matrix": [ + [ + 0.9752990007400513, + -0.01074925996363163, + 0.22062702476978302, + -19.364990234375 + ], + [ + -0.22067435085773468, + -0.0034214069601148367, + 0.9753414988517761, + -11.6509428024292 + ], + [ + -0.00972934439778328, + -0.9999364018440247, + -0.0057089803740382195, + -0.5315197110176086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4091, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_895118474", + "mask_path": "../../mask/hdr_left_04091.png" + }, + { + "file_path": "../../rgb/hdr_left_04092.png", + "transform_matrix": [ + [ + 0.9729861617088318, + -0.013960451819002628, + 0.23044103384017944, + -19.297767639160156 + ], + [ + -0.23051081597805023, + -0.0035925093106925488, + 0.9730631113052368, + -11.66004753112793 + ], + [ + -0.01275653950870037, + -0.9998961687088013, + -0.0067134941928088665, + -0.5188868045806885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4092, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_995117187", + "mask_path": "../../mask/hdr_left_04092.png" + }, + { + "file_path": "../../rgb/hdr_left_04093.png", + "transform_matrix": [ + [ + 0.9707559943199158, + -0.007177567109465599, + 0.23996083438396454, + -19.245594024658203 + ], + [ + -0.23995040357112885, + 0.0022923718206584454, + 0.9707823991775513, + -11.666047096252441 + ], + [ + -0.007517936173826456, + -0.9999716281890869, + 0.0005030775791965425, + -0.5149868130683899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4093, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_95117568", + "mask_path": "../../mask/hdr_left_04093.png" + }, + { + "file_path": "../../rgb/hdr_left_04094.png", + "transform_matrix": [ + [ + 0.9692600965499878, + -0.0032580560073256493, + 0.2460169643163681, + -19.183929443359375 + ], + [ + -0.24599511921405792, + 0.005952019244432449, + 0.9692527651786804, + -11.668414115905762 + ], + [ + -0.00462217815220356, + -0.9999769926071167, + 0.004967590793967247, + -0.5172255635261536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4094, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_195117950", + "mask_path": "../../mask/hdr_left_04094.png" + }, + { + "file_path": "../../rgb/hdr_left_04095.png", + "transform_matrix": [ + [ + 0.9696800112724304, + -0.0035790265537798405, + 0.24435177445411682, + -19.10367774963379 + ], + [ + -0.2443385273218155, + 0.003765348345041275, + 0.9696826338768005, + -11.6676607131958 + ], + [ + -0.004390589892864227, + -0.9999865293502808, + 0.002776691224426031, + -0.518020749092102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4095, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_295117378", + "mask_path": "../../mask/hdr_left_04095.png" + }, + { + "file_path": "../../rgb/hdr_left_04096.png", + "transform_matrix": [ + [ + 0.9723033905029297, + -0.006055572535842657, + 0.23364365100860596, + -19.033533096313477 + ], + [ + -0.23366516828536987, + -0.0031200898811221123, + 0.9723120331764221, + -11.666769981384277 + ], + [ + -0.0051589179784059525, + -0.9999768733978271, + -0.004448648542165756, + -0.5238239169120789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4096, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_395118236", + "mask_path": "../../mask/hdr_left_04096.png" + }, + { + "file_path": "../../rgb/hdr_left_04097.png", + "transform_matrix": [ + [ + 0.974575936794281, + -0.006377681158483028, + 0.22396652400493622, + -18.97466278076172 + ], + [ + -0.22399823367595673, + -0.004775568377226591, + 0.9745779037475586, + -11.666512489318848 + ], + [ + -0.005145979579538107, + -0.9999682903289795, + -0.006082742474973202, + -0.5279560685157776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4097, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_495118379", + "mask_path": "../../mask/hdr_left_04097.png" + }, + { + "file_path": "../../rgb/hdr_left_04098.png", + "transform_matrix": [ + [ + 0.9764441847801208, + -0.007309620268642902, + 0.2156461477279663, + -18.9033260345459 + ], + [ + -0.2156739979982376, + -0.0032577537931501865, + 0.9764600396156311, + -11.66627025604248 + ], + [ + -0.006435029674321413, + -0.9999679923057556, + -0.004757510032504797, + -0.5237287282943726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4098, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_595117568", + "mask_path": "../../mask/hdr_left_04098.png" + }, + { + "file_path": "../../rgb/hdr_left_04099.png", + "transform_matrix": [ + [ + 0.9770963191986084, + -0.008362042717635632, + 0.21263308823108673, + -18.8387393951416 + ], + [ + -0.21265731751918793, + -0.0021140521857887506, + 0.9771245121955872, + -11.66707992553711 + ], + [ + -0.007721239235252142, + -0.9999628663063049, + -0.0038438832852989435, + -0.5128113627433777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4099, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_695117712", + "mask_path": "../../mask/hdr_left_04099.png" + }, + { + "file_path": "../../rgb/hdr_left_04100.png", + "transform_matrix": [ + [ + 0.9780427813529968, + -0.0006781534175388515, + 0.2084028571844101, + -18.784931182861328 + ], + [ + -0.2084001749753952, + 0.002853868994861841, + 0.9780395030975342, + -11.668088912963867 + ], + [ + -0.0012580155162140727, + -0.9999957084655762, + 0.0026498788502067327, + -0.509253978729248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4100, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_795117378", + "mask_path": "../../mask/hdr_left_04100.png" + }, + { + "file_path": "../../rgb/hdr_left_04101.png", + "transform_matrix": [ + [ + 0.9802902340888977, + 0.0037698312662541866, + 0.19752661883831024, + -18.719919204711914 + ], + [ + -0.1975473016500473, + 0.0062654768116772175, + 0.9802733659744263, + -11.664468765258789 + ], + [ + 0.0024578655138611794, + -0.9999732971191406, + 0.006886708550155163, + -0.506355881690979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4101, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_895120143", + "mask_path": "../../mask/hdr_left_04101.png" + }, + { + "file_path": "../../rgb/hdr_left_04102.png", + "transform_matrix": [ + [ + 0.9844444394111633, + -0.00014409684808924794, + 0.17569614946842194, + -18.6451358795166 + ], + [ + -0.17569424211978912, + 0.003909706603735685, + 0.9844369888305664, + -11.653740882873535 + ], + [ + -0.00082877540262416, + -0.9999923706054688, + 0.003823574399575591, + -0.5114486217498779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4102, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_995118856", + "mask_path": "../../mask/hdr_left_04102.png" + }, + { + "file_path": "../../rgb/hdr_left_04103.png", + "transform_matrix": [ + [ + 0.9891673922538757, + -0.0019829256925731897, + 0.14677831530570984, + -18.58121109008789 + ], + [ + -0.14677953720092773, + -0.00048747556866146624, + 0.9891691207885742, + -11.640542984008789 + ], + [ + -0.0018898980924859643, + -0.9999979734420776, + -0.000773246050812304, + -0.5202517509460449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4103, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_95122098", + "mask_path": "../../mask/hdr_left_04103.png" + }, + { + "file_path": "../../rgb/hdr_left_04104.png", + "transform_matrix": [ + [ + 0.9928162693977356, + -0.003976327367126942, + 0.11958297342061996, + -18.522838592529297 + ], + [ + -0.1195838451385498, + 1.68554706760915e-05, + 0.992824137210846, + -11.629998207092285 + ], + [ + -0.003949809819459915, + -0.9999921321868896, + -0.00045876868534833193, + -0.5203809142112732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4104, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_195119619", + "mask_path": "../../mask/hdr_left_04104.png" + }, + { + "file_path": "../../rgb/hdr_left_04105.png", + "transform_matrix": [ + [ + 0.995092511177063, + -0.007493861019611359, + 0.09866494685411453, + -18.454303741455078 + ], + [ + -0.09861932694911957, + 0.00623236782848835, + 0.9951058030128479, + -11.619841575622559 + ], + [ + -0.008072100579738617, + -0.999952495098114, + 0.005462743807584047, + -0.5173909664154053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4105, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_295118808", + "mask_path": "../../mask/hdr_left_04105.png" + }, + { + "file_path": "../../rgb/hdr_left_04106.png", + "transform_matrix": [ + [ + 0.996114194393158, + -0.004737993702292442, + 0.08794224262237549, + -18.395374298095703 + ], + [ + -0.08788927644491196, + 0.01042227167636156, + 0.9960757493972778, + -11.611618995666504 + ], + [ + -0.005635959096252918, + -0.9999345541000366, + 0.00996535737067461, + -0.51103675365448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4106, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_395118713", + "mask_path": "../../mask/hdr_left_04106.png" + }, + { + "file_path": "../../rgb/hdr_left_04107.png", + "transform_matrix": [ + [ + 0.9967721104621887, + -0.00047221846762113273, + 0.08028123527765274, + -18.34010124206543 + ], + [ + -0.0802605152130127, + 0.017611188814044, + 0.9966183304786682, + -11.600452423095703 + ], + [ + -0.0018844704609364271, + -0.9998449087142944, + 0.017516445368528366, + -0.5052250027656555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4107, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_495121002", + "mask_path": "../../mask/hdr_left_04107.png" + }, + { + "file_path": "../../rgb/hdr_left_04108.png", + "transform_matrix": [ + [ + 0.997045636177063, + -0.0015457506524398923, + 0.07679515331983566, + -18.270587921142578 + ], + [ + -0.0767475813627243, + 0.020479006692767143, + 0.996840238571167, + -11.588141441345215 + ], + [ + -0.00311355572193861, + -0.9997891783714294, + 0.020299874246120453, + -0.5091855525970459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4108, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_595119237", + "mask_path": "../../mask/hdr_left_04108.png" + }, + { + "file_path": "../../rgb/hdr_left_04109.png", + "transform_matrix": [ + [ + 0.9974156022071838, + -0.005321351811289787, + 0.07165002822875977, + -18.199792861938477 + ], + [ + -0.0715516060590744, + 0.01682538352906704, + 0.9972950220108032, + -11.576151847839355 + ], + [ + -0.0065124970860779285, + -0.9998443722724915, + 0.016401153057813644, + -0.5188978314399719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4109, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_695119380", + "mask_path": "../../mask/hdr_left_04109.png" + }, + { + "file_path": "../../rgb/hdr_left_04110.png", + "transform_matrix": [ + [ + 0.997615396976471, + -0.00494404137134552, + 0.06884044408798218, + -18.139633178710938 + ], + [ + -0.0687648132443428, + 0.014115219935774803, + 0.9975330233573914, + -11.562646865844727 + ], + [ + -0.005903543438762426, + -0.9998882412910461, + 0.013741588220000267, + -0.5228221416473389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4110, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_795119047", + "mask_path": "../../mask/hdr_left_04110.png" + }, + { + "file_path": "../../rgb/hdr_left_04111.png", + "transform_matrix": [ + [ + 0.9973999857902527, + -0.007047977764159441, + 0.07171884924173355, + -18.069408416748047 + ], + [ + -0.07162228971719742, + 0.013111768290400505, + 0.9973456263542175, + -11.550771713256836 + ], + [ + -0.007969631813466549, + -0.9998892545700073, + 0.012572887353599072, + -0.5219234228134155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4111, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_895120382", + "mask_path": "../../mask/hdr_left_04111.png" + }, + { + "file_path": "../../rgb/hdr_left_04112.png", + "transform_matrix": [ + [ + 0.9965714812278748, + -0.009789373725652695, + 0.08215540647506714, + -17.998924255371094 + ], + [ + -0.08207432925701141, + 0.00841717328876257, + 0.9965906739234924, + -11.545771598815918 + ], + [ + -0.010447514243423939, + -0.9999167323112488, + 0.00758486008271575, + -0.512018084526062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4112, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_995119094", + "mask_path": "../../mask/hdr_left_04112.png" + }, + { + "file_path": "../../rgb/hdr_left_04113.png", + "transform_matrix": [ + [ + 0.995490550994873, + -0.0012630188139155507, + 0.09485270828008652, + -17.938213348388672 + ], + [ + -0.0948304533958435, + 0.012187638320028782, + 0.995418906211853, + -11.542868614196777 + ], + [ + -0.0024132635444402695, + -0.9999250173568726, + 0.01201290637254715, + -0.5034428834915161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4113, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_95119476", + "mask_path": "../../mask/hdr_left_04113.png" + }, + { + "file_path": "../../rgb/hdr_left_04114.png", + "transform_matrix": [ + [ + 0.9947031140327454, + 0.0033149225637316704, + 0.10273576527833939, + -17.86556625366211 + ], + [ + -0.10277262330055237, + 0.014109970070421696, + 0.994604766368866, + -11.533803939819336 + ], + [ + 0.0018474383978173137, + -0.9998950362205505, + 0.014375918544828892, + -0.5020557641983032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4114, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_195118427", + "mask_path": "../../mask/hdr_left_04114.png" + }, + { + "file_path": "../../rgb/hdr_left_04115.png", + "transform_matrix": [ + [ + 0.9948760867118835, + -0.001933971419930458, + 0.10108275711536407, + -17.787487030029297 + ], + [ + -0.10106180608272552, + 0.008905027061700821, + 0.9948402643203735, + -11.517205238342285 + ], + [ + -0.002824137918651104, + -0.9999585151672363, + 0.00866395141929388, + -0.5104852914810181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4115, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_295118093", + "mask_path": "../../mask/hdr_left_04115.png" + }, + { + "file_path": "../../rgb/hdr_left_04116.png", + "transform_matrix": [ + [ + 0.995204508304596, + -0.0035824135411530733, + 0.09775064140558243, + -17.728572845458984 + ], + [ + -0.09773335605859756, + 0.004712940659373999, + 0.9952014684677124, + -11.507424354553223 + ], + [ + -0.0040259165689349174, + -0.9999825358390808, + 0.004340221174061298, + -0.5200642347335815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4116, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_395118474", + "mask_path": "../../mask/hdr_left_04116.png" + }, + { + "file_path": "../../rgb/hdr_left_04117.png", + "transform_matrix": [ + [ + 0.9949595928192139, + -0.006187675055116415, + 0.10008504986763, + -17.66444206237793 + ], + [ + -0.10006994754076004, + 0.0027062988374382257, + 0.9949766993522644, + -11.503279685974121 + ], + [ + -0.0064274524338543415, + -0.9999772310256958, + 0.002073460491374135, + -0.519766092300415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4117, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_495119571", + "mask_path": "../../mask/hdr_left_04117.png" + }, + { + "file_path": "../../rgb/hdr_left_04118.png", + "transform_matrix": [ + [ + 0.9939641356468201, + -0.010341002605855465, + 0.10921765118837357, + -17.596538543701172 + ], + [ + -0.10921858251094818, + 0.0004752808890771121, + 0.9940176010131836, + -11.503338813781738 + ], + [ + -0.010331048630177975, + -0.9999464750289917, + -0.0006570115801878273, + -0.5143880248069763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4118, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_595119476", + "mask_path": "../../mask/hdr_left_04118.png" + }, + { + "file_path": "../../rgb/hdr_left_04119.png", + "transform_matrix": [ + [ + 0.9926092028617859, + -0.003902979427948594, + 0.12129254639148712, + -17.5408935546875 + ], + [ + -0.12127833813428879, + 0.0036922150757163763, + 0.9926116466522217, + -11.503795623779297 + ], + [ + -0.0043219816870987415, + -0.9999856352806091, + 0.003191583789885044, + -0.5072741508483887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4119, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_695120334", + "mask_path": "../../mask/hdr_left_04119.png" + }, + { + "file_path": "../../rgb/hdr_left_04120.png", + "transform_matrix": [ + [ + 0.9913238286972046, + -0.00035358924651518464, + 0.13144169747829437, + -17.47574806213379 + ], + [ + -0.13143803179264069, + 0.005288620013743639, + 0.9913102984428406, + -11.499402046203613 + ], + [ + -0.001045662327669561, + -0.9999859929084778, + 0.005196262151002884, + -0.502720296382904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4120, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_795119285", + "mask_path": "../../mask/hdr_left_04120.png" + }, + { + "file_path": "../../rgb/hdr_left_04121.png", + "transform_matrix": [ + [ + 0.9910315871238708, + -0.003350153798237443, + 0.1335856020450592, + -17.39959144592285 + ], + [ + -0.13358783721923828, + -0.00044862733921036124, + 0.9910368323326111, + -11.49183464050293 + ], + [ + -0.0032601964194327593, + -0.9999943971633911, + -0.0008921418339014053, + -0.5084693431854248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4121, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_895119667", + "mask_path": "../../mask/hdr_left_04121.png" + }, + { + "file_path": "../../rgb/hdr_left_04122.png", + "transform_matrix": [ + [ + 0.9916028380393982, + -0.0020590981002897024, + 0.12930400669574738, + -17.33306121826172 + ], + [ + -0.12931658327579498, + -0.008099923841655254, + 0.991570234298706, + -11.48503589630127 + ], + [ + -0.0009943887125700712, + -0.9999651312828064, + -0.00829817820340395, + -0.515778124332428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4122, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_995118379", + "mask_path": "../../mask/hdr_left_04122.png" + }, + { + "file_path": "../../rgb/hdr_left_04123.png", + "transform_matrix": [ + [ + 0.991577684879303, + -0.005771268624812365, + 0.12938453257083893, + -17.27164649963379 + ], + [ + -0.1294340044260025, + -0.009231239557266235, + 0.9915450811386108, + -11.482585906982422 + ], + [ + -0.004528094083070755, + -0.999940812587738, + -0.009900487028062344, + -0.5202229022979736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4123, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_95118999", + "mask_path": "../../mask/hdr_left_04123.png" + }, + { + "file_path": "../../rgb/hdr_left_04124.png", + "transform_matrix": [ + [ + 0.9907671809196472, + -0.010076181031763554, + 0.13519884645938873, + -17.198976516723633 + ], + [ + -0.13528643548488617, + -0.008581753820180893, + 0.9907694458961487, + -11.484013557434082 + ], + [ + -0.008822928182780743, + -0.9999123811721802, + -0.009865690022706985, + -0.5183109045028687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4124, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_195118427", + "mask_path": "../../mask/hdr_left_04124.png" + }, + { + "file_path": "../../rgb/hdr_left_04125.png", + "transform_matrix": [ + [ + 0.9889345765113831, + -0.005909276194870472, + 0.14823369681835175, + -17.138507843017578 + ], + [ + -0.14829149842262268, + -0.010973021388053894, + 0.988882839679718, + -11.48853874206543 + ], + [ + -0.004217010457068682, + -0.9999223351478577, + -0.01172789465636015, + -0.5096467733383179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4125, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_295118808", + "mask_path": "../../mask/hdr_left_04125.png" + }, + { + "file_path": "../../rgb/hdr_left_04126.png", + "transform_matrix": [ + [ + 0.9871998429298401, + -0.0022560455836355686, + 0.15947189927101135, + -17.07923698425293 + ], + [ + -0.15948458015918732, + -0.007550431881099939, + 0.9871715307235718, + -11.48689079284668 + ], + [ + -0.0010230225743725896, + -0.9999690055847168, + -0.007813587784767151, + -0.5026524066925049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4126, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_395118951", + "mask_path": "../../mask/hdr_left_04126.png" + }, + { + "file_path": "../../rgb/hdr_left_04127.png", + "transform_matrix": [ + [ + 0.9865859746932983, + -0.005283347796648741, + 0.16315659880638123, + -17.004179000854492 + ], + [ + -0.16319908201694489, + -0.008971469476819038, + 0.9865522980690002, + -11.481868743896484 + ], + [ + -0.0037485454231500626, + -0.9999458193778992, + -0.009713360108435154, + -0.5042858719825745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4127, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_495118618", + "mask_path": "../../mask/hdr_left_04127.png" + }, + { + "file_path": "../../rgb/hdr_left_04128.png", + "transform_matrix": [ + [ + 0.9872463941574097, + -0.008933336474001408, + 0.15894879400730133, + -16.934349060058594 + ], + [ + -0.15904854238033295, + -0.01185570377856493, + 0.987199604511261, + -11.478433609008789 + ], + [ + -0.006934536155313253, + -0.9998898506164551, + -0.01312533114105463, + -0.5166955590248108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4128, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_595119237", + "mask_path": "../../mask/hdr_left_04128.png" + }, + { + "file_path": "../../rgb/hdr_left_04129.png", + "transform_matrix": [ + [ + 0.9874066114425659, + -0.011123080737888813, + 0.1578110009431839, + -16.87255859375 + ], + [ + -0.15794634819030762, + -0.012567970901727676, + 0.9873676896095276, + -11.47695255279541 + ], + [ + -0.008999207057058811, + -0.9998592138290405, + -0.014166546985507011, + -0.5209137201309204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4129, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_695118665", + "mask_path": "../../mask/hdr_left_04129.png" + }, + { + "file_path": "../../rgb/hdr_left_04130.png", + "transform_matrix": [ + [ + 0.986491322517395, + -0.0150985699146986, + 0.16311611235141754, + -16.806381225585938 + ], + [ + -0.1633162498474121, + -0.013129156082868576, + 0.9864863753318787, + -11.480362892150879 + ], + [ + -0.01275295577943325, + -0.9997999668121338, + -0.01541763823479414, + -0.5202016234397888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4130, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_795120000", + "mask_path": "../../mask/hdr_left_04130.png" + }, + { + "file_path": "../../rgb/hdr_left_04131.png", + "transform_matrix": [ + [ + 0.9847114682197571, + -0.011451344937086105, + 0.17381587624549866, + -16.748079299926758 + ], + [ + -0.17397888004779816, + -0.015229204669594765, + 0.9846315979957581, + -11.485264778137207 + ], + [ + -0.008628279902040958, + -0.9998185634613037, + -0.016988659277558327, + -0.5128371119499207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4131, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_895121335", + "mask_path": "../../mask/hdr_left_04131.png" + }, + { + "file_path": "../../rgb/hdr_left_04132.png", + "transform_matrix": [ + [ + 0.9834368824958801, + -0.0061176009476184845, + 0.18114779889583588, + -16.691312789916992 + ], + [ + -0.1811927706003189, + -0.007832414470613003, + 0.9834163784980774, + -11.484935760498047 + ], + [ + -0.004597324412316084, + -0.999950647354126, + -0.008811146952211857, + -0.5077877640724182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4132, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_995119333", + "mask_path": "../../mask/hdr_left_04132.png" + }, + { + "file_path": "../../rgb/hdr_left_04133.png", + "transform_matrix": [ + [ + 0.9836975336074829, + -0.004352120216935873, + 0.17977862060070038, + -16.617107391357422 + ], + [ + -0.17979717254638672, + -0.004334281664341688, + 0.9836940765380859, + -11.47903060913086 + ], + [ + -0.003501945175230503, + -0.999981164932251, + -0.005046114791184664, + -0.5089010000228882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4133, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_95118284", + "mask_path": "../../mask/hdr_left_04133.png" + }, + { + "file_path": "../../rgb/hdr_left_04134.png", + "transform_matrix": [ + [ + 0.9853192567825317, + -0.005392644554376602, + 0.17063701152801514, + -16.547801971435547 + ], + [ + -0.17068278789520264, + -0.009643960744142532, + 0.9852787852287292, + -11.473849296569824 + ], + [ + -0.0036676423624157906, + -0.99993896484375, + -0.010422809980809689, + -0.5186886191368103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4134, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_195118427", + "mask_path": "../../mask/hdr_left_04134.png" + }, + { + "file_path": "../../rgb/hdr_left_04135.png", + "transform_matrix": [ + [ + 0.9861332774162292, + -0.009638623334467411, + 0.16567493975162506, + -16.487483978271484 + ], + [ + -0.16578754782676697, + -0.012368014082312584, + 0.986083984375, + -11.475391387939453 + ], + [ + -0.007455422077327967, + -0.9998770356178284, + -0.013794470578432083, + -0.5207314491271973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4135, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_295118570", + "mask_path": "../../mask/hdr_left_04135.png" + }, + { + "file_path": "../../rgb/hdr_left_04136.png", + "transform_matrix": [ + [ + 0.9858056306838989, + -0.014150654897093773, + 0.16729295253753662, + -16.42093849182129 + ], + [ + -0.16745881736278534, + -0.011474864557385445, + 0.9858123660087585, + -11.478609085083008 + ], + [ + -0.012030225247144699, + -0.9998340606689453, + -0.01368163526058197, + -0.5176733136177063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4136, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_395118236", + "mask_path": "../../mask/hdr_left_04136.png" + }, + { + "file_path": "../../rgb/hdr_left_04137.png", + "transform_matrix": [ + [ + 0.9847654104232788, + -0.008839826099574566, + 0.17366325855255127, + -16.364686965942383 + ], + [ + -0.17374666035175323, + -0.009750100784003735, + 0.9847421050071716, + -11.48187255859375 + ], + [ + -0.007011714857071638, + -0.9999134540557861, + -0.011137447319924831, + -0.510593831539154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4137, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_495117902", + "mask_path": "../../mask/hdr_left_04137.png" + }, + { + "file_path": "../../rgb/hdr_left_04138.png", + "transform_matrix": [ + [ + 0.9843136072158813, + -0.005820777732878923, + 0.17633114755153656, + -16.306785583496094 + ], + [ + -0.17636820673942566, + -0.00661582313477993, + 0.9843019843101501, + -11.481261253356934 + ], + [ + -0.004562828689813614, + -0.999961256980896, + -0.007538640405982733, + -0.5058334469795227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4138, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_595118284", + "mask_path": "../../mask/hdr_left_04138.png" + }, + { + "file_path": "../../rgb/hdr_left_04139.png", + "transform_matrix": [ + [ + 0.9851149320602417, + -0.009811398573219776, + 0.17161664366722107, + -16.237361907958984 + ], + [ + -0.1717013567686081, + -0.008557786233723164, + 0.9851118922233582, + -11.477950096130371 + ], + [ + -0.008196665905416012, + -0.999915361404419, + -0.010115032084286213, + -0.5118322968482971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4139, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_695117950", + "mask_path": "../../mask/hdr_left_04139.png" + }, + { + "file_path": "../../rgb/hdr_left_04140.png", + "transform_matrix": [ + [ + 0.9866488575935364, + -0.011701149865984917, + 0.16244064271450043, + -16.17340660095215 + ], + [ + -0.16255907714366913, + -0.009996575303375721, + 0.9866482019424438, + -11.472989082336426 + ], + [ + -0.009921068325638771, + -0.9998815655708313, + -0.011765236034989357, + -0.5254067778587341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4140, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_795117855", + "mask_path": "../../mask/hdr_left_04140.png" + }, + { + "file_path": "../../rgb/hdr_left_04141.png", + "transform_matrix": [ + [ + 0.9872617721557617, + -0.012993778102099895, + 0.15857209265232086, + -16.113262176513672 + ], + [ + -0.1587107628583908, + -0.010437574237585068, + 0.9872698783874512, + -11.470770835876465 + ], + [ + -0.011173260398209095, + -0.9998611211776733, + -0.012366865761578083, + -0.5247894525527954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4141, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_895118713", + "mask_path": "../../mask/hdr_left_04141.png" + }, + { + "file_path": "../../rgb/hdr_left_04142.png", + "transform_matrix": [ + [ + 0.9865007996559143, + -0.015308745205402374, + 0.16303882002830505, + -16.046255111694336 + ], + [ + -0.16321048140525818, + -0.010717643424868584, + 0.9865330457687378, + -11.475020408630371 + ], + [ + -0.013355190865695477, + -0.9998254179954529, + -0.013071507215499878, + -0.5194988250732422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4142, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_995115518", + "mask_path": "../../mask/hdr_left_04142.png" + }, + { + "file_path": "../../rgb/hdr_left_04143.png", + "transform_matrix": [ + [ + 0.9843690395355225, + -0.009826901368796825, + 0.17584355175495148, + -15.992359161376953 + ], + [ + -0.17592786252498627, + -0.008491091430187225, + 0.9843664765357971, + -11.482476234436035 + ], + [ + -0.008180169388651848, + -0.9999157786369324, + -0.010087191127240658, + -0.5150827169418335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4143, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_95117568", + "mask_path": "../../mask/hdr_left_04143.png" + }, + { + "file_path": "../../rgb/hdr_left_04144.png", + "transform_matrix": [ + [ + 0.9822544455528259, + -0.00402790866792202, + 0.18750981986522675, + -15.93681812286377 + ], + [ + -0.18752266466617584, + -0.003082562703639269, + 0.9822553992271423, + -11.480987548828125 + ], + [ + -0.003378425259143114, + -0.9999871850013733, + -0.003783181309700012, + -0.5108845829963684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4144, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_195117235", + "mask_path": "../../mask/hdr_left_04144.png" + }, + { + "file_path": "../../rgb/hdr_left_04145.png", + "transform_matrix": [ + [ + 0.981475293636322, + -0.004569195210933685, + 0.19153398275375366, + -15.863391876220703 + ], + [ + -0.19155530631542206, + -0.004804454743862152, + 0.981469988822937, + -11.47658920288086 + ], + [ + -0.003564312122762203, + -0.9999780654907227, + -0.005590706132352352, + -0.5125732421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4145, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_295116662", + "mask_path": "../../mask/hdr_left_04145.png" + }, + { + "file_path": "../../rgb/hdr_left_04146.png", + "transform_matrix": [ + [ + 0.9824721813201904, + -0.00967966765165329, + 0.1861577183008194, + -15.798483848571777 + ], + [ + -0.1862550526857376, + -0.010367289185523987, + 0.9824467897415161, + -11.473670959472656 + ], + [ + -0.0075798071920871735, + -0.9998993873596191, + -0.011988458223640919, + -0.5263633131980896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4146, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_395118236", + "mask_path": "../../mask/hdr_left_04146.png" + }, + { + "file_path": "../../rgb/hdr_left_04147.png", + "transform_matrix": [ + [ + 0.9833529591560364, + -0.011270022951066494, + 0.1813555806875229, + -15.742572784423828 + ], + [ + -0.1814703643321991, + -0.010161330923438072, + 0.9833438992500305, + -11.470779418945312 + ], + [ + -0.009239494800567627, + -0.9998849034309387, + -0.012037348002195358, + -0.5281286239624023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4147, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_495118618", + "mask_path": "../../mask/hdr_left_04147.png" + }, + { + "file_path": "../../rgb/hdr_left_04148.png", + "transform_matrix": [ + [ + 0.983615517616272, + -0.011715310625731945, + 0.1798979938030243, + -15.676929473876953 + ], + [ + -0.18000690639019012, + -0.009008791297674179, + 0.9836241602897644, + -11.471819877624512 + ], + [ + -0.009902797639369965, + -0.9998908042907715, + -0.010970021598041058, + -0.5217103362083435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4148, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_595118999", + "mask_path": "../../mask/hdr_left_04148.png" + }, + { + "file_path": "../../rgb/hdr_left_04149.png", + "transform_matrix": [ + [ + 0.983089804649353, + -0.007090636994689703, + 0.18298636376857758, + -15.61816692352295 + ], + [ + -0.18305453658103943, + -0.010590437799692154, + 0.983045756816864, + -11.473328590393066 + ], + [ + -0.005032514221966267, + -0.9999188184738159, + -0.011709322221577168, + -0.5120670795440674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4149, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_695119142", + "mask_path": "../../mask/hdr_left_04149.png" + }, + { + "file_path": "../../rgb/hdr_left_04150.png", + "transform_matrix": [ + [ + 0.9823035001754761, + 0.0002532167418394238, + 0.1872960478067398, + -15.564573287963867 + ], + [ + -0.18729184567928314, + -0.005514753982424736, + 0.9822888970375061, + -11.47311782836914 + ], + [ + 0.0012816227972507477, + -0.999984860420227, + -0.005369734950363636, + -0.5058932304382324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4150, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_795118570", + "mask_path": "../../mask/hdr_left_04150.png" + }, + { + "file_path": "../../rgb/hdr_left_04151.png", + "transform_matrix": [ + [ + 0.9825084209442139, + 0.0007691921782679856, + 0.1862163245677948, + -15.496593475341797 + ], + [ + -0.18621113896369934, + -0.004476889502257109, + 0.9824995398521423, + -11.46938419342041 + ], + [ + 0.0015894004609435797, + -0.9999896883964539, + -0.004255348350852728, + -0.5063203573226929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4151, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_895118236", + "mask_path": "../../mask/hdr_left_04151.png" + }, + { + "file_path": "../../rgb/hdr_left_04152.png", + "transform_matrix": [ + [ + 0.9842383861541748, + -0.003981039393693209, + 0.17680194973945618, + -15.429930686950684 + ], + [ + -0.17683473229408264, + -0.010499239899218082, + 0.9841845035552979, + -11.464844703674316 + ], + [ + -0.0020617921836674213, + -0.9999369382858276, + -0.011037738062441349, + -0.515557050704956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4152, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_995117187", + "mask_path": "../../mask/hdr_left_04152.png" + }, + { + "file_path": "../../rgb/hdr_left_04153.png", + "transform_matrix": [ + [ + 0.9855812788009644, + -0.0036481411661952734, + 0.16916324198246002, + -15.374795913696289 + ], + [ + -0.16919732093811035, + -0.01336617860943079, + 0.9854915142059326, + -11.460726737976074 + ], + [ + -0.0013341463636606932, + -0.9999040365219116, + -0.01379071082919836, + -0.5251287221908569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4153, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_95118522", + "mask_path": "../../mask/hdr_left_04153.png" + }, + { + "file_path": "../../rgb/hdr_left_04154.png", + "transform_matrix": [ + [ + 0.9866580367088318, + -0.004427978303283453, + 0.16274642944335938, + -15.312506675720215 + ], + [ + -0.16278871893882751, + -0.011993573978543282, + 0.9865880012512207, + -11.458969116210938 + ], + [ + -0.0024166801013052464, + -0.9999182820320129, + -0.012554376386106014, + -0.5230296850204468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4154, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_195117473", + "mask_path": "../../mask/hdr_left_04154.png" + }, + { + "file_path": "../../rgb/hdr_left_04155.png", + "transform_matrix": [ + [ + 0.9870966672897339, + -0.008379205130040646, + 0.1599060297012329, + -15.250852584838867 + ], + [ + -0.1599852740764618, + -0.00983305275440216, + 0.9870705008506775, + -11.456915855407715 + ], + [ + -0.006698501296341419, + -0.9999166131019592, + -0.01104672346264124, + -0.5168449878692627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4155, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_295118570", + "mask_path": "../../mask/hdr_left_04155.png" + }, + { + "file_path": "../../rgb/hdr_left_04157.png", + "transform_matrix": [ + [ + 0.9868624806404114, + -0.001177071244455874, + 0.161558136343956, + -15.150031089782715 + ], + [ + -0.16156016290187836, + -0.001900023315101862, + 0.986860990524292, + -11.453174591064453 + ], + [ + -0.0008546418393962085, + -0.9999974966049194, + -0.002065228531137109, + -0.5138764381408691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4157, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_495121240", + "mask_path": "../../mask/hdr_left_04157.png" + }, + { + "file_path": "../../rgb/hdr_left_04158.png", + "transform_matrix": [ + [ + 0.987879753112793, + -0.0023447852581739426, + 0.15520325303077698, + -15.078615188598633 + ], + [ + -0.15520651638507843, + -0.0012704032706096768, + 0.9878812432289124, + -11.445747375488281 + ], + [ + -0.002119199139997363, + -0.9999964833259583, + -0.0016189299058169127, + -0.5177604556083679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4158, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_595119476", + "mask_path": "../../mask/hdr_left_04158.png" + }, + { + "file_path": "../../rgb/hdr_left_04159.png", + "transform_matrix": [ + [ + 0.9900997281074524, + -0.005707737989723682, + 0.1402496099472046, + -15.011945724487305 + ], + [ + -0.14026989042758942, + -0.003315879264846444, + 0.9901078343391418, + -11.432682991027832 + ], + [ + -0.005186224821954966, + -0.9999781847000122, + -0.004083674401044846, + -0.5225699543952942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4159, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_695119619", + "mask_path": "../../mask/hdr_left_04159.png" + }, + { + "file_path": "../../rgb/hdr_left_04160.png", + "transform_matrix": [ + [ + 0.9919527769088745, + -0.007171151228249073, + 0.12640483677387238, + -14.956960678100586 + ], + [ + -0.126438707113266, + -0.004484475590288639, + 0.9919642210006714, + -11.424346923828125 + ], + [ + -0.006546666845679283, + -0.9999642968177795, + -0.005355094093829393, + -0.5277565121650696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4160, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_795118808", + "mask_path": "../../mask/hdr_left_04160.png" + }, + { + "file_path": "../../rgb/hdr_left_04161.png", + "transform_matrix": [ + [ + 0.9931313991546631, + -0.011951258406043053, + 0.11639183759689331, + -14.894340515136719 + ], + [ + -0.11641817539930344, + -0.0015292406314983964, + 0.9931991100311279, + -11.417827606201172 + ], + [ + -0.011691988445818424, + -0.9999274611473083, + -0.002910077339038253, + -0.5293340086936951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4161, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_895119905", + "mask_path": "../../mask/hdr_left_04161.png" + }, + { + "file_path": "../../rgb/hdr_left_04162.png", + "transform_matrix": [ + [ + 0.9931840896606445, + -0.016408585011959076, + 0.11539512127637863, + -14.833686828613281 + ], + [ + -0.11539315432310104, + 0.0010698630940169096, + 0.9933193325996399, + -11.412501335144043 + ], + [ + -0.016422422602772713, + -0.9998648762702942, + -0.0008308643591590226, + -0.5210915803909302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4162, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_995119094", + "mask_path": "../../mask/hdr_left_04162.png" + }, + { + "file_path": "../../rgb/hdr_right_03868.png", + "transform_matrix": [ + [ + 0.9826915860176086, + -0.003117944812402129, + -0.1852230429649353, + -15.236306190490723 + ], + [ + 0.18524925410747528, + 0.015898847952485085, + 0.9825629591941833, + -11.448025703430176 + ], + [ + -0.00011874399933731183, + -0.9998687505722046, + 0.016201261430978775, + -0.5208876132965088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3868, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549369_595117568", + "mask_path": "../../mask/hdr_right_03868.png" + }, + { + "file_path": "../../rgb/hdr_right_03869.png", + "transform_matrix": [ + [ + 0.9822655320167542, + -0.002456630114465952, + -0.18747855722904205, + -15.30650806427002 + ], + [ + 0.1874927133321762, + 0.017434675246477127, + 0.9821112155914307, + -11.450801849365234 + ], + [ + 0.0008559432462789118, + -0.9998449683189392, + 0.017586082220077515, + -0.5297390818595886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3869, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549369_695116758", + "mask_path": "../../mask/hdr_right_03869.png" + }, + { + "file_path": "../../rgb/hdr_right_03870.png", + "transform_matrix": [ + [ + 0.9834529161453247, + -0.0025036644656211138, + -0.1811470240354538, + -15.397001266479492 + ], + [ + 0.18116100132465363, + 0.01965775527060032, + 0.983256995677948, + -11.445240020751953 + ], + [ + 0.0010991988237947226, + -0.9998036623001099, + 0.019786043092608452, + -0.5216342806816101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3870, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549369_795116662", + "mask_path": "../../mask/hdr_right_03870.png" + }, + { + "file_path": "../../rgb/hdr_right_03871.png", + "transform_matrix": [ + [ + 0.9858422875404358, + -0.004667968023568392, + -0.16761019825935364, + -15.47309684753418 + ], + [ + 0.16766749322414398, + 0.017869628965854645, + 0.9856815934181213, + -11.440043449401855 + ], + [ + -0.001605998375453055, + -0.9998294115066528, + 0.018399301916360855, + -0.506037175655365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3871, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549369_895116806", + "mask_path": "../../mask/hdr_right_03871.png" + }, + { + "file_path": "../../rgb/hdr_right_03872.png", + "transform_matrix": [ + [ + 0.9873703718185425, + -0.007736681029200554, + -0.15824007987976074, + -15.546380996704102 + ], + [ + 0.15832921862602234, + 0.012724557891488075, + 0.9873044490814209, + -11.44009780883789 + ], + [ + -0.005624924320727587, + -0.999889075756073, + 0.013788790442049503, + -0.5019034743309021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3872, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549369_995116472", + "mask_path": "../../mask/hdr_right_03872.png" + }, + { + "file_path": "../../rgb/hdr_right_03873.png", + "transform_matrix": [ + [ + 0.9874605536460876, + -0.004167341161519289, + -0.15781135857105255, + -15.642172813415527 + ], + [ + 0.15785478055477142, + 0.01395314373075962, + 0.9873638153076172, + -11.443975448608398 + ], + [ + -0.0019127173582091928, + -0.9998940229415894, + 0.014436010271310806, + -0.513177216053009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3873, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_95117092", + "mask_path": "../../mask/hdr_right_03873.png" + }, + { + "file_path": "../../rgb/hdr_right_03874.png", + "transform_matrix": [ + [ + 0.9867544174194336, + -0.0022262658458203077, + -0.16220608353614807, + -15.719160079956055 + ], + [ + 0.1622161567211151, + 0.021551666781306267, + 0.9865198731422424, + -11.445455551147461 + ], + [ + 0.0012995568104088306, + -0.9997652173042297, + 0.021627340465784073, + -0.5259081721305847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3874, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_195117473", + "mask_path": "../../mask/hdr_right_03874.png" + }, + { + "file_path": "../../rgb/hdr_right_03875.png", + "transform_matrix": [ + [ + 0.9869563579559326, + -0.0011578586418181658, + -0.16098421812057495, + -15.796310424804688 + ], + [ + 0.16096407175064087, + 0.024479616433382034, + 0.9866566061973572, + -11.439872741699219 + ], + [ + 0.0027984229382127523, + -0.9996996521949768, + 0.02434668131172657, + -0.5229196548461914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3875, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_295116901", + "mask_path": "../../mask/hdr_right_03875.png" + }, + { + "file_path": "../../rgb/hdr_right_03876.png", + "transform_matrix": [ + [ + 0.9884710907936096, + 0.00272196508012712, + -0.15138570964336395, + -15.888555526733398 + ], + [ + 0.15128009021282196, + 0.023681771010160446, + 0.988207221031189, + -11.431317329406738 + ], + [ + 0.006274946499615908, + -0.9997158050537109, + 0.022996962070465088, + -0.5123196840286255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3876, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_395117044", + "mask_path": "../../mask/hdr_right_03876.png" + }, + { + "file_path": "../../rgb/hdr_right_03877.png", + "transform_matrix": [ + [ + 0.9905004501342773, + -0.003248783526942134, + -0.13747088611125946, + -15.954045295715332 + ], + [ + 0.1375076025724411, + 0.018468037247657776, + 0.9903285503387451, + -11.42302417755127 + ], + [ + -0.0006785457371734083, + -0.9998241662979126, + 0.018739331513643265, + -0.5042809844017029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3877, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_495116949", + "mask_path": "../../mask/hdr_right_03877.png" + }, + { + "file_path": "../../rgb/hdr_right_03878.png", + "transform_matrix": [ + [ + 0.9914487600326538, + -0.0051225339993834496, + -0.1303960233926773, + -16.033222198486328 + ], + [ + 0.13046729564666748, + 0.017738448455929756, + 0.9912939667701721, + -11.419626235961914 + ], + [ + -0.002764914184808731, + -0.9998295307159424, + 0.018255086615681648, + -0.5054517388343811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3878, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_595117807", + "mask_path": "../../mask/hdr_right_03878.png" + }, + { + "file_path": "../../rgb/hdr_right_03879.png", + "transform_matrix": [ + [ + 0.9910886883735657, + 0.0018623642390593886, + -0.13319051265716553, + -16.129728317260742 + ], + [ + 0.13311566412448883, + 0.022472411394119263, + 0.990845799446106, + -11.420660972595215 + ], + [ + 0.00483842846006155, + -0.999745786190033, + 0.0220242440700531, + -0.5216238498687744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3879, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_695116996", + "mask_path": "../../mask/hdr_right_03879.png" + }, + { + "file_path": "../../rgb/hdr_right_03880.png", + "transform_matrix": [ + [ + 0.9905953407287598, + 0.0033090717624872923, + -0.1367844045162201, + -16.2014217376709 + ], + [ + 0.13664276897907257, + 0.02757389470934868, + 0.9902365803718567, + -11.417581558227539 + ], + [ + 0.007048442959785461, + -0.9996142387390137, + 0.026862408965826035, + -0.5319772362709045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3880, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_795117616", + "mask_path": "../../mask/hdr_right_03880.png" + }, + { + "file_path": "../../rgb/hdr_right_03881.png", + "transform_matrix": [ + [ + 0.9909791946411133, + 0.002879279898479581, + -0.13398517668247223, + -16.28738784790039 + ], + [ + 0.13382858037948608, + 0.03161231055855751, + 0.990500271320343, + -11.408203125 + ], + [ + 0.007087509147822857, + -0.9994960427284241, + 0.030941814184188843, + -0.5258007645606995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3881, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_895117521", + "mask_path": "../../mask/hdr_right_03881.png" + }, + { + "file_path": "../../rgb/hdr_right_03882.png", + "transform_matrix": [ + [ + 0.9924913048744202, + 0.0038931225426495075, + -0.12225297093391418, + -16.373394012451172 + ], + [ + 0.12205865234136581, + 0.03314866125583649, + 0.9919692277908325, + -11.396024703979492 + ], + [ + 0.007914381101727486, + -0.9994428157806396, + 0.032424572855234146, + -0.5093123316764832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3882, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549370_995116710", + "mask_path": "../../mask/hdr_right_03882.png" + }, + { + "file_path": "../../rgb/hdr_right_03883.png", + "transform_matrix": [ + [ + 0.9939762353897095, + -0.0009969931561499834, + -0.10959096997976303, + -16.437442779541016 + ], + [ + 0.1095769926905632, + 0.027429945766925812, + 0.9935998320579529, + -11.389466285705566 + ], + [ + 0.0020154621452093124, + -0.9996232390403748, + 0.027373963966965675, + -0.5039396286010742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3883, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_95118522", + "mask_path": "../../mask/hdr_right_03883.png" + }, + { + "file_path": "../../rgb/hdr_right_03884.png", + "transform_matrix": [ + [ + 0.9943193793296814, + 0.0011271113762632012, + -0.10643208771944046, + -16.523330688476562 + ], + [ + 0.10636819899082184, + 0.02570430375635624, + 0.9939945340156555, + -11.38892936706543 + ], + [ + 0.0038561061955988407, + -0.9996689558029175, + 0.025438399985432625, + -0.507771372795105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3884, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_195116519", + "mask_path": "../../mask/hdr_right_03884.png" + }, + { + "file_path": "../../rgb/hdr_right_03885.png", + "transform_matrix": [ + [ + 0.9936569333076477, + 0.004170999862253666, + -0.11237677931785583, + -16.603796005249023 + ], + [ + 0.1122351735830307, + 0.02555260621011257, + 0.9933530688285828, + -11.387251853942871 + ], + [ + 0.007014795206487179, + -0.9996647834777832, + 0.024922383949160576, + -0.5228958129882812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3885, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_295116901", + "mask_path": "../../mask/hdr_right_03885.png" + }, + { + "file_path": "../../rgb/hdr_right_03886.png", + "transform_matrix": [ + [ + 0.9931854605674744, + 0.004176843911409378, + -0.11647002398967743, + -16.67546272277832 + ], + [ + 0.11630883812904358, + 0.028051745146512985, + 0.9928168654441833, + -11.382340431213379 + ], + [ + 0.0074140289798378944, + -0.9995977878570557, + 0.027374781668186188, + -0.5220351219177246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3886, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_395116567", + "mask_path": "../../mask/hdr_right_03886.png" + }, + { + "file_path": "../../rgb/hdr_right_03887.png", + "transform_matrix": [ + [ + 0.993384599685669, + 0.00665156589820981, + -0.11464221030473709, + -16.754638671875 + ], + [ + 0.11441290378570557, + 0.02819301001727581, + 0.9930331707000732, + -11.373587608337402 + ], + [ + 0.009837334044277668, + -0.999580442905426, + 0.027245478704571724, + -0.5148211121559143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3887, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_495116710", + "mask_path": "../../mask/hdr_right_03887.png" + }, + { + "file_path": "../../rgb/hdr_right_03888.png", + "transform_matrix": [ + [ + 0.994163990020752, + 0.003663429291918874, + -0.1078176349401474, + -16.81828498840332 + ], + [ + 0.10768361389636993, + 0.0265586506575346, + 0.9938304424285889, + -11.365578651428223 + ], + [ + 0.00650431914255023, + -0.9996404647827148, + 0.02600916288793087, + -0.508727490901947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3888, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_595116376", + "mask_path": "../../mask/hdr_right_03888.png" + }, + { + "file_path": "../../rgb/hdr_right_03889.png", + "transform_matrix": [ + [ + 0.9946273565292358, + -0.00012305912969168276, + -0.10352056473493576, + -16.884628295898438 + ], + [ + 0.10349719226360321, + 0.02246958389878273, + 0.9943759441375732, + -11.36185073852539 + ], + [ + 0.0022036966402083635, + -0.9997475147247314, + 0.022361595183610916, + -0.503695011138916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3889, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_695117712", + "mask_path": "../../mask/hdr_right_03889.png" + }, + { + "file_path": "../../rgb/hdr_right_03890.png", + "transform_matrix": [ + [ + 0.9941179752349854, + 0.001778439269401133, + -0.10828825831413269, + -16.97280502319336 + ], + [ + 0.10821492224931717, + 0.023975441232323647, + 0.993838369846344, + -11.361741065979004 + ], + [ + 0.00436374032869935, + -0.9997109770774841, + 0.023641958832740784, + -0.5109250545501709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3890, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_795116901", + "mask_path": "../../mask/hdr_right_03890.png" + }, + { + "file_path": "../../rgb/hdr_right_03891.png", + "transform_matrix": [ + [ + 0.9927005171775818, + 0.002816644264385104, + -0.12057237327098846, + -17.047712326049805 + ], + [ + 0.12043643742799759, + 0.02973109856247902, + 0.9922757148742676, + -11.363138198852539 + ], + [ + 0.006379636935889721, + -0.9995539784431458, + 0.02917485125362873, + -0.521784782409668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3891, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_895117282", + "mask_path": "../../mask/hdr_right_03891.png" + }, + { + "file_path": "../../rgb/hdr_right_03892.png", + "transform_matrix": [ + [ + 0.9912988543510437, + 0.0038207205943763256, + -0.13157476484775543, + -17.116491317749023 + ], + [ + 0.13140174746513367, + 0.030149169266223907, + 0.9908707737922668, + -11.361490249633789 + ], + [ + 0.007752709090709686, + -0.9995381236076355, + 0.029384788125753403, + -0.524760901927948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3892, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549371_995116233", + "mask_path": "../../mask/hdr_right_03892.png" + }, + { + "file_path": "../../rgb/hdr_right_03893.png", + "transform_matrix": [ + [ + 0.9905387759208679, + 0.006116699893027544, + -0.13709676265716553, + -17.203516006469727 + ], + [ + 0.13686901330947876, + 0.02869625762104988, + 0.9901733994483948, + -11.35794448852539 + ], + [ + 0.009990759193897247, + -0.9995694160461426, + 0.027587570250034332, + -0.5200644135475159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3893, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_95116853", + "mask_path": "../../mask/hdr_right_03893.png" + }, + { + "file_path": "../../rgb/hdr_right_03894.png", + "transform_matrix": [ + [ + 0.9909687042236328, + 0.0012573149288073182, + -0.1340872049331665, + -17.270105361938477 + ], + [ + 0.13401713967323303, + 0.024373244494199753, + 0.9906793236732483, + -11.352862358093262 + ], + [ + 0.0045137363485991955, + -0.9997020959854126, + 0.023984622210264206, + -0.510680615901947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3894, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_195116996", + "mask_path": "../../mask/hdr_right_03894.png" + }, + { + "file_path": "../../rgb/hdr_right_03895.png", + "transform_matrix": [ + [ + 0.9913341999053955, + -0.002563582267612219, + -0.1313389390707016, + -17.336994171142578 + ], + [ + 0.13136379420757294, + 0.017661595717072487, + 0.9911769032478333, + -11.351869583129883 + ], + [ + -0.0002213080006185919, + -0.9998407363891602, + 0.017845304682850838, + -0.5070542097091675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3895, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_295116186", + "mask_path": "../../mask/hdr_right_03895.png" + }, + { + "file_path": "../../rgb/hdr_right_03896.png", + "transform_matrix": [ + [ + 0.9907626509666443, + 4.365596760180779e-05, + -0.1356074959039688, + -17.430843353271484 + ], + [ + 0.13558287918567657, + 0.01874755509197712, + 0.9905887246131897, + -11.355048179626465 + ], + [ + 0.002585554262623191, + -0.9998242259025574, + 0.018568459898233414, + -0.5143778324127197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3896, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_395116329", + "mask_path": "../../mask/hdr_right_03896.png" + }, + { + "file_path": "../../rgb/hdr_right_03897.png", + "transform_matrix": [ + [ + 0.9889950752258301, + 0.004416967276483774, + -0.1478823572397232, + -17.50934410095215 + ], + [ + 0.14774326980113983, + 0.023122351616621017, + 0.988755464553833, + -11.359160423278809 + ], + [ + 0.007786688394844532, + -0.9997228384017944, + 0.022215314209461212, + -0.525032103061676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3897, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_495117425", + "mask_path": "../../mask/hdr_right_03897.png" + }, + { + "file_path": "../../rgb/hdr_right_03898.png", + "transform_matrix": [ + [ + 0.9876217246055603, + 0.003014675108715892, + -0.156825453042984, + -17.57360076904297 + ], + [ + 0.156719371676445, + 0.022514410316944122, + 0.9873864650726318, + -11.362436294555664 + ], + [ + 0.00650748098269105, + -0.9997420310974121, + 0.021763261407613754, + -0.5264654159545898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3898, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_595116615", + "mask_path": "../../mask/hdr_right_03898.png" + }, + { + "file_path": "../../rgb/hdr_right_03899.png", + "transform_matrix": [ + [ + 0.9870524406433105, + 0.0031708821188658476, + -0.16036665439605713, + -17.660036087036133 + ], + [ + 0.1602788120508194, + 0.01904180645942688, + 0.98688805103302, + -11.362585067749023 + ], + [ + 0.006182976998388767, + -0.9998136758804321, + 0.018287034705281258, + -0.5241352915763855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3899, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_695116758", + "mask_path": "../../mask/hdr_right_03899.png" + }, + { + "file_path": "../../rgb/hdr_right_03900.png", + "transform_matrix": [ + [ + 0.9877081513404846, + 0.004715223331004381, + -0.15623849630355835, + -17.740074157714844 + ], + [ + 0.15612220764160156, + 0.019175859168171883, + 0.9875515699386597, + -11.360657691955566 + ], + [ + 0.0076525332406163216, + -0.9998049736022949, + 0.01820399798452854, + -0.5121538043022156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3900, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_795116901", + "mask_path": "../../mask/hdr_right_03900.png" + }, + { + "file_path": "../../rgb/hdr_right_03901.png", + "transform_matrix": [ + [ + 0.9885496497154236, + -0.002171942265704274, + -0.15088032186031342, + -17.801746368408203 + ], + [ + 0.15089552104473114, + 0.011793770827353, + 0.9884793758392334, + -11.36124324798584 + ], + [ + -0.0003674719191621989, + -0.9999280571937561, + 0.011986462399363518, + -0.5050486922264099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3901, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_895117759", + "mask_path": "../../mask/hdr_right_03901.png" + }, + { + "file_path": "../../rgb/hdr_right_03902.png", + "transform_matrix": [ + [ + 0.988203763961792, + -0.005937563721090555, + -0.15303026139736176, + -17.8892765045166 + ], + [ + 0.15307466685771942, + 0.007922586053609848, + 0.9881829023361206, + -11.367060661315918 + ], + [ + -0.00465500308200717, + -0.9999510049819946, + 0.008738018572330475, + -0.5050119161605835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3902, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549372_995116949", + "mask_path": "../../mask/hdr_right_03902.png" + }, + { + "file_path": "../../rgb/hdr_right_03903.png", + "transform_matrix": [ + [ + 0.9861267805099487, + -0.0014118807157501578, + -0.16598771512508392, + -17.97852897644043 + ], + [ + 0.165993332862854, + 0.010579664260149002, + 0.9860700964927673, + -11.375125885009766 + ], + [ + 0.0003638812340795994, + -0.9999430179595947, + 0.010667253285646439, + -0.5147299766540527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3903, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_95117330", + "mask_path": "../../mask/hdr_right_03903.png" + }, + { + "file_path": "../../rgb/hdr_right_03904.png", + "transform_matrix": [ + [ + 0.9839285016059875, + -0.0001813494454836473, + -0.1785629391670227, + -18.039222717285156 + ], + [ + 0.17854751646518707, + 0.014185735024511814, + 0.9838290214538574, + -11.381537437438965 + ], + [ + 0.002354630036279559, + -0.9998993277549744, + 0.013990131206810474, + -0.5236702561378479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3904, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_195117473", + "mask_path": "../../mask/hdr_right_03904.png" + }, + { + "file_path": "../../rgb/hdr_right_03905.png", + "transform_matrix": [ + [ + 0.9827251434326172, + 0.00159850949421525, + -0.18506431579589844, + -18.11431884765625 + ], + [ + 0.1850290149450302, + 0.01286187581717968, + 0.9826488494873047, + -11.384180068969727 + ], + [ + 0.0039510466158390045, + -0.9999160766601562, + 0.012343915179371834, + -0.5237684845924377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3905, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_295116186", + "mask_path": "../../mask/hdr_right_03905.png" + }, + { + "file_path": "../../rgb/hdr_right_03906.png", + "transform_matrix": [ + [ + 0.9830019474029541, + 0.0068084318190813065, + -0.18346892297267914, + -18.194244384765625 + ], + [ + 0.18336926400661469, + 0.013154838234186172, + 0.9829561114311218, + -11.38306999206543 + ], + [ + 0.009105893783271313, + -0.9998902678489685, + 0.011682773940265179, + -0.5113713145256042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3906, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_395116567", + "mask_path": "../../mask/hdr_right_03906.png" + }, + { + "file_path": "../../rgb/hdr_right_03907.png", + "transform_matrix": [ + [ + 0.9839228987693787, + 0.0005026700673624873, + -0.17859302461147308, + -18.252025604248047 + ], + [ + 0.17858286201953888, + 0.00826419796794653, + 0.9838901162147522, + -11.382441520690918 + ], + [ + 0.0019705004524439573, + -0.9999657273292542, + 0.008041564375162125, + -0.5048048496246338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3907, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_495115756", + "mask_path": "../../mask/hdr_right_03907.png" + }, + { + "file_path": "../../rgb/hdr_right_03908.png", + "transform_matrix": [ + [ + 0.9838475584983826, + -0.002600062172859907, + -0.17898902297019958, + -18.329221725463867 + ], + [ + 0.17900264263153076, + 0.006602716166526079, + 0.9838263988494873, + -11.386897087097168 + ], + [ + -0.0013761960435658693, + -0.99997478723526, + 0.006961484905332327, + -0.5048495531082153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3908, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_595116376", + "mask_path": "../../mask/hdr_right_03908.png" + }, + { + "file_path": "../../rgb/hdr_right_03909.png", + "transform_matrix": [ + [ + 0.9822272062301636, + 0.0035472651943564415, + -0.18766221404075623, + -18.4202823638916 + ], + [ + 0.18761275708675385, + 0.011178907938301563, + 0.9821794629096985, + -11.39478588104248 + ], + [ + 0.005581909324973822, + -0.9999312162399292, + 0.01031471136957407, + -0.5140271782875061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3909, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_695116519", + "mask_path": "../../mask/hdr_right_03909.png" + }, + { + "file_path": "../../rgb/hdr_right_03910.png", + "transform_matrix": [ + [ + 0.9806454181671143, + 0.005828096531331539, + -0.19570541381835938, + -18.480682373046875 + ], + [ + 0.19560405611991882, + 0.014643666334450245, + 0.9805736541748047, + -11.398301124572754 + ], + [ + 0.008580722846090794, + -0.9998757839202881, + 0.013220245949923992, + -0.5243217349052429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3910, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_795119762", + "mask_path": "../../mask/hdr_right_03910.png" + }, + { + "file_path": "../../rgb/hdr_right_03911.png", + "transform_matrix": [ + [ + 0.9803090691566467, + 0.008121924474835396, + -0.1973022222518921, + -18.554536819458008 + ], + [ + 0.1971541792154312, + 0.016173284500837326, + 0.9802391529083252, + -11.397516250610352 + ], + [ + 0.01115245372056961, + -0.9998362064361572, + 0.014253546483814716, + -0.5251129269599915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3911, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_895117044", + "mask_path": "../../mask/hdr_right_03911.png" + }, + { + "file_path": "../../rgb/hdr_right_03912.png", + "transform_matrix": [ + [ + 0.9819350838661194, + 0.012477502226829529, + -0.18880605697631836, + -18.63399887084961 + ], + [ + 0.1885586977005005, + 0.018694570288062096, + 0.9818840622901917, + -11.393793106079102 + ], + [ + 0.015781106427311897, + -0.9997473955154419, + 0.016004111617803574, + -0.5126707553863525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3912, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549373_995116949", + "mask_path": "../../mask/hdr_right_03912.png" + }, + { + "file_path": "../../rgb/hdr_right_03913.png", + "transform_matrix": [ + [ + 0.984396755695343, + 0.006256094668060541, + -0.1758519411087036, + -18.69113540649414 + ], + [ + 0.17575578391551971, + 0.013554924167692661, + 0.9843405485153198, + -11.389517784118652 + ], + [ + 0.008541787043213844, + -0.9998885989189148, + 0.012243879027664661, + -0.5012659430503845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3913, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_95117092", + "mask_path": "../../mask/hdr_right_03913.png" + }, + { + "file_path": "../../rgb/hdr_right_03914.png", + "transform_matrix": [ + [ + 0.9856506586074829, + 0.0027271173894405365, + -0.168776273727417, + -18.759607315063477 + ], + [ + 0.16874806582927704, + 0.008478731848299503, + 0.9856227040290833, + -11.390608787536621 + ], + [ + 0.004118917975574732, + -0.9999603629112244, + 0.00789687130600214, + -0.4979316294193268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3914, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_195116281", + "mask_path": "../../mask/hdr_right_03914.png" + }, + { + "file_path": "../../rgb/hdr_right_03915.png", + "transform_matrix": [ + [ + 0.9853731393814087, + 0.006316206883639097, + -0.17029327154159546, + -18.847702026367188 + ], + [ + 0.17022539675235748, + 0.010070395655930042, + 0.9853537082672119, + -11.395956039428711 + ], + [ + 0.007938619703054428, + -0.9999293088912964, + 0.008847917430102825, + -0.5068864226341248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3915, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_295118093", + "mask_path": "../../mask/hdr_right_03915.png" + }, + { + "file_path": "../../rgb/hdr_right_03916.png", + "transform_matrix": [ + [ + 0.9847912788391113, + 0.007776191923767328, + -0.17356696724891663, + -18.915822982788086 + ], + [ + 0.17342594265937805, + 0.016147227957844734, + 0.9847145676612854, + -11.399553298950195 + ], + [ + 0.010459954850375652, + -0.9998393654823303, + 0.014553055167198181, + -0.5194206237792969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3916, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_395117282", + "mask_path": "../../mask/hdr_right_03916.png" + }, + { + "file_path": "../../rgb/hdr_right_03917.png", + "transform_matrix": [ + [ + 0.9852523803710938, + 0.010846327990293503, + -0.17076362669467926, + -18.981218338012695 + ], + [ + 0.17053094506263733, + 0.019631721079349518, + 0.985156774520874, + -11.397616386413574 + ], + [ + 0.014037716202437878, + -0.9997484087944031, + 0.017492566257715225, + -0.5183187127113342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3917, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_495116949", + "mask_path": "../../mask/hdr_right_03917.png" + }, + { + "file_path": "../../rgb/hdr_right_03918.png", + "transform_matrix": [ + [ + 0.9869822859764099, + 0.01501567754894495, + -0.1601264923810959, + -19.04973602294922 + ], + [ + 0.1597820520401001, + 0.021869949996471405, + 0.9869101047515869, + -11.391663551330566 + ], + [ + 0.0183210801333189, + -0.9996480345726013, + 0.01918601803481579, + -0.5094120502471924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3918, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_595117092", + "mask_path": "../../mask/hdr_right_03918.png" + }, + { + "file_path": "../../rgb/hdr_right_03919.png", + "transform_matrix": [ + [ + 0.9889640212059021, + 0.010136961005628109, + -0.1478089690208435, + -19.108715057373047 + ], + [ + 0.14763091504573822, + 0.016508188098669052, + 0.9889047741889954, + -11.388123512268066 + ], + [ + 0.012464546598494053, + -0.9998123645782471, + 0.014829473569989204, + -0.502478837966919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3919, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_695116996", + "mask_path": "../../mask/hdr_right_03919.png" + }, + { + "file_path": "../../rgb/hdr_right_03920.png", + "transform_matrix": [ + [ + 0.9896398782730103, + 0.008974701166152954, + -0.14329135417938232, + -19.181194305419922 + ], + [ + 0.14315052330493927, + 0.014751950278878212, + 0.9895910024642944, + -11.388470649719238 + ], + [ + 0.010995112359523773, + -0.9998509287834167, + 0.013314384035766125, + -0.5015091300010681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3920, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_795119047", + "mask_path": "../../mask/hdr_right_03920.png" + }, + { + "file_path": "../../rgb/hdr_right_03921.png", + "transform_matrix": [ + [ + 0.9889063239097595, + 0.009549402631819248, + -0.1482328176498413, + -19.254297256469727 + ], + [ + 0.14806997776031494, + 0.01596049964427948, + 0.9888481497764587, + -11.389520645141602 + ], + [ + 0.011808779090642929, + -0.9998270273208618, + 0.014369460754096508, + -0.5135929584503174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3921, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_895117044", + "mask_path": "../../mask/hdr_right_03921.png" + }, + { + "file_path": "../../rgb/hdr_right_03922.png", + "transform_matrix": [ + [ + 0.9886895418167114, + 0.011280353181064129, + -0.14955191314220428, + -19.315288543701172 + ], + [ + 0.14936088025569916, + 0.016217129305005074, + 0.988649845123291, + -11.387754440307617 + ], + [ + 0.013577623292803764, + -0.9998048543930054, + 0.014348862692713737, + -0.519913911819458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3922, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549374_995116710", + "mask_path": "../../mask/hdr_right_03922.png" + }, + { + "file_path": "../../rgb/hdr_right_03923.png", + "transform_matrix": [ + [ + 0.9893755316734314, + 0.014915716834366322, + -0.14461557567119598, + -19.385208129882812 + ], + [ + 0.1443701684474945, + 0.016398848965764046, + 0.9893878698348999, + -11.378029823303223 + ], + [ + 0.01712895929813385, + -0.9997543096542358, + 0.014071233570575714, + -0.514376699924469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3923, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_95116853", + "mask_path": "../../mask/hdr_right_03923.png" + }, + { + "file_path": "../../rgb/hdr_right_03924.png", + "transform_matrix": [ + [ + 0.9911131262779236, + 0.013728104531764984, + -0.13231107592582703, + -19.450273513793945 + ], + [ + 0.13208504021167755, + 0.016244228929281235, + 0.991105318069458, + -11.370994567871094 + ], + [ + 0.015755286440253258, + -0.9997738003730774, + 0.014286593534052372, + -0.5085043907165527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3924, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_195117712", + "mask_path": "../../mask/hdr_right_03924.png" + }, + { + "file_path": "../../rgb/hdr_right_03925.png", + "transform_matrix": [ + [ + 0.9925597310066223, + 0.008232653141021729, + -0.12147997319698334, + -19.513521194458008 + ], + [ + 0.12139613181352615, + 0.010019351728260517, + 0.9925536513328552, + -11.36805248260498 + ], + [ + 0.009388500824570656, + -0.9999158978462219, + 0.00894539337605238, + -0.5030847191810608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3925, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_295117855", + "mask_path": "../../mask/hdr_right_03925.png" + }, + { + "file_path": "../../rgb/hdr_right_03926.png", + "transform_matrix": [ + [ + 0.99281907081604, + 0.007651857100427151, + -0.11938093602657318, + -19.590484619140625 + ], + [ + 0.1193167045712471, + 0.008367051370441914, + 0.9928209781646729, + -11.368165969848633 + ], + [ + 0.008595790714025497, + -0.9999356865882874, + 0.007393969222903252, + -0.5044634342193604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3926, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_395117044", + "mask_path": "../../mask/hdr_right_03926.png" + }, + { + "file_path": "../../rgb/hdr_right_03927.png", + "transform_matrix": [ + [ + 0.9922762513160706, + 0.009852057322859764, + -0.12365621328353882, + -19.656869888305664 + ], + [ + 0.12355256825685501, + 0.010516415350139141, + 0.9922823309898376, + -11.368951797485352 + ], + [ + 0.011076442897319794, + -0.9998961091041565, + 0.009217941202223301, + -0.516096293926239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3927, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_495116949", + "mask_path": "../../mask/hdr_right_03927.png" + }, + { + "file_path": "../../rgb/hdr_right_03928.png", + "transform_matrix": [ + [ + 0.9921712875366211, + 0.013835675083100796, + -0.12411559373140335, + -19.711454391479492 + ], + [ + 0.12398012727499008, + 0.010257158428430557, + 0.9922317266464233, + -11.365074157714844 + ], + [ + 0.015001269988715649, + -0.999851644039154, + 0.008461507968604565, + -0.5208063721656799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3928, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_595116853", + "mask_path": "../../mask/hdr_right_03928.png" + }, + { + "file_path": "../../rgb/hdr_right_03929.png", + "transform_matrix": [ + [ + 0.9927900433540344, + 0.017135409638285637, + -0.11863505840301514, + -19.780323028564453 + ], + [ + 0.1184595376253128, + 0.010923709720373154, + 0.9928988814353943, + -11.3577241897583 + ], + [ + 0.018309665843844414, + -0.9997934699058533, + 0.008815096691250801, + -0.5170537233352661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3929, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_695116281", + "mask_path": "../../mask/hdr_right_03929.png" + }, + { + "file_path": "../../rgb/hdr_right_03930.png", + "transform_matrix": [ + [ + 0.994228184223175, + 0.011337848380208015, + -0.10668515413999557, + -19.840133666992188 + ], + [ + 0.10651514679193497, + 0.014671248383820057, + 0.9942029118537903, + -11.350905418395996 + ], + [ + 0.012837326154112816, + -0.999828040599823, + 0.013378915376961231, + -0.5088346600532532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3930, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_795117378", + "mask_path": "../../mask/hdr_right_03930.png" + }, + { + "file_path": "../../rgb/hdr_right_03931.png", + "transform_matrix": [ + [ + 0.9951244592666626, + 0.006445480044931173, + -0.09841538965702057, + -19.89846420288086 + ], + [ + 0.09834319353103638, + 0.010696672834455967, + 0.9950950741767883, + -11.347830772399902 + ], + [ + 0.007466582581400871, + -0.999921977519989, + 0.010010654106736183, + -0.5003186464309692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3931, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_895117282", + "mask_path": "../../mask/hdr_right_03931.png" + }, + { + "file_path": "../../rgb/hdr_right_03932.png", + "transform_matrix": [ + [ + 0.9951464533805847, + 0.008458451367914677, + -0.09804080426692963, + -19.963098526000977 + ], + [ + 0.09798458218574524, + 0.006825068034231663, + 0.9951645731925964, + -11.345455169677734 + ], + [ + 0.009086686186492443, + -0.9999409317970276, + 0.005963143892586231, + -0.5015115737915039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3932, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549375_995116710", + "mask_path": "../../mask/hdr_right_03932.png" + }, + { + "file_path": "../../rgb/hdr_right_03933.png", + "transform_matrix": [ + [ + 0.9947517514228821, + 0.009033333510160446, + -0.10191811621189117, + -20.018159866333008 + ], + [ + 0.10183918476104736, + 0.008809142746031284, + 0.9947619438171387, + -11.342215538024902 + ], + [ + 0.009883828461170197, + -0.9999204277992249, + 0.007842962630093098, + -0.5105226039886475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3933, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_95117807", + "mask_path": "../../mask/hdr_right_03933.png" + }, + { + "file_path": "../../rgb/hdr_right_03934.png", + "transform_matrix": [ + [ + 0.9948182106018066, + 0.012602245435118675, + -0.10088483989238739, + -20.076007843017578 + ], + [ + 0.10075028240680695, + 0.010895373299717903, + 0.9948521852493286, + -11.336792945861816 + ], + [ + 0.013636547140777111, + -0.9998612403869629, + 0.009569237008690834, + -0.5129390954971313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3934, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_195116519", + "mask_path": "../../mask/hdr_right_03934.png" + }, + { + "file_path": "../../rgb/hdr_right_03935.png", + "transform_matrix": [ + [ + 0.9955869913101196, + 0.01702057756483555, + -0.09228656440973282, + -20.137683868408203 + ], + [ + 0.09207145869731903, + 0.013018237426877022, + 0.9956673383712769, + -11.327655792236328 + ], + [ + 0.018148241564631462, + -0.99977046251297, + 0.011393677443265915, + -0.5058714151382446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3935, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_295116901", + "mask_path": "../../mask/hdr_right_03935.png" + }, + { + "file_path": "../../rgb/hdr_right_03936.png", + "transform_matrix": [ + [ + 0.9967377781867981, + 0.0113742770627141, + -0.07990310341119766, + -20.19342041015625 + ], + [ + 0.07978251576423645, + 0.010690293274819851, + 0.9967550039291382, + -11.320319175720215 + ], + [ + 0.01219155453145504, + -0.9998781681060791, + 0.009747951291501522, + -0.49788588285446167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3936, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_395116806", + "mask_path": "../../mask/hdr_right_03936.png" + }, + { + "file_path": "../../rgb/hdr_right_03937.png", + "transform_matrix": [ + [ + 0.9971112608909607, + 0.010457871481776237, + -0.07523075491189957, + -20.255464553833008 + ], + [ + 0.07514381408691406, + 0.008472968824207783, + 0.9971367120742798, + -11.316386222839355 + ], + [ + 0.011065354570746422, + -0.9999094009399414, + 0.007662647403776646, + -0.49543297290802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3937, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_495117187", + "mask_path": "../../mask/hdr_right_03937.png" + }, + { + "file_path": "../../rgb/hdr_right_03938.png", + "transform_matrix": [ + [ + 0.9967736005783081, + 0.014770543202757835, + -0.0788932517170906, + -20.318540573120117 + ], + [ + 0.07876483350992203, + 0.009084858000278473, + 0.9968518614768982, + -11.312521934509277 + ], + [ + 0.015440779738128185, + -0.9998496174812317, + 0.007892146706581116, + -0.5057798624038696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3938, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_595117330", + "mask_path": "../../mask/hdr_right_03938.png" + }, + { + "file_path": "../../rgb/hdr_right_03939.png", + "transform_matrix": [ + [ + 0.9966544508934021, + 0.01387257780879736, + -0.08054613322019577, + -20.375160217285156 + ], + [ + 0.08045560121536255, + 0.006967322900891304, + 0.9967339038848877, + -11.307415008544922 + ], + [ + 0.014388454146683216, + -0.9998794794082642, + 0.005827889312058687, + -0.5117557644844055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3939, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_695117712", + "mask_path": "../../mask/hdr_right_03939.png" + }, + { + "file_path": "../../rgb/hdr_right_03940.png", + "transform_matrix": [ + [ + 0.9969973564147949, + 0.015234194695949554, + -0.07592303305864334, + -20.436811447143555 + ], + [ + 0.07579855620861053, + 0.00858983676880598, + 0.9970861673355103, + -11.29775333404541 + ], + [ + 0.015841970220208168, + -0.9998470544815063, + 0.007409312762320042, + -0.5068539977073669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3940, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_795117855", + "mask_path": "../../mask/hdr_right_03940.png" + }, + { + "file_path": "../../rgb/hdr_right_03941.png", + "transform_matrix": [ + [ + 0.9978504776954651, + 0.01196021493524313, + -0.06443127989768982, + -20.494417190551758 + ], + [ + 0.06429710984230042, + 0.011283867061138153, + 0.9978669881820679, + -11.288466453552246 + ], + [ + 0.012661738321185112, + -0.9998648166656494, + 0.010490603744983673, + -0.5010348558425903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3941, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_895117044", + "mask_path": "../../mask/hdr_right_03941.png" + }, + { + "file_path": "../../rgb/hdr_right_03942.png", + "transform_matrix": [ + [ + 0.9984373450279236, + 0.005976090673357248, + -0.05556230992078781, + -20.554214477539062 + ], + [ + 0.055515509098768234, + 0.007736613042652607, + 0.9984279274940491, + -11.283809661865234 + ], + [ + 0.006396558601409197, + -0.9999522566795349, + 0.007392755709588528, + -0.49592316150665283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3942, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549376_995116710", + "mask_path": "../../mask/hdr_right_03942.png" + }, + { + "file_path": "../../rgb/hdr_right_03943.png", + "transform_matrix": [ + [ + 0.9984756112098694, + 0.006186116021126509, + -0.05484796687960625, + -20.62593650817871 + ], + [ + 0.05480751767754555, + 0.006529795937240124, + 0.9984755516052246, + -11.279887199401855 + ], + [ + 0.006534832064062357, + -0.9999595284461975, + 0.0061807953752577305, + -0.49932003021240234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3943, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_95117807", + "mask_path": "../../mask/hdr_right_03943.png" + }, + { + "file_path": "../../rgb/hdr_right_03944.png", + "transform_matrix": [ + [ + 0.9982450604438782, + 0.005743180867284536, + -0.0589398629963398, + -20.690227508544922 + ], + [ + 0.058889564126729965, + 0.008568632416427135, + 0.9982278347015381, + -11.275796890258789 + ], + [ + 0.006238037254661322, + -0.9999468326568604, + 0.008215379901230335, + -0.5081230401992798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3944, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_195117712", + "mask_path": "../../mask/hdr_right_03944.png" + }, + { + "file_path": "../../rgb/hdr_right_03945.png", + "transform_matrix": [ + [ + 0.9983013868331909, + 0.00875437818467617, + -0.05759952962398529, + -20.750181198120117 + ], + [ + 0.05752294510602951, + 0.008764376863837242, + 0.9983057975769043, + -11.268316268920898 + ], + [ + 0.009244369342923164, + -0.9999232888221741, + 0.008245913311839104, + -0.5089758038520813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3945, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_295117616", + "mask_path": "../../mask/hdr_right_03945.png" + }, + { + "file_path": "../../rgb/hdr_right_03946.png", + "transform_matrix": [ + [ + 0.9986589550971985, + 0.013989741913974285, + -0.04984587803483009, + -20.81264305114746 + ], + [ + 0.04972848296165466, + 0.008619061671197414, + 0.9987255930900574, + -11.256415367126465 + ], + [ + 0.014401539228856564, + -0.999864935874939, + 0.007911812514066696, + -0.5036430358886719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3946, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_395116567", + "mask_path": "../../mask/hdr_right_03946.png" + }, + { + "file_path": "../../rgb/hdr_right_03947.png", + "transform_matrix": [ + [ + 0.9992586970329285, + 0.007628133054822683, + -0.037734974175691605, + -20.865875244140625 + ], + [ + 0.037690725177526474, + 0.005865962710231543, + 0.9992722868919373, + -11.245767593383789 + ], + [ + 0.007843933999538422, + -0.9999536871910095, + 0.005574103910475969, + -0.4982176423072815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3947, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_495116710", + "mask_path": "../../mask/hdr_right_03947.png" + }, + { + "file_path": "../../rgb/hdr_right_03948.png", + "transform_matrix": [ + [ + 0.9995625615119934, + 0.004546476528048515, + -0.029224826022982597, + -20.92684555053711 + ], + [ + 0.02920416183769703, + 0.004555549006909132, + 0.9995632171630859, + -11.238106727600098 + ], + [ + 0.00467762490734458, + -0.9999792575836182, + 0.00442078011110425, + -0.49536657333374023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3948, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_595116615", + "mask_path": "../../mask/hdr_right_03948.png" + }, + { + "file_path": "../../rgb/hdr_right_03949.png", + "transform_matrix": [ + [ + 0.9995291829109192, + 0.01065150462090969, + -0.028776967898011208, + -21.001644134521484 + ], + [ + 0.028699219226837158, + 0.00738311093300581, + 0.9995608925819397, + -11.229819297790527 + ], + [ + 0.010859290137887001, + -0.9999159574508667, + 0.007073943503201008, + -0.5028733015060425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3949, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_695117235", + "mask_path": "../../mask/hdr_right_03949.png" + }, + { + "file_path": "../../rgb/hdr_right_03950.png", + "transform_matrix": [ + [ + 0.999433696269989, + 0.012445952743291855, + -0.03126321732997894, + -21.067020416259766 + ], + [ + 0.03114512376487255, + 0.009572667069733143, + 0.9994690418243408, + -11.223420143127441 + ], + [ + 0.012738618068397045, + -0.9998767375946045, + 0.009179613552987576, + -0.5144709348678589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3950, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_795118093", + "mask_path": "../../mask/hdr_right_03950.png" + }, + { + "file_path": "../../rgb/hdr_right_03951.png", + "transform_matrix": [ + [ + 0.9994130730628967, + 0.013733325526118279, + -0.0313829630613327, + -21.136701583862305 + ], + [ + 0.031284309923648834, + 0.007342364639043808, + 0.999483585357666, + -11.215630531311035 + ], + [ + 0.013956657610833645, + -0.9998787641525269, + 0.006908416748046875, + -0.5180586576461792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3951, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_895117998", + "mask_path": "../../mask/hdr_right_03951.png" + }, + { + "file_path": "../../rgb/hdr_right_03952.png", + "transform_matrix": [ + [ + 0.9995282888412476, + 0.01548855472356081, + -0.0265196543186903, + -21.218311309814453 + ], + [ + 0.026443568989634514, + 0.005096992012113333, + 0.9996373057365417, + -11.203083038330078 + ], + [ + 0.015618106350302696, + -0.9998670220375061, + 0.004685014486312866, + -0.5132845044136047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3952, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549377_995116472", + "mask_path": "../../mask/hdr_right_03952.png" + }, + { + "file_path": "../../rgb/hdr_right_03953.png", + "transform_matrix": [ + [ + 0.9998494982719421, + 0.01052118744701147, + -0.013791647739708424, + -21.28630828857422 + ], + [ + 0.01374806184321642, + 0.004207923077046871, + 0.9998967051506042, + -11.189891815185547 + ], + [ + 0.010578135959804058, + -0.9999358057975769, + 0.004062643740326166, + -0.5054671764373779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3953, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_95116615", + "mask_path": "../../mask/hdr_right_03953.png" + }, + { + "file_path": "../../rgb/hdr_right_03954.png", + "transform_matrix": [ + [ + 0.9999849200248718, + 0.005498545244336128, + -0.0002638145233504474, + -21.357988357543945 + ], + [ + 0.00025499777984805405, + 0.0016085585812106729, + 0.9999987483024597, + -11.177441596984863 + ], + [ + 0.005498962011188269, + -0.999983549118042, + 0.0016071328427642584, + -0.5034753084182739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3954, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_195116996", + "mask_path": "../../mask/hdr_right_03954.png" + }, + { + "file_path": "../../rgb/hdr_right_03955.png", + "transform_matrix": [ + [ + 0.9999741315841675, + 0.005147986114025116, + 0.0050275917164981365, + -21.454143524169922 + ], + [ + -0.005051497835665941, + 0.004652308765798807, + 0.9999765157699585, + -11.164828300476074 + ], + [ + 0.005124474875628948, + -0.9999759793281555, + 0.004678192548453808, + -0.5072188377380371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3955, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_295116901", + "mask_path": "../../mask/hdr_right_03955.png" + }, + { + "file_path": "../../rgb/hdr_right_03956.png", + "transform_matrix": [ + [ + 0.9999576210975647, + 0.00914682075381279, + 0.0010523719247430563, + -21.53888702392578 + ], + [ + -0.0011592925293371081, + 0.01169497799128294, + 0.9999309778213501, + -11.155057907104492 + ], + [ + 0.009133881889283657, + -0.9998897910118103, + 0.011705087497830391, + -0.5168289542198181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3956, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_395116329", + "mask_path": "../../mask/hdr_right_03956.png" + }, + { + "file_path": "../../rgb/hdr_right_03957.png", + "transform_matrix": [ + [ + 0.9999552965164185, + 0.009443019516766071, + 0.0005299096810631454, + -21.60894012451172 + ], + [ + -0.0006578080356121063, + 0.013548522256314754, + 0.9999079704284668, + -11.144220352172852 + ], + [ + 0.009434971027076244, + -0.9998635649681091, + 0.01355412695556879, + -0.5230146646499634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3957, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_495116472", + "mask_path": "../../mask/hdr_right_03957.png" + }, + { + "file_path": "../../rgb/hdr_right_03958.png", + "transform_matrix": [ + [ + 0.9999521374702454, + 0.008883524686098099, + 0.004097942728549242, + -21.696332931518555 + ], + [ + -0.00422193156555295, + 0.013983575627207756, + 0.999893307685852, + -11.12702465057373 + ], + [ + 0.008825274184346199, + -0.9998627305030823, + 0.014020411297678947, + -0.5216732621192932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3958, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_595115900", + "mask_path": "../../mask/hdr_right_03958.png" + }, + { + "file_path": "../../rgb/hdr_right_03959.png", + "transform_matrix": [ + [ + 0.9998129606246948, + 0.009907600469887257, + 0.01661273092031479, + -21.776395797729492 + ], + [ + -0.01678169146180153, + 0.017224399372935295, + 0.9997107982635498, + -11.107098579406738 + ], + [ + 0.009618590585887432, + -0.9998025894165039, + 0.01738744229078293, + -0.5095833539962769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3959, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_695116281", + "mask_path": "../../mask/hdr_right_03959.png" + }, + { + "file_path": "../../rgb/hdr_right_03960.png", + "transform_matrix": [ + [ + 0.9994980096817017, + 0.003969747107475996, + 0.031430941075086594, + -21.843128204345703 + ], + [ + -0.0314800962805748, + 0.012998261488974094, + 0.9994199275970459, + -11.090557098388672 + ], + [ + 0.003558897180482745, + -0.9999076128005981, + 0.013116703368723392, + -0.5011261701583862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3960, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_795116901", + "mask_path": "../../mask/hdr_right_03960.png" + }, + { + "file_path": "../../rgb/hdr_right_03961.png", + "transform_matrix": [ + [ + 0.9993025660514832, + 0.0015899852151051164, + 0.03730883076786995, + -21.9299373626709 + ], + [ + -0.03732578828930855, + 0.012475318275392056, + 0.9992253184318542, + -11.075973510742188 + ], + [ + 0.0011233140248805285, + -0.9999209046363831, + 0.01252596266567707, + -0.5019822120666504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3961, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_895116567", + "mask_path": "../../mask/hdr_right_03961.png" + }, + { + "file_path": "../../rgb/hdr_right_03962.png", + "transform_matrix": [ + [ + 0.9994494915008545, + 0.00770139042288065, + 0.032272569835186005, + -22.018203735351562 + ], + [ + -0.032390374690294266, + 0.015698164701461792, + 0.999351978302002, + -11.063727378845215 + ], + [ + 0.007189780939370394, + -0.9998470544815063, + 0.01593897119164467, + -0.5133318901062012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3962, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549378_995116949", + "mask_path": "../../mask/hdr_right_03962.png" + }, + { + "file_path": "../../rgb/hdr_right_03963.png", + "transform_matrix": [ + [ + 0.9995054602622986, + 0.009665300138294697, + 0.029924295842647552, + -22.086774826049805 + ], + [ + -0.03008243627846241, + 0.016654210165143013, + 0.9994086623191833, + -11.050336837768555 + ], + [ + 0.009161219000816345, + -0.9998145699501038, + 0.016936730593442917, + -0.5217210054397583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3963, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_95116138", + "mask_path": "../../mask/hdr_right_03963.png" + }, + { + "file_path": "../../rgb/hdr_right_03964.png", + "transform_matrix": [ + [ + 0.9994038939476013, + 0.00924240704625845, + 0.03326451778411865, + -22.167396545410156 + ], + [ + -0.03343064337968826, + 0.01844433695077896, + 0.9992708563804626, + -11.028696060180664 + ], + [ + 0.008622126653790474, + -0.9997872114181519, + 0.01874232292175293, + -0.518318772315979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3964, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_195116996", + "mask_path": "../../mask/hdr_right_03964.png" + }, + { + "file_path": "../../rgb/hdr_right_03965.png", + "transform_matrix": [ + [ + 0.998927116394043, + 0.011523177847266197, + 0.04485546424984932, + -22.245325088500977 + ], + [ + -0.04508925601840019, + 0.020901577547192574, + 0.9987642765045166, + -11.00586986541748 + ], + [ + 0.010571389459073544, + -0.9997151494026184, + 0.021398719400167465, + -0.5064278244972229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3965, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_295116901", + "mask_path": "../../mask/hdr_right_03965.png" + }, + { + "file_path": "../../rgb/hdr_right_03966.png", + "transform_matrix": [ + [ + 0.9982916712760925, + 0.004673157352954149, + 0.058240339159965515, + -22.30891990661621 + ], + [ + -0.058305103331804276, + 0.015193495899438858, + 0.9981832504272461, + -10.989799499511719 + ], + [ + 0.003779791062697768, + -0.999873697757721, + 0.015440008603036404, + -0.5008399486541748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3966, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_395116806", + "mask_path": "../../mask/hdr_right_03966.png" + }, + { + "file_path": "../../rgb/hdr_right_03967.png", + "transform_matrix": [ + [ + 0.9979987740516663, + 0.005083906929939985, + 0.06302890926599503, + -22.38844108581543 + ], + [ + -0.06309611350297928, + 0.014374501071870327, + 0.9979039430618286, + -10.97663402557373 + ], + [ + 0.0041672419756650925, + -0.999883770942688, + 0.014666507951915264, + -0.49791622161865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3967, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_495117425", + "mask_path": "../../mask/hdr_right_03967.png" + }, + { + "file_path": "../../rgb/hdr_right_03968.png", + "transform_matrix": [ + [ + 0.9982188940048218, + 0.012806948274374008, + 0.058266304433345795, + -22.46417999267578 + ], + [ + -0.05848496034741402, + 0.017420725896954536, + 0.9981362819671631, + -10.964437484741211 + ], + [ + 0.011768040247261524, + -0.9997662305831909, + 0.018138712272047997, + -0.5102184414863586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3968, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_595117568", + "mask_path": "../../mask/hdr_right_03968.png" + }, + { + "file_path": "../../rgb/hdr_right_03969.png", + "transform_matrix": [ + [ + 0.9983460307121277, + 0.011509415693581104, + 0.056326188147068024, + -22.52242660522461 + ], + [ + -0.056533921509981155, + 0.018602704629302025, + 0.9982274174690247, + -10.952678680419922 + ], + [ + 0.010441193357110023, + -0.9997606873512268, + 0.01922261156141758, + -0.5231146812438965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3969, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_695117950", + "mask_path": "../../mask/hdr_right_03969.png" + }, + { + "file_path": "../../rgb/hdr_right_03970.png", + "transform_matrix": [ + [ + 0.9981558918952942, + 0.012166428379714489, + 0.0594717301428318, + -22.590957641601562 + ], + [ + -0.05970409885048866, + 0.0197248887270689, + 0.9980213046073914, + -10.93416976928711 + ], + [ + 0.010969280265271664, + -0.9997314214706421, + 0.020414896309375763, + -0.5191896557807922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3970, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_795117616", + "mask_path": "../../mask/hdr_right_03970.png" + }, + { + "file_path": "../../rgb/hdr_right_03971.png", + "transform_matrix": [ + [ + 0.997249960899353, + 0.016230542212724686, + 0.07231306284666061, + -22.656265258789062 + ], + [ + -0.07264837622642517, + 0.021118009462952614, + 0.9971340298652649, + -10.912096977233887 + ], + [ + 0.014656921848654747, + -0.9996452331542969, + 0.02223905734717846, + -0.5027254819869995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3971, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_895117759", + "mask_path": "../../mask/hdr_right_03971.png" + }, + { + "file_path": "../../rgb/hdr_right_03972.png", + "transform_matrix": [ + [ + 0.9958500862121582, + 0.008480389602482319, + 0.09061267971992493, + -22.70733642578125 + ], + [ + -0.09076116979122162, + 0.019170211628079414, + 0.9956881999969482, + -10.894122123718262 + ], + [ + 0.006706758867949247, + -0.9997802376747131, + 0.019860347732901573, + -0.49218514561653137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3972, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549379_995116949", + "mask_path": "../../mask/hdr_right_03972.png" + }, + { + "file_path": "../../rgb/hdr_right_03973.png", + "transform_matrix": [ + [ + 0.9945653080940247, + 0.008129357360303402, + 0.10379690676927567, + -22.767080307006836 + ], + [ + -0.10392791032791138, + 0.01781645230948925, + 0.9944252967834473, + -10.878155708312988 + ], + [ + 0.006234746426343918, + -0.9998082518577576, + 0.018564490601420403, + -0.48815837502479553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3973, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_95117807", + "mask_path": "../../mask/hdr_right_03973.png" + }, + { + "file_path": "../../rgb/hdr_right_03974.png", + "transform_matrix": [ + [ + 0.9933264851570129, + 0.01468992605805397, + 0.1143970936536789, + -22.824260711669922 + ], + [ + -0.1146514043211937, + 0.017827797681093216, + 0.9932458400726318, + -10.86112117767334 + ], + [ + 0.012551261112093925, + -0.9997330904006958, + 0.019393043592572212, + -0.502312421798706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3974, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_195116996", + "mask_path": "../../mask/hdr_right_03974.png" + }, + { + "file_path": "../../rgb/hdr_right_03976.png", + "transform_matrix": [ + [ + 0.985187292098999, + 0.02146165631711483, + 0.17013347148895264, + -22.906200408935547 + ], + [ + -0.17050859332084656, + 0.01705179363489151, + 0.9852086901664734, + -10.812460899353027 + ], + [ + 0.018243126571178436, + -0.9996243119239807, + 0.020458601415157318, + -0.5078982710838318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3976, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_395117044", + "mask_path": "../../mask/hdr_right_03976.png" + }, + { + "file_path": "../../rgb/hdr_right_03978.png", + "transform_matrix": [ + [ + 0.9663638472557068, + 0.01865035481750965, + 0.25650185346603394, + -22.974233627319336 + ], + [ + -0.25685828924179077, + 0.020201627165079117, + 0.9662379026412964, + -10.751762390136719 + ], + [ + 0.012838928028941154, + -0.9996219277381897, + 0.024312615394592285, + -0.49127909541130066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3978, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_595117330", + "mask_path": "../../mask/hdr_right_03978.png" + }, + { + "file_path": "../../rgb/hdr_right_03980.png", + "transform_matrix": [ + [ + 0.9472007751464844, + 0.015268911607563496, + 0.32027754187583923, + -23.051071166992188 + ], + [ + -0.3205546438694, + 0.021878203377127647, + 0.9469773173332214, + -10.699292182922363 + ], + [ + 0.007452218793332577, + -0.9996439814567566, + 0.0256175696849823, + -0.493150919675827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3980, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_795117855", + "mask_path": "../../mask/hdr_right_03980.png" + }, + { + "file_path": "../../rgb/hdr_right_03982.png", + "transform_matrix": [ + [ + 0.9301314353942871, + 0.018715376034379005, + 0.3667498230934143, + -23.085941314697266 + ], + [ + -0.3670724928379059, + 0.018416350707411766, + 0.9300100207328796, + -10.652050018310547 + ], + [ + 0.010651295073330402, + -0.9996552467346191, + 0.023999525234103203, + -0.49243786931037903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3982, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549380_995117425", + "mask_path": "../../mask/hdr_right_03982.png" + }, + { + "file_path": "../../rgb/hdr_right_03989.png", + "transform_matrix": [ + [ + 0.8077239990234375, + 0.02460619807243347, + 0.5890471339225769, + -23.038257598876953 + ], + [ + -0.5893451571464539, + 0.006675345357507467, + 0.8078537583351135, + -10.577494621276855 + ], + [ + 0.015946118161082268, + -0.9996749758720398, + 0.019893379881978035, + -0.48955610394477844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3989, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549381_695117235", + "mask_path": "../../mask/hdr_right_03989.png" + }, + { + "file_path": "../../rgb/hdr_right_03994.png", + "transform_matrix": [ + [ + 0.6516313552856445, + 0.013236760161817074, + 0.7584204077720642, + -22.96738624572754 + ], + [ + -0.758456826210022, + -0.003068518126383424, + 0.6517161130905151, + -10.511263847351074 + ], + [ + 0.010953836143016815, + -0.9999076724052429, + 0.008039968088269234, + -0.49262535572052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3994, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549382_195116758", + "mask_path": "../../mask/hdr_right_03994.png" + }, + { + "file_path": "../../rgb/hdr_right_03998.png", + "transform_matrix": [ + [ + 0.6015971899032593, + 0.029298698529601097, + 0.7982622385025024, + -22.913249969482422 + ], + [ + -0.7987311482429504, + 0.008978954516351223, + 0.6016210317611694, + -10.528599739074707 + ], + [ + 0.010459155775606632, + -0.9995303750038147, + 0.028803501278162003, + -0.4861888587474823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3998, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549382_595117807", + "mask_path": "../../mask/hdr_right_03998.png" + }, + { + "file_path": "../../rgb/hdr_right_04001.png", + "transform_matrix": [ + [ + 0.606138288974762, + 0.01529048290103674, + 0.7952123880386353, + -22.876245498657227 + ], + [ + -0.7953429222106934, + 0.005219172686338425, + 0.6061373949050903, + -10.594491004943848 + ], + [ + 0.005117780528962612, + -0.9998694658279419, + 0.015324716456234455, + -0.4964659810066223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4001, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549382_895117282", + "mask_path": "../../mask/hdr_right_04001.png" + }, + { + "file_path": "../../rgb/hdr_right_04003.png", + "transform_matrix": [ + [ + 0.5909692645072937, + 0.027148492634296417, + 0.8062371611595154, + -22.836483001708984 + ], + [ + -0.8066575527191162, + 0.01036870013922453, + 0.5909282565116882, + -10.644966125488281 + ], + [ + 0.00768318073824048, + -0.9995776414871216, + 0.028027115389704704, + -0.4861569404602051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4003, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549383_95117092", + "mask_path": "../../mask/hdr_right_04003.png" + }, + { + "file_path": "../../rgb/hdr_right_04005.png", + "transform_matrix": [ + [ + 0.5825023651123047, + 0.02608971856534481, + 0.8124102354049683, + -22.78512191772461 + ], + [ + -0.8127702474594116, + 0.006678304634988308, + 0.5825461149215698, + -10.715269088745117 + ], + [ + 0.009772943332791328, + -0.9996373057365417, + 0.025095075368881226, + -0.48622041940689087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4005, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549383_295117855", + "mask_path": "../../mask/hdr_right_04005.png" + }, + { + "file_path": "../../rgb/hdr_right_04007.png", + "transform_matrix": [ + [ + 0.5852892398834229, + 0.012332557700574398, + 0.8107308149337769, + -22.753511428833008 + ], + [ + -0.8108225464820862, + 0.006641248241066933, + 0.585254430770874, + -10.781050682067871 + ], + [ + 0.001833419781178236, + -0.9999018907546997, + 0.013886566273868084, + -0.4945179224014282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4007, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549383_495116949", + "mask_path": "../../mask/hdr_right_04007.png" + }, + { + "file_path": "../../rgb/hdr_right_04009.png", + "transform_matrix": [ + [ + 0.5373340249061584, + 0.01869138889014721, + 0.8431624174118042, + -22.69963836669922 + ], + [ + -0.8431893587112427, + -0.008756685070693493, + 0.5375453233718872, + -10.855232238769531 + ], + [ + 0.017430776730179787, + -0.9997869729995728, + 0.011055114679038525, + -0.4994327425956726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4009, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549383_695117473", + "mask_path": "../../mask/hdr_right_04009.png" + }, + { + "file_path": "../../rgb/hdr_right_04011.png", + "transform_matrix": [ + [ + 0.445647269487381, + 0.03090437687933445, + 0.894675076007843, + -22.63161277770996 + ], + [ + -0.8950295448303223, + -0.004608841147273779, + 0.44598305225372314, + -10.898859977722168 + ], + [ + 0.017906244844198227, + -0.99951171875, + 0.025606418028473854, + -0.489826500415802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4011, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549383_895117521", + "mask_path": "../../mask/hdr_right_04011.png" + }, + { + "file_path": "../../rgb/hdr_right_04013.png", + "transform_matrix": [ + [ + 0.34623751044273376, + 0.013484606519341469, + 0.9380500316619873, + -22.57040786743164 + ], + [ + -0.9381211400032043, + -0.0024324858095496893, + 0.3462987542152405, + -10.951103210449219 + ], + [ + 0.006951495073735714, + -0.9999061822891235, + 0.011807975359261036, + -0.4872417151927948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4013, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_95117807", + "mask_path": "../../mask/hdr_right_04013.png" + }, + { + "file_path": "../../rgb/hdr_right_04015.png", + "transform_matrix": [ + [ + 0.23226794600486755, + 0.017716651782393456, + 0.9724905490875244, + -22.503480911254883 + ], + [ + -0.9725844860076904, + -0.007534509524703026, + 0.2324276566505432, + -11.015790939331055 + ], + [ + 0.011445078998804092, + -0.9998146891593933, + 0.01548091508448124, + -0.49965420365333557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4015, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_295117139", + "mask_path": "../../mask/hdr_right_04015.png" + }, + { + "file_path": "../../rgb/hdr_right_04017.png", + "transform_matrix": [ + [ + 0.0801338255405426, + 0.03040958382189274, + 0.9963201284408569, + -22.43164825439453 + ], + [ + -0.9965234994888306, + -0.020409947261214256, + 0.08077313005924225, + -11.079792022705078 + ], + [ + 0.022791119292378426, + -0.9993290901184082, + 0.028668340295553207, + -0.49750816822052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4017, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_495117187", + "mask_path": "../../mask/hdr_right_04017.png" + }, + { + "file_path": "../../rgb/hdr_right_04018.png", + "transform_matrix": [ + [ + -0.0005238739540800452, + 0.034865692257881165, + 0.9993919134140015, + -22.388687133789062 + ], + [ + -0.9996640086174011, + -0.025918422266840935, + 0.00038018333725631237, + -11.122097969055176 + ], + [ + 0.02591591700911522, + -0.9990559220314026, + 0.0348675511777401, + -0.49777668714523315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4018, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_595117807", + "mask_path": "../../mask/hdr_right_04018.png" + }, + { + "file_path": "../../rgb/hdr_right_04020.png", + "transform_matrix": [ + [ + -0.14577928185462952, + 0.031009593978524208, + 0.9888310432434082, + -22.32383918762207 + ], + [ + -0.9891939163208008, + -0.020340396091341972, + -0.1451949179172516, + -11.171414375305176 + ], + [ + 0.015610779635608196, + -0.9993121027946472, + 0.033639710396528244, + -0.4929959177970886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4020, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_795117139", + "mask_path": "../../mask/hdr_right_04020.png" + }, + { + "file_path": "../../rgb/hdr_right_04022.png", + "transform_matrix": [ + [ + -0.2942672073841095, + 0.03040415421128273, + 0.955239474773407, + -22.24657440185547 + ], + [ + -0.9555955529212952, + -0.02569684013724327, + -0.2935590445995331, + -11.22427749633789 + ], + [ + 0.015621223486959934, + -0.9992073178291321, + 0.03661581128835678, + -0.495519757270813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4022, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549384_995116949", + "mask_path": "../../mask/hdr_right_04022.png" + }, + { + "file_path": "../../rgb/hdr_right_04024.png", + "transform_matrix": [ + [ + -0.45533424615859985, + 0.02310965023934841, + 0.8900206685066223, + -22.197980880737305 + ], + [ + -0.8900952339172363, + -0.034306544810533524, + -0.45448166131973267, + -11.28381061553955 + ], + [ + 0.020030617713928223, + -0.9991441369056702, + 0.03619072586297989, + -0.4996570348739624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4024, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549385_195117712", + "mask_path": "../../mask/hdr_right_04024.png" + }, + { + "file_path": "../../rgb/hdr_right_04026.png", + "transform_matrix": [ + [ + -0.6030734181404114, + 0.019477522000670433, + 0.7974479794502258, + -22.1468448638916 + ], + [ + -0.7973465919494629, + -0.04386742413043976, + -0.6019253730773926, + -11.365612983703613 + ], + [ + 0.023257967084646225, + -0.998847484588623, + 0.041985612362623215, + -0.49332642555236816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4026, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549385_395117998", + "mask_path": "../../mask/hdr_right_04026.png" + }, + { + "file_path": "../../rgb/hdr_right_04029.png", + "transform_matrix": [ + [ + -0.7658184766769409, + 0.019232841208577156, + 0.6427691578865051, + -22.057432174682617 + ], + [ + -0.6429996490478516, + -0.036235883831977844, + -0.765008807182312, + -11.436871528625488 + ], + [ + 0.008578017354011536, + -0.9991582036018372, + 0.040116820484399796, + -0.49777138233184814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4029, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549385_695116519", + "mask_path": "../../mask/hdr_right_04029.png" + }, + { + "file_path": "../../rgb/hdr_right_04033.png", + "transform_matrix": [ + [ + -0.9141692519187927, + 0.003254667390137911, + 0.4053195118904114, + -22.000900268554688 + ], + [ + -0.40508848428726196, + -0.04203776270151138, + -0.913310706615448, + -11.539387702941895 + ], + [ + 0.01406620442867279, + -0.999110758304596, + 0.03974806144833565, + -0.49376004934310913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4033, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549386_95116615", + "mask_path": "../../mask/hdr_right_04033.png" + }, + { + "file_path": "../../rgb/hdr_right_04039.png", + "transform_matrix": [ + [ + -0.9560394883155823, + 0.0021773315966129303, + 0.2932299077510834, + -21.947383880615234 + ], + [ + -0.2931942045688629, + -0.024377135559916496, + -0.9557421803474426, + -11.60362434387207 + ], + [ + 0.005067138466984034, + -0.9997004270553589, + 0.023943888023495674, + -0.5015261769294739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4039, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549386_695116519", + "mask_path": "../../mask/hdr_right_04039.png" + }, + { + "file_path": "../../rgb/hdr_right_04046.png", + "transform_matrix": [ + [ + -0.9616607427597046, + -0.008804695680737495, + 0.2741006314754486, + -21.66518783569336 + ], + [ + -0.2737143933773041, + -0.03115629218518734, + -0.9613063931465149, + -11.591070175170898 + ], + [ + 0.017003968358039856, + -0.9994757175445557, + 0.027551811188459396, + -0.5121254920959473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4046, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549387_395121812", + "mask_path": "../../mask/hdr_right_04046.png" + }, + { + "file_path": "../../rgb/hdr_right_04048.png", + "transform_matrix": [ + [ + -0.9671797156333923, + -0.003010829910635948, + 0.2540756165981293, + -21.575416564941406 + ], + [ + -0.2539547085762024, + -0.021589558571577072, + -0.966975212097168, + -11.585443496704102 + ], + [ + 0.00839677732437849, + -0.9997623562812805, + 0.02011636644601822, + -0.5094128251075745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4048, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549387_595118045", + "mask_path": "../../mask/hdr_right_04048.png" + }, + { + "file_path": "../../rgb/hdr_right_04049.png", + "transform_matrix": [ + [ + -0.9686856865882874, + -0.0016589798033237457, + 0.24828492105007172, + -21.513816833496094 + ], + [ + -0.24819861352443695, + -0.020726142451167107, + -0.9684874415397644, + -11.577290534973145 + ], + [ + 0.006752689369022846, + -0.9997838139533997, + 0.01966535858809948, + -0.5101731419563293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4049, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549387_695118188", + "mask_path": "../../mask/hdr_right_04049.png" + }, + { + "file_path": "../../rgb/hdr_right_04050.png", + "transform_matrix": [ + [ + -0.9680469036102295, + -0.004877415485680103, + 0.25072181224823, + -21.448528289794922 + ], + [ + -0.25053250789642334, + -0.024623258039355278, + -0.9677950143814087, + -11.566917419433594 + ], + [ + 0.010893926955759525, + -0.9996848702430725, + 0.02261451445519924, + -0.5131248235702515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4050, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549387_795117855", + "mask_path": "../../mask/hdr_right_04050.png" + }, + { + "file_path": "../../rgb/hdr_right_04052.png", + "transform_matrix": [ + [ + -0.9666950702667236, + -0.00862225703895092, + 0.2557857036590576, + -21.34612274169922 + ], + [ + -0.2556222081184387, + -0.016551626846194267, + -0.9666351079940796, + -11.542337417602539 + ], + [ + 0.012568246573209763, + -0.9998258352279663, + 0.013796335086226463, + -0.5250442028045654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4052, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549387_995117187", + "mask_path": "../../mask/hdr_right_04052.png" + }, + { + "file_path": "../../rgb/hdr_right_04053.png", + "transform_matrix": [ + [ + -0.9668316841125488, + -0.011227077804505825, + 0.2551676332950592, + -21.28148078918457 + ], + [ + -0.25501033663749695, + -0.013748995028436184, + -0.9668405652046204, + -11.529335975646973 + ], + [ + 0.014363094232976437, + -0.9998424649238586, + 0.010429940186440945, + -0.5271716117858887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4053, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_95117330", + "mask_path": "../../mask/hdr_right_04053.png" + }, + { + "file_path": "../../rgb/hdr_right_04054.png", + "transform_matrix": [ + [ + -0.9689092636108398, + -0.009734321385622025, + 0.2472248375415802, + -21.218780517578125 + ], + [ + -0.24705222249031067, + -0.016133053228259087, + -0.968867838382721, + -11.523913383483887 + ], + [ + 0.013419763185083866, + -0.9998224973678589, + 0.013226576149463654, + -0.5118143558502197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4054, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_195116758", + "mask_path": "../../mask/hdr_right_04054.png" + }, + { + "file_path": "../../rgb/hdr_right_04055.png", + "transform_matrix": [ + [ + -0.9715542197227478, + -0.006225440185517073, + 0.2367352843284607, + -21.167037963867188 + ], + [ + -0.23666228353977203, + -0.010622519068419933, + -0.9715339541435242, + -11.519608497619629 + ], + [ + 0.008562950417399406, + -0.9999241828918457, + 0.008847026154398918, + -0.5094361305236816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4055, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_295117139", + "mask_path": "../../mask/hdr_right_04055.png" + }, + { + "file_path": "../../rgb/hdr_right_04056.png", + "transform_matrix": [ + [ + -0.9742920994758606, + -0.0035493075847625732, + 0.2252606451511383, + -21.10177993774414 + ], + [ + -0.22521883249282837, + -0.009539027698338032, + -0.9742615818977356, + -11.512626647949219 + ], + [ + 0.005606721621006727, + -0.9999482035636902, + 0.008494427427649498, + -0.5113135576248169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4056, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_395117044", + "mask_path": "../../mask/hdr_right_04056.png" + }, + { + "file_path": "../../rgb/hdr_right_04057.png", + "transform_matrix": [ + [ + -0.9752082824707031, + -0.0029335881117731333, + 0.221269890666008, + -21.01935577392578 + ], + [ + -0.22119837999343872, + -0.015741553157567978, + -0.9751017689704895, + -11.50329303741455 + ], + [ + 0.006343678571283817, + -0.9998717904090881, + 0.014702384360134602, + -0.5121752023696899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4057, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_495117425", + "mask_path": "../../mask/hdr_right_04057.png" + }, + { + "file_path": "../../rgb/hdr_right_04058.png", + "transform_matrix": [ + [ + -0.9743735790252686, + -0.005260066594928503, + 0.2248745560646057, + -20.958463668823242 + ], + [ + -0.2247195690870285, + -0.021088290959596634, + -0.9741953611373901, + -11.494060516357422 + ], + [ + 0.00986655056476593, + -0.9997637867927551, + 0.0193658284842968, + -0.5196664333343506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4058, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_595117568", + "mask_path": "../../mask/hdr_right_04058.png" + }, + { + "file_path": "../../rgb/hdr_right_04059.png", + "transform_matrix": [ + [ + -0.9740159511566162, + -0.004716082476079464, + 0.22643031179904938, + -20.90195083618164 + ], + [ + -0.22631549835205078, + -0.017765242606401443, + -0.973892092704773, + -11.485912322998047 + ], + [ + 0.008615545928478241, + -0.9998310804367065, + 0.016236305236816406, + -0.5257267951965332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4059, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_695117950", + "mask_path": "../../mask/hdr_right_04059.png" + }, + { + "file_path": "../../rgb/hdr_right_04060.png", + "transform_matrix": [ + [ + -0.9741743803024292, + -0.0070425644516944885, + 0.22568738460540771, + -20.828948974609375 + ], + [ + -0.22557778656482697, + -0.013702594675123692, + -0.9741288423538208, + -11.479119300842285 + ], + [ + 0.009952868334949017, + -0.9998812675476074, + 0.011760066263377666, + -0.5267007946968079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4060, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_795117378", + "mask_path": "../../mask/hdr_right_04060.png" + }, + { + "file_path": "../../rgb/hdr_right_04061.png", + "transform_matrix": [ + [ + -0.975976288318634, + -0.010233430191874504, + 0.21763639152050018, + -20.757658004760742 + ], + [ + -0.2175097018480301, + -0.012201061472296715, + -0.9759818315505981, + -11.47553825378418 + ], + [ + 0.012643037363886833, + -0.999873161315918, + 0.00968207512050867, + -0.516818642616272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4061, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_895117998", + "mask_path": "../../mask/hdr_right_04061.png" + }, + { + "file_path": "../../rgb/hdr_right_04062.png", + "transform_matrix": [ + [ + -0.9784837365150452, + -0.005820342805236578, + 0.2062421590089798, + -20.70365333557129 + ], + [ + -0.20619413256645203, + -0.007914615795016289, + -0.9784791469573975, + -11.473798751831055 + ], + [ + 0.0073274108581244946, + -0.9999517202377319, + 0.006544200237840414, + -0.5122178792953491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4062, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549388_995116949", + "mask_path": "../../mask/hdr_right_04062.png" + }, + { + "file_path": "../../rgb/hdr_right_04063.png", + "transform_matrix": [ + [ + -0.9809423685073853, + -0.003363884286954999, + 0.19426995515823364, + -20.638832092285156 + ], + [ + -0.1942405253648758, + -0.007572139147669077, + -0.9809247851371765, + -11.471983909606934 + ], + [ + 0.004770757630467415, + -0.9999656677246094, + 0.00677443016320467, + -0.5127564668655396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4063, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_95117568", + "mask_path": "../../mask/hdr_right_04063.png" + }, + { + "file_path": "../../rgb/hdr_right_04064.png", + "transform_matrix": [ + [ + -0.9820588827133179, + -0.004888821858912706, + 0.18851102888584137, + -20.553966522216797 + ], + [ + -0.18842995166778564, + -0.01368512399494648, + -0.9819912910461426, + -11.466628074645996 + ], + [ + 0.007380577269941568, + -0.9998944401741028, + 0.01251839566975832, + -0.5166864991188049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4064, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_195117235", + "mask_path": "../../mask/hdr_right_04064.png" + }, + { + "file_path": "../../rgb/hdr_right_04065.png", + "transform_matrix": [ + [ + -0.9813588857650757, + -0.008820832706987858, + 0.19198133051395416, + -20.48393440246582 + ], + [ + -0.19178420305252075, + -0.019442860037088394, + -0.9812445640563965, + -11.458173751831055 + ], + [ + 0.012388059869408607, + -0.9997720718383789, + 0.01738872565329075, + -0.5256756544113159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4065, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_295117616", + "mask_path": "../../mask/hdr_right_04065.png" + }, + { + "file_path": "../../rgb/hdr_right_04066.png", + "transform_matrix": [ + [ + -0.9811701774597168, + -0.008743391372263432, + 0.19294750690460205, + -20.42572593688965 + ], + [ + -0.19276206195354462, + -0.01858857087790966, + -0.9810694456100464, + -11.452293395996094 + ], + [ + 0.012164494022727013, + -0.9997889995574951, + 0.016553156077861786, + -0.5300331115722656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4066, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_395117521", + "mask_path": "../../mask/hdr_right_04066.png" + }, + { + "file_path": "../../rgb/hdr_right_04067.png", + "transform_matrix": [ + [ + -0.9811342358589172, + -0.010942414402961731, + 0.19301749765872955, + -20.351551055908203 + ], + [ + -0.1928287297487259, + -0.016277525573968887, + -0.981097400188446, + -11.44536018371582 + ], + [ + 0.013877423480153084, + -0.9998076558113098, + 0.013860425911843777, + -0.5303567051887512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4067, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_495117425", + "mask_path": "../../mask/hdr_right_04067.png" + }, + { + "file_path": "../../rgb/hdr_right_04068.png", + "transform_matrix": [ + [ + -0.9825246930122375, + -0.013622763566672802, + 0.1856333613395691, + -20.272764205932617 + ], + [ + -0.18542593717575073, + -0.015182756818830967, + -0.9825409650802612, + -11.44576358795166 + ], + [ + 0.016203349456191063, + -0.9997919201850891, + 0.012391418218612671, + -0.5252137184143066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4068, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_595117330", + "mask_path": "../../mask/hdr_right_04068.png" + }, + { + "file_path": "../../rgb/hdr_right_04069.png", + "transform_matrix": [ + [ + -0.9848201274871826, + -0.007912890054285526, + 0.17339789867401123, + -20.211551666259766 + ], + [ + -0.17333129048347473, + -0.008449981920421124, + -0.9848273396492004, + -11.448863983154297 + ], + [ + 0.009258038364350796, + -0.9999330043792725, + 0.006950160954147577, + -0.5149226784706116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4069, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_695117235", + "mask_path": "../../mask/hdr_right_04069.png" + }, + { + "file_path": "../../rgb/hdr_right_04070.png", + "transform_matrix": [ + [ + -0.9869112968444824, + -0.004778248257935047, + 0.16119302809238434, + -20.146575927734375 + ], + [ + -0.16116192936897278, + -0.006306545343250036, + -0.9869078397750854, + -11.446574211120605 + ], + [ + 0.0057322620414197445, + -0.9999686479568481, + 0.005453929305076599, + -0.5166021585464478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4070, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_795117855", + "mask_path": "../../mask/hdr_right_04070.png" + }, + { + "file_path": "../../rgb/hdr_right_04071.png", + "transform_matrix": [ + [ + -0.98804771900177, + -0.003969833254814148, + 0.1540975123643875, + -20.057767868041992 + ], + [ + -0.15405504405498505, + -0.009401589632034302, + -0.9880175590515137, + -11.444245338439941 + ], + [ + 0.005371025763452053, + -0.9999479055404663, + 0.008677643723785877, + -0.5188837051391602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4071, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_895116806", + "mask_path": "../../mask/hdr_right_04071.png" + }, + { + "file_path": "../../rgb/hdr_right_04072.png", + "transform_matrix": [ + [ + -0.9875182509422302, + -0.006959797814488411, + 0.15735086798667908, + -19.97828483581543 + ], + [ + -0.15723992884159088, + -0.014342007227241993, + -0.9874562621116638, + -11.441061019897461 + ], + [ + 0.009129222482442856, + -0.9998729228973389, + 0.01306863408535719, + -0.5236663222312927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4072, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549389_995117187", + "mask_path": "../../mask/hdr_right_04072.png" + }, + { + "file_path": "../../rgb/hdr_right_04073.png", + "transform_matrix": [ + [ + -0.9871916770935059, + -0.007452231831848621, + 0.1593647450208664, + -19.917522430419922 + ], + [ + -0.15922962129116058, + -0.016145462170243263, + -0.9871095418930054, + -11.436700820922852 + ], + [ + 0.00992918573319912, + -0.9998418688774109, + 0.014752047136425972, + -0.5309368371963501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4073, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_95117092", + "mask_path": "../../mask/hdr_right_04073.png" + }, + { + "file_path": "../../rgb/hdr_right_04074.png", + "transform_matrix": [ + [ + -0.9872292280197144, + -0.00852262694388628, + 0.1590786874294281, + -19.8443603515625 + ], + [ + -0.15894624590873718, + -0.014453812502324581, + -0.9871814846992493, + -11.435511589050293 + ], + [ + 0.010712673887610435, + -0.9998592138290405, + 0.012914584018290043, + -0.5333548188209534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4074, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_195117235", + "mask_path": "../../mask/hdr_right_04074.png" + }, + { + "file_path": "../../rgb/hdr_right_04075.png", + "transform_matrix": [ + [ + -0.9883692860603333, + -0.01026483066380024, + 0.15172576904296875, + -19.767839431762695 + ], + [ + -0.1515708863735199, + -0.01448680367320776, + -0.9883402585983276, + -11.43880844116211 + ], + [ + 0.012343168258666992, + -0.9998423457145691, + 0.01276246178895235, + -0.5265197157859802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4075, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_295118808", + "mask_path": "../../mask/hdr_right_04075.png" + }, + { + "file_path": "../../rgb/hdr_right_04076.png", + "transform_matrix": [ + [ + -0.9902127981185913, + -0.005000174045562744, + 0.13947610557079315, + -19.708181381225586 + ], + [ + -0.1394319087266922, + -0.008310068398714066, + -0.9901968836784363, + -11.442668914794922 + ], + [ + 0.006110211368650198, + -0.9999529719352722, + 0.007531548384577036, + -0.5176243782043457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4076, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_395116806", + "mask_path": "../../mask/hdr_right_04076.png" + }, + { + "file_path": "../../rgb/hdr_right_04077.png", + "transform_matrix": [ + [ + -0.9917837381362915, + -0.0007855473086237907, + 0.12792333960533142, + -19.642471313476562 + ], + [ + -0.1279171109199524, + -0.005533881951123476, + -0.9917694330215454, + -11.444660186767578 + ], + [ + 0.0014869940932840109, + -0.9999843835830688, + 0.005387927405536175, + -0.5174095034599304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4077, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_495118141", + "mask_path": "../../mask/hdr_right_04077.png" + }, + { + "file_path": "../../rgb/hdr_right_04078.png", + "transform_matrix": [ + [ + -0.9924995303153992, + -0.0007001740741543472, + 0.12224658578634262, + -19.554935455322266 + ], + [ + -0.12223608046770096, + -0.00862762238830328, + -0.9924635291099548, + -11.443859100341797 + ], + [ + 0.0017495941137894988, + -0.999962568283081, + 0.00847732461988926, + -0.5192829370498657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4078, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_595117568", + "mask_path": "../../mask/hdr_right_04078.png" + }, + { + "file_path": "../../rgb/hdr_right_04079.png", + "transform_matrix": [ + [ + -0.9920722246170044, + -0.004611541051417589, + 0.12558454275131226, + -19.483074188232422 + ], + [ + -0.12551099061965942, + -0.013771270401775837, + -0.9919967651367188, + -11.443540573120117 + ], + [ + 0.006304092239588499, + -0.9998944997787476, + 0.013083294034004211, + -0.527868390083313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4079, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_695116996", + "mask_path": "../../mask/hdr_right_04079.png" + }, + { + "file_path": "../../rgb/hdr_right_04080.png", + "transform_matrix": [ + [ + -0.9918128848075867, + -0.004703212063759565, + 0.1276136338710785, + -19.42483139038086 + ], + [ + -0.1275336891412735, + -0.014545734971761703, + -0.9917276501655579, + -11.442403793334961 + ], + [ + 0.006520538590848446, + -0.9998831152915955, + 0.013826828449964523, + -0.5333378314971924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4080, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_795117378", + "mask_path": "../../mask/hdr_right_04080.png" + }, + { + "file_path": "../../rgb/hdr_right_04081.png", + "transform_matrix": [ + [ + -0.9920810461044312, + -0.006369865965098143, + 0.125437930226326, + -19.354066848754883 + ], + [ + -0.12534601986408234, + -0.013215660117566586, + -0.9920250773429871, + -11.444108963012695 + ], + [ + 0.007976812310516834, + -0.9998923540115356, + 0.012312569655478, + -0.5333826541900635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4081, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_895118474", + "mask_path": "../../mask/hdr_right_04081.png" + }, + { + "file_path": "../../rgb/hdr_right_04082.png", + "transform_matrix": [ + [ + -0.9932652711868286, + -0.009680019691586494, + 0.11545713990926743, + -19.28476333618164 + ], + [ + -0.11532299220561981, + -0.013430456630885601, + -0.9932372570037842, + -11.45333480834961 + ], + [ + 0.011165197938680649, + -0.9998629689216614, + 0.012223677709698677, + -0.5208488702774048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4082, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549390_995117187", + "mask_path": "../../mask/hdr_right_04082.png" + }, + { + "file_path": "../../rgb/hdr_right_04083.png", + "transform_matrix": [ + [ + -0.994395911693573, + -0.002993614412844181, + 0.10567852109670639, + -19.230562210083008 + ], + [ + -0.10565339028835297, + -0.007587047293782234, + -0.9943740367889404, + -11.459464073181152 + ], + [ + 0.003778560785576701, + -0.9999667406082153, + 0.0072282408364117146, + -0.5156589150428772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4083, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_95117568", + "mask_path": "../../mask/hdr_right_04083.png" + }, + { + "file_path": "../../rgb/hdr_right_04084.png", + "transform_matrix": [ + [ + -0.9950436353683472, + 0.0008640459273010492, + 0.09943544864654541, + -19.167604446411133 + ], + [ + -0.09943811595439911, + -0.0039533572271466255, + -0.9950359463691711, + -11.46192741394043 + ], + [ + -0.000466652651084587, + -0.999991774559021, + 0.004019681364297867, + -0.517087459564209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4084, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_195117950", + "mask_path": "../../mask/hdr_right_04084.png" + }, + { + "file_path": "../../rgb/hdr_right_04085.png", + "transform_matrix": [ + [ + -0.9948713183403015, + 0.0005600941949523985, + 0.10114723443984985, + -19.08770751953125 + ], + [ + -0.10114877671003342, + -0.006132937967777252, + -0.9948524236679077, + -11.46114730834961 + ], + [ + 6.311910692602396e-05, + -0.9999810457229614, + 0.006158136297017336, + -0.5183380842208862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4085, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_295117378", + "mask_path": "../../mask/hdr_right_04085.png" + }, + { + "file_path": "../../rgb/hdr_right_04086.png", + "transform_matrix": [ + [ + -0.9936915636062622, + -0.0018074873369187117, + 0.11213276535272598, + -19.01984405517578 + ], + [ + -0.11210022866725922, + -0.012971905060112476, + -0.9936122298240662, + -11.460099220275879 + ], + [ + 0.0032505171839147806, + -0.9999142289161682, + 0.012687454000115395, + -0.5255894660949707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4086, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_395118236", + "mask_path": "../../mask/hdr_right_04086.png" + }, + { + "file_path": "../../rgb/hdr_right_04087.png", + "transform_matrix": [ + [ + -0.9925271272659302, + -0.0020318645983934402, + 0.12200740724802017, + -18.963029861450195 + ], + [ + -0.12196529656648636, + -0.014584564603865147, + -0.9924272894859314, + -11.45971965789795 + ], + [ + 0.003795903641730547, + -0.9998915791511536, + 0.014227760955691338, + -0.5300556421279907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4087, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_495118379", + "mask_path": "../../mask/hdr_right_04087.png" + }, + { + "file_path": "../../rgb/hdr_right_04088.png", + "transform_matrix": [ + [ + -0.991447389125824, + -0.0028802878223359585, + 0.13047513365745544, + -18.893457412719727 + ], + [ + -0.13042742013931274, + -0.013029458001255989, + -0.9913723468780518, + -11.459382057189941 + ], + [ + 0.004555458202958107, + -0.9999109506607056, + 0.012542355805635452, + -0.5255126357078552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4088, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_595117568", + "mask_path": "../../mask/hdr_right_04088.png" + }, + { + "file_path": "../../rgb/hdr_right_04089.png", + "transform_matrix": [ + [ + -0.9910356402397156, + -0.003902583150193095, + 0.13354052603244781, + -18.829509735107422 + ], + [ + -0.13348621129989624, + -0.01187212485820055, + -0.9909795522689819, + -11.460161209106445 + ], + [ + 0.005452790763229132, + -0.9999219179153442, + 0.011244761757552624, + -0.5143637657165527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4089, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_695117712", + "mask_path": "../../mask/hdr_right_04089.png" + }, + { + "file_path": "../../rgb/hdr_right_04090.png", + "transform_matrix": [ + [ + -0.9904581308364868, + 0.003823275910690427, + 0.13776075839996338, + -18.77659034729004 + ], + [ + -0.13778460025787354, + -0.006884963251650333, + -0.9904384016990662, + -11.461126327514648 + ], + [ + -0.0028382407035678625, + -0.9999690055847168, + 0.007346056867390871, + -0.5097067356109619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4090, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_795117378", + "mask_path": "../../mask/hdr_right_04090.png" + }, + { + "file_path": "../../rgb/hdr_right_04091.png", + "transform_matrix": [ + [ + -0.9888461232185364, + 0.008378852158784866, + 0.14870499074459076, + -18.713871002197266 + ], + [ + -0.14873772859573364, + -0.0034229259472340345, + -0.9888707995414734, + -11.457426071166992 + ], + [ + -0.007776595652103424, + -0.9999590516090393, + 0.0046309963800013065, + -0.5060735940933228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4091, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_895120143", + "mask_path": "../../mask/hdr_right_04091.png" + }, + { + "file_path": "../../rgb/hdr_right_04092.png", + "transform_matrix": [ + [ + -0.9853150844573975, + 0.004679323174059391, + 0.17068205773830414, + -18.643695831298828 + ], + [ + -0.1707073450088501, + -0.00567375123500824, + -0.9853054285049438, + -11.446615219116211 + ], + [ + -0.0036421548575162888, + -0.999972939491272, + 0.0063892267644405365, + -0.5116767883300781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4092, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549391_995118856", + "mask_path": "../../mask/hdr_right_04092.png" + }, + { + "file_path": "../../rgb/hdr_right_04093.png", + "transform_matrix": [ + [ + -0.9798941016197205, + 0.0031192901078611612, + 0.1994936615228653, + -18.585840225219727 + ], + [ + -0.19951516389846802, + -0.009925330989062786, + -0.9798445105552673, + -11.433466911315918 + ], + [ + -0.0010763785103335977, + -0.999945878982544, + 0.010348119772970676, + -0.5213812589645386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4093, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_95122098", + "mask_path": "../../mask/hdr_right_04093.png" + }, + { + "file_path": "../../rgb/hdr_right_04094.png", + "transform_matrix": [ + [ + -0.9740516543388367, + 0.0013829934177920222, + 0.22632135450839996, + -18.53314971923828 + ], + [ + -0.22632434964179993, + -0.00927748717367649, + -0.9740078449249268, + -11.423126220703125 + ], + [ + 0.000752646999899298, + -0.9999560117721558, + 0.009349756874144077, + -0.5213741660118103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4094, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_195119619", + "mask_path": "../../mask/hdr_right_04094.png" + }, + { + "file_path": "../../rgb/hdr_right_04095.png", + "transform_matrix": [ + [ + -0.9690655469894409, + -0.0019400781020522118, + 0.24679605662822723, + -18.468969345092773 + ], + [ + -0.24678993225097656, + -0.002947078086435795, + -0.9690646529197693, + -11.413230895996094 + ], + [ + 0.00260738842189312, + -0.9999937415122986, + 0.0023771196138113737, + -0.5170310735702515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4095, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_295118808", + "mask_path": "../../mask/hdr_right_04095.png" + }, + { + "file_path": "../../rgb/hdr_right_04096.png", + "transform_matrix": [ + [ + -0.96635901927948, + 0.0009142758790403605, + 0.25719523429870605, + -18.412263870239258 + ], + [ + -0.2571939527988434, + 0.0013032736023887992, + -0.9663589596748352, + -11.405180931091309 + ], + [ + -0.0012187145184725523, + -0.9999987483024597, + -0.0010242839343845844, + -0.5098428726196289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4096, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_395118713", + "mask_path": "../../mask/hdr_right_04096.png" + }, + { + "file_path": "../../rgb/hdr_right_04097.png", + "transform_matrix": [ + [ + -0.9643502831459045, + 0.005249820649623871, + 0.26457688212394714, + -18.358570098876953 + ], + [ + -0.26452767848968506, + 0.008536187000572681, + -0.964340329170227, + -11.394163131713867 + ], + [ + -0.0073210918344557285, + -0.9999498724937439, + -0.006843152921646833, + -0.5026205778121948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4097, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_495121002", + "mask_path": "../../mask/hdr_right_04097.png" + }, + { + "file_path": "../../rgb/hdr_right_04098.png", + "transform_matrix": [ + [ + -0.9634214043617249, + 0.004208044148981571, + 0.26795798540115356, + -18.28978157043457 + ], + [ + -0.2678965628147125, + 0.011424528434872627, + -0.963379979133606, + -11.381926536560059 + ], + [ + -0.007115239277482033, + -0.9999259114265442, + -0.00987931713461876, + -0.5059698224067688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4098, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_595119237", + "mask_path": "../../mask/hdr_right_04098.png" + }, + { + "file_path": "../../rgb/hdr_right_04099.png", + "transform_matrix": [ + [ + -0.96202552318573, + 0.0004792199470102787, + 0.2729591429233551, + -18.220054626464844 + ], + [ + -0.2729472815990448, + 0.007800633553415537, + -0.961997389793396, + -11.370030403137207 + ], + [ + -0.002590262796729803, + -0.999969482421875, + -0.007373608183115721, + -0.516359269618988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4099, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_695119380", + "mask_path": "../../mask/hdr_right_04099.png" + }, + { + "file_path": "../../rgb/hdr_right_04100.png", + "transform_matrix": [ + [ + -0.9612535834312439, + 0.0008819189970381558, + 0.275664359331131, + -18.160472869873047 + ], + [ + -0.2756565511226654, + 0.0051065050065517426, + -0.9612427353858948, + -11.356576919555664 + ], + [ + -0.0022554199676960707, + -0.9999866485595703, + -0.004665541462600231, + -0.5208479166030884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4100, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_795119047", + "mask_path": "../../mask/hdr_right_04100.png" + }, + { + "file_path": "../../rgb/hdr_right_04101.png", + "transform_matrix": [ + [ + -0.9620397090911865, + -0.0012479984434321523, + 0.2729068696498871, + -18.089656829833984 + ], + [ + -0.2729097008705139, + 0.004086341708898544, + -0.9620310068130493, + -11.344640731811523 + ], + [ + 8.542266004951671e-05, + -0.9999908804893494, + -0.004271814599633217, + -0.5201154947280884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4101, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_895120382", + "mask_path": "../../mask/hdr_right_04101.png" + }, + { + "file_path": "../../rgb/hdr_right_04102.png", + "transform_matrix": [ + [ + -0.9648301601409912, + -0.004084181971848011, + 0.26284244656562805, + -18.01701545715332 + ], + [ + -0.26284193992614746, + -0.000668730994220823, + -0.9648387432098389, + -11.339433670043945 + ], + [ + 0.004116347525268793, + -0.9999914169311523, + -0.00042828440200537443, + -0.511141836643219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4102, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549392_995119094", + "mask_path": "../../mask/hdr_right_04102.png" + }, + { + "file_path": "../../rgb/hdr_right_04103.png", + "transform_matrix": [ + [ + -0.9681196212768555, + 0.004325700458139181, + 0.2504512369632721, + -17.953664779663086 + ], + [ + -0.25043973326683044, + 0.003029530867934227, + -0.9681276082992554, + -11.336320877075195 + ], + [ + -0.004946579225361347, + -0.9999860525131226, + -0.0018496220000088215, + -0.5019436478614807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4103, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_95119476", + "mask_path": "../../mask/hdr_right_04103.png" + }, + { + "file_path": "../../rgb/hdr_right_04104.png", + "transform_matrix": [ + [ + -0.9700546860694885, + 0.00883062370121479, + 0.24272586405277252, + -17.879375457763672 + ], + [ + -0.24269038438796997, + 0.004907657857984304, + -0.9700914025306702, + -11.327141761779785 + ], + [ + -0.00975772738456726, + -0.999949038028717, + -0.002617591293528676, + -0.5002231001853943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4104, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_195118427", + "mask_path": "../../mask/hdr_right_04104.png" + }, + { + "file_path": "../../rgb/hdr_right_04105.png", + "transform_matrix": [ + [ + -0.9696696996688843, + 0.0035973386839032173, + 0.2443925142288208, + -17.801645278930664 + ], + [ + -0.24439510703086853, + -0.0002880037063732743, + -0.9696757197380066, + -11.31056022644043 + ], + [ + -0.0034178660716861486, + -0.9999935030937195, + 0.001158438972197473, + -0.5096554160118103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4105, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_295118093", + "mask_path": "../../mask/hdr_right_04105.png" + }, + { + "file_path": "../../rgb/hdr_right_04106.png", + "transform_matrix": [ + [ + -0.9688466787338257, + 0.001979715656489134, + 0.247653529047966, + -17.743425369262695 + ], + [ + -0.24766011536121368, + -0.004461541771888733, + -0.9688367247581482, + -11.300827026367188 + ], + [ + -0.0008131046197377145, + -0.9999881386756897, + 0.004812845028936863, + -0.5200750827789307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4106, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_395118474", + "mask_path": "../../mask/hdr_right_04106.png" + }, + { + "file_path": "../../rgb/hdr_right_04107.png", + "transform_matrix": [ + [ + -0.9694210886955261, + -0.0006470161024481058, + 0.2454024851322174, + -17.67881202697754 + ], + [ + -0.2453933209180832, + -0.006481165532022715, + -0.969402015209198, + -11.296648025512695 + ], + [ + 0.002217712113633752, + -0.99997878074646, + 0.006124204955995083, + -0.5201557278633118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4107, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_495119571", + "mask_path": "../../mask/hdr_right_04107.png" + }, + { + "file_path": "../../rgb/hdr_right_04108.png", + "transform_matrix": [ + [ + -0.9716140627861023, + -0.004884927999228239, + 0.23652122914791107, + -17.6090145111084 + ], + [ + -0.23647338151931763, + -0.008762665092945099, + -0.9715984463691711, + -11.296586036682129 + ], + [ + 0.006818744353950024, + -0.9999496936798096, + 0.00735876988619566, + -0.5151985287666321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4108, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_595119476", + "mask_path": "../../mask/hdr_right_04108.png" + }, + { + "file_path": "../../rgb/hdr_right_04109.png", + "transform_matrix": [ + [ + -0.9744401574134827, + 0.0014403254026547074, + 0.2246430367231369, + -17.55084991455078 + ], + [ + -0.22464759647846222, + -0.00561141362413764, + -0.9744239449501038, + -11.296904563903809 + ], + [ + -0.00014292298874352127, + -0.9999832510948181, + 0.005791548639535904, + -0.5075091123580933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4109, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_695120334", + "mask_path": "../../mask/hdr_right_04109.png" + }, + { + "file_path": "../../rgb/hdr_right_04110.png", + "transform_matrix": [ + [ + -0.9766835570335388, + 0.0048940954729914665, + 0.21462835371494293, + -17.483583450317383 + ], + [ + -0.21464860439300537, + -0.004069275222718716, + -0.9766829609870911, + -11.29241943359375 + ], + [ + -0.003906597383320332, + -0.9999797344207764, + 0.005024903919547796, + -0.5026605725288391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4110, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_795119285", + "mask_path": "../../mask/hdr_right_04110.png" + }, + { + "file_path": "../../rgb/hdr_right_04111.png", + "transform_matrix": [ + [ + -0.9771496057510376, + 0.0018774141790345311, + 0.21254423260688782, + -17.406982421875 + ], + [ + -0.21255239844322205, + -0.009817671962082386, + -0.9771003723144531, + -11.284838676452637 + ], + [ + 0.00025226749130524695, + -0.999950110912323, + 0.009992383420467377, + -0.5095751881599426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4111, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_895119667", + "mask_path": "../../mask/hdr_right_04111.png" + }, + { + "file_path": "../../rgb/hdr_right_04112.png", + "transform_matrix": [ + [ + -0.9762217998504639, + 0.003208835143595934, + 0.216750368475914, + -17.341344833374023 + ], + [ + -0.2167731672525406, + -0.017445633187890053, + -0.9760661125183105, + -11.278088569641113 + ], + [ + 0.0006493122782558203, + -0.999842643737793, + 0.017726397141814232, + -0.5184751749038696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4112, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549393_995118379", + "mask_path": "../../mask/hdr_right_04112.png" + }, + { + "file_path": "../../rgb/hdr_right_04113.png", + "transform_matrix": [ + [ + -0.9762372374534607, + -0.0005039747338742018, + 0.21670420467853546, + -17.27991485595703 + ], + [ + -0.21665771305561066, + -0.018577424809336662, + -0.9760708808898926, + -11.275640487670898 + ], + [ + 0.00451772240921855, + -0.9998273253440857, + 0.01802678219974041, + -0.5231234431266785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4113, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_95118999", + "mask_path": "../../mask/hdr_right_04113.png" + }, + { + "file_path": "../../rgb/hdr_right_04114.png", + "transform_matrix": [ + [ + -0.9774724841117859, + -0.004863778594881296, + 0.21100671589374542, + -17.206035614013672 + ], + [ + -0.2108898162841797, + -0.017958959564566612, + -0.9773449897766113, + -11.277021408081055 + ], + [ + 0.008543049916625023, + -0.9998268485069275, + 0.016528667882084846, + -0.5210541486740112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4114, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_195118427", + "mask_path": "../../mask/hdr_right_04114.png" + }, + { + "file_path": "../../rgb/hdr_right_04115.png", + "transform_matrix": [ + [ + -0.9801841974258423, + -0.0008208280778490007, + 0.19808657467365265, + -17.142837524414062 + ], + [ + -0.19802893698215485, + -0.020417537540197372, + -0.9799835085868835, + -11.281479835510254 + ], + [ + 0.004848839715123177, + -0.999791145324707, + 0.01985040120780468, + -0.512931227684021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4115, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_295118808", + "mask_path": "../../mask/hdr_right_04115.png" + }, + { + "file_path": "../../rgb/hdr_right_04116.png", + "transform_matrix": [ + [ + -0.9823762774467468, + 0.002724533202126622, + 0.18689380586147308, + -17.081207275390625 + ], + [ + -0.18691299855709076, + -0.01705244742333889, + -0.9822284579277039, + -11.279786109924316 + ], + [ + 0.0005108830519020557, + -0.999850869178772, + 0.017261173576116562, + -0.5052495002746582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4116, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_395118951", + "mask_path": "../../mask/hdr_right_04116.png" + }, + { + "file_path": "../../rgb/hdr_right_04117.png", + "transform_matrix": [ + [ + -0.9830658435821533, + -0.00033818313386291265, + 0.1832520067691803, + -17.00537872314453 + ], + [ + -0.18321456015110016, + -0.01849197782576084, + -0.982899010181427, + -11.274761199951172 + ], + [ + 0.003721092361956835, + -0.9998289346694946, + 0.018116872757673264, + -0.5071754455566406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4117, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_495118618", + "mask_path": "../../mask/hdr_right_04117.png" + }, + { + "file_path": "../../rgb/hdr_right_04118.png", + "transform_matrix": [ + [ + -0.982262372970581, + -0.003947581630200148, + 0.18746992945671082, + -16.936433792114258 + ], + [ + -0.18734584748744965, + -0.021354908123612404, + -0.9820619225502014, + -11.271343231201172 + ], + [ + 0.007880172692239285, + -0.9997641444206238, + 0.020236559212207794, + -0.520170271396637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4118, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_595119237", + "mask_path": "../../mask/hdr_right_04118.png" + }, + { + "file_path": "../../rgb/hdr_right_04119.png", + "transform_matrix": [ + [ + -0.9820317625999451, + -0.006126399151980877, + 0.1886165738105774, + -16.8748836517334 + ], + [ + -0.18844148516654968, + -0.022061487659811974, + -0.9818366169929504, + -11.269866943359375 + ], + [ + 0.010176286101341248, + -0.9997378587722778, + 0.020510613918304443, + -0.5245287418365479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4119, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_695118665", + "mask_path": "../../mask/hdr_right_04119.png" + }, + { + "file_path": "../../rgb/hdr_right_04120.png", + "transform_matrix": [ + [ + -0.9829936623573303, + -0.010153100825846195, + 0.1833585500717163, + -16.80759620666504 + ], + [ + -0.18309490382671356, + -0.0226496122777462, + -0.9828343391418457, + -11.273268699645996 + ], + [ + 0.014131816104054451, + -0.9996919631958008, + 0.020405448973178864, + -0.5239407420158386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4120, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_795120000", + "mask_path": "../../mask/hdr_right_04120.png" + }, + { + "file_path": "../../rgb/hdr_right_04121.png", + "transform_matrix": [ + [ + -0.9849598407745361, + -0.006609410047531128, + 0.1726566106081009, + -16.74704360961914 + ], + [ + -0.17244581878185272, + -0.02480219677090645, + -0.9847067594528198, + -11.278179168701172 + ], + [ + 0.010790593922138214, + -0.9996706247329712, + 0.023289401084184647, + -0.5170412063598633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4121, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_895121335", + "mask_path": "../../mask/hdr_right_04121.png" + }, + { + "file_path": "../../rgb/hdr_right_04122.png", + "transform_matrix": [ + [ + -0.986246645450592, + -0.001347129582427442, + 0.16527533531188965, + -16.688730239868164 + ], + [ + -0.16522715985774994, + -0.017441799864172935, + -0.9861013293266296, + -11.277838706970215 + ], + [ + 0.00421110587194562, + -0.9998469352722168, + 0.016979331150650978, + -0.5104634761810303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4122, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549394_995119333", + "mask_path": "../../mask/hdr_right_04122.png" + }, + { + "file_path": "../../rgb/hdr_right_04123.png", + "transform_matrix": [ + [ + -0.98601895570755, + 0.00043168209958821535, + 0.16663308441638947, + -16.614810943603516 + ], + [ + -0.1666228473186493, + -0.013937274925410748, + -0.9859222173690796, + -11.27192211151123 + ], + [ + 0.0018968060612678528, + -0.9999027848243713, + 0.013814343139529228, + -0.5108464360237122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4123, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_95118284", + "mask_path": "../../mask/hdr_right_04123.png" + }, + { + "file_path": "../../rgb/hdr_right_04124.png", + "transform_matrix": [ + [ + -0.9844276905059814, + -0.0005198538419790566, + 0.1757897287607193, + -16.54743003845215 + ], + [ + -0.17574752867221832, + -0.019201630726456642, + -0.9842480421066284, + -11.266741752624512 + ], + [ + 0.0038871155120432377, + -0.9998154640197754, + 0.01881125383079052, + -0.5217258930206299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4124, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_195118427", + "mask_path": "../../mask/hdr_right_04124.png" + }, + { + "file_path": "../../rgb/hdr_right_04125.png", + "transform_matrix": [ + [ + -0.9835131764411926, + -0.004717744421213865, + 0.18077516555786133, + -16.4881591796875 + ], + [ + -0.18063221871852875, + -0.021900953724980354, + -0.9833069443702698, + -11.268293380737305 + ], + [ + 0.008598138578236103, + -0.9997490048408508, + 0.02068769931793213, + -0.5243244767189026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4125, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_295118570", + "mask_path": "../../mask/hdr_right_04125.png" + }, + { + "file_path": "../../rgb/hdr_right_04126.png", + "transform_matrix": [ + [ + -0.9837713241577148, + -0.00924551673233509, + 0.17918884754180908, + -16.421276092529297 + ], + [ + -0.17896579205989838, + -0.021016275510191917, + -0.9836309552192688, + -11.271507263183594 + ], + [ + 0.012860056012868881, + -0.9997363686561584, + 0.019020576030015945, + -0.5210833549499512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4126, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_395118236", + "mask_path": "../../mask/hdr_right_04126.png" + }, + { + "file_path": "../../rgb/hdr_right_04127.png", + "transform_matrix": [ + [ + -0.9849503636360168, + -0.003996384330093861, + 0.17279165983200073, + -16.36368179321289 + ], + [ + -0.1726847141981125, + -0.019322864711284637, + -0.98478764295578, + -11.27476692199707 + ], + [ + 0.0072744195349514484, + -0.9998053312301636, + 0.018341945484280586, + -0.5136600136756897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4127, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_495117902", + "mask_path": "../../mask/hdr_right_04127.png" + }, + { + "file_path": "../../rgb/hdr_right_04128.png", + "transform_matrix": [ + [ + -0.9854264855384827, + -0.0010033251019194722, + 0.17009882628917694, + -16.305217742919922 + ], + [ + -0.17006057500839233, + -0.016201850026845932, + -0.9853004217147827, + -11.274150848388672 + ], + [ + 0.0037444925401359797, + -0.9998682737350464, + 0.015795104205608368, + -0.5082506537437439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4128, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_595118284", + "mask_path": "../../mask/hdr_right_04128.png" + }, + { + "file_path": "../../rgb/hdr_right_04129.png", + "transform_matrix": [ + [ + -0.9845836162567139, + -0.004948079120367765, + 0.17484457790851593, + -16.236787796020508 + ], + [ + -0.17472974956035614, + -0.01812063902616501, + -0.9844497442245483, + -11.270838737487793 + ], + [ + 0.008039429783821106, + -0.9998236298561096, + 0.01697670854628086, + -0.5146483182907104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4129, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_695117950", + "mask_path": "../../mask/hdr_right_04129.png" + }, + { + "file_path": "../../rgb/hdr_right_04130.png", + "transform_matrix": [ + [ + -0.9829007983207703, + -0.0067490627989172935, + 0.18401232361793518, + -16.174760818481445 + ], + [ + -0.18385206162929535, + -0.019513731822371483, + -0.9827603101730347, + -11.265885353088379 + ], + [ + 0.010223478078842163, + -0.9997867941856384, + 0.017939232289791107, + -0.5284993052482605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4130, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_795117855", + "mask_path": "../../mask/hdr_right_04130.png" + }, + { + "file_path": "../../rgb/hdr_right_04131.png", + "transform_matrix": [ + [ + -0.9821611046791077, + -0.008004455827176571, + 0.18787097930908203, + -16.115428924560547 + ], + [ + -0.18768294155597687, + -0.01993529126048088, + -0.9820273518562317, + -11.263675689697266 + ], + [ + 0.011605856940150261, + -0.9997692108154297, + 0.018077366054058075, + -0.5279610753059387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4131, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_895118713", + "mask_path": "../../mask/hdr_right_04131.png" + }, + { + "file_path": "../../rgb/hdr_right_04132.png", + "transform_matrix": [ + [ + -0.9829768538475037, + -0.010362539440393448, + 0.18343660235404968, + -16.0474853515625 + ], + [ + -0.18320272862911224, + -0.020237959921360016, + -0.9828668832778931, + -11.267918586730957 + ], + [ + 0.01389737892895937, + -0.9997414946556091, + 0.01799500174820423, + -0.5227379202842712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4132, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549395_995115518", + "mask_path": "../../mask/hdr_right_04132.png" + }, + { + "file_path": "../../rgb/hdr_right_04133.png", + "transform_matrix": [ + [ + -0.9853246808052063, + -0.0050046746619045734, + 0.17061719298362732, + -15.990896224975586 + ], + [ + -0.17050234973430634, + -0.018074732273817062, + -0.9851915836334229, + -11.275369644165039 + ], + [ + 0.00801442377269268, + -0.9998241662979126, + 0.01695617288351059, + -0.5178936719894409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4133, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_95117568", + "mask_path": "../../mask/hdr_right_04133.png" + }, + { + "file_path": "../../rgb/hdr_right_04134.png", + "transform_matrix": [ + [ + -0.9872992634773254, + 0.0006802075658924878, + 0.15887047350406647, + -15.932893753051758 + ], + [ + -0.15886621177196503, + -0.012722966261208057, + -0.9872182011604309, + -11.273900032043457 + ], + [ + 0.0013497910695150495, + -0.9999188184738159, + 0.01266943383961916, + -0.5125765204429626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4134, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_195117235", + "mask_path": "../../mask/hdr_right_04134.png" + }, + { + "file_path": "../../rgb/hdr_right_04135.png", + "transform_matrix": [ + [ + -0.9879415035247803, + 9.938600851455703e-05, + 0.15482771396636963, + -15.858619689941406 + ], + [ + -0.15481294691562653, + -0.014463953673839569, + -0.9878379106521606, + -11.269523620605469 + ], + [ + 0.002141243778169155, + -0.9998953938484192, + 0.014304927550256252, + -0.5146276950836182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4135, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_295116662", + "mask_path": "../../mask/hdr_right_04135.png" + }, + { + "file_path": "../../rgb/hdr_right_04136.png", + "transform_matrix": [ + [ + -0.9870601296424866, + -0.00495821563526988, + 0.16027367115020752, + -15.794848442077637 + ], + [ + -0.16014571487903595, + -0.02000076323747635, + -0.9868907928466797, + -11.266597747802734 + ], + [ + 0.008098813705146313, + -0.9997876286506653, + 0.018947919830679893, + -0.5295833349227905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4136, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_395118236", + "mask_path": "../../mask/hdr_right_04136.png" + }, + { + "file_path": "../../rgb/hdr_right_04137.png", + "transform_matrix": [ + [ + -0.9862546920776367, + -0.006501579191535711, + 0.16510429978370667, + -15.739951133728027 + ], + [ + -0.1649487465620041, + -0.019771745428442955, + -0.9861039519309998, + -11.263689994812012 + ], + [ + 0.00967563409358263, + -0.9997833967208862, + 0.018427550792694092, + -0.5313006043434143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4137, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_495118618", + "mask_path": "../../mask/hdr_right_04137.png" + }, + { + "file_path": "../../rgb/hdr_right_04138.png", + "transform_matrix": [ + [ + -0.9860054850578308, + -0.006932636722922325, + 0.16656847298145294, + -15.674614906311035 + ], + [ + -0.16641640663146973, + -0.018612265586853027, + -0.9858799576759338, + -11.26472282409668 + ], + [ + 0.009934964589774609, + -0.9998027086257935, + 0.017198091372847557, + -0.524641215801239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4138, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_595118999", + "mask_path": "../../mask/hdr_right_04138.png" + }, + { + "file_path": "../../rgb/hdr_right_04139.png", + "transform_matrix": [ + [ + -0.9865507483482361, + -0.002338129561394453, + 0.16343875229358673, + -15.615198135375977 + ], + [ + -0.16335923969745636, + -0.020208457484841347, + -0.9863597750663757, + -11.266244888305664 + ], + [ + 0.0056090811267495155, + -0.9997930526733398, + 0.019554710015654564, + -0.5153192281723022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4139, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_695119142", + "mask_path": "../../mask/hdr_right_04139.png" + }, + { + "file_path": "../../rgb/hdr_right_04140.png", + "transform_matrix": [ + [ + -0.9872590899467468, + 0.00496323686093092, + 0.15904419124126434, + -15.560689926147461 + ], + [ + -0.1591021567583084, + -0.015153821557760239, + -0.9871459007263184, + -11.266035079956055 + ], + [ + -0.0024893118534237146, + -0.9998729228973389, + 0.015750408172607422, + -0.508072018623352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4140, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_795118570", + "mask_path": "../../mask/hdr_right_04140.png" + }, + { + "file_path": "../../rgb/hdr_right_04141.png", + "transform_matrix": [ + [ + -0.9870816469192505, + 0.00548977218568325, + 0.16012369096279144, + -15.492937088012695 + ], + [ + -0.16018666326999664, + -0.014110874384641647, + -0.9869859218597412, + -11.26229476928711 + ], + [ + -0.003158842446282506, + -0.9998853206634521, + 0.014807973057031631, + -0.5082824230194092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4141, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_895118236", + "mask_path": "../../mask/hdr_right_04141.png" + }, + { + "file_path": "../../rgb/hdr_right_04142.png", + "transform_matrix": [ + [ + -0.9855106472969055, + 0.0008317808387801051, + 0.16961175203323364, + -15.428261756896973 + ], + [ + -0.16959406435489655, + -0.02008703537285328, + -0.9853092432022095, + -11.257744789123535 + ], + [ + 0.0025874359998852015, + -0.9997978210449219, + 0.019937049597501755, + -0.5187760591506958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4142, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549396_995117187", + "mask_path": "../../mask/hdr_right_04142.png" + }, + { + "file_path": "../../rgb/hdr_right_04143.png", + "transform_matrix": [ + [ + -0.9841657876968384, + 0.0012388896429911256, + 0.17724649608135223, + -15.37473201751709 + ], + [ + -0.17722804844379425, + -0.022915907204151154, + -0.9839029908180237, + -11.253630638122559 + ], + [ + 0.002842817921191454, + -0.9997366070747375, + 0.022772617638111115, + -0.5289351344108582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4143, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_95118522", + "mask_path": "../../mask/hdr_right_04143.png" + }, + { + "file_path": "../../rgb/hdr_right_04144.png", + "transform_matrix": [ + [ + -0.9829909801483154, + 0.0005211225361563265, + 0.1836533546447754, + -15.313791275024414 + ], + [ + -0.18362189829349518, + -0.02151157520711422, + -0.982761561870575, + -11.251872062683105 + ], + [ + 0.0034385339822620153, + -0.9997684359550476, + 0.02124137058854103, + -0.5265458226203918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4144, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_195117473", + "mask_path": "../../mask/hdr_right_04144.png" + }, + { + "file_path": "../../rgb/hdr_right_04145.png", + "transform_matrix": [ + [ + -0.9824466109275818, + -0.0034026652574539185, + 0.18651342391967773, + -15.252737045288086 + ], + [ + -0.18641498684883118, + -0.01933729089796543, + -0.9822809100151062, + -11.24981689453125 + ], + [ + 0.006949037313461304, + -0.9998072385787964, + 0.018363548442721367, + -0.5199036598205566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4145, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_295118570", + "mask_path": "../../mask/hdr_right_04145.png" + }, + { + "file_path": "../../rgb/hdr_right_04147.png", + "transform_matrix": [ + [ + -0.982767641544342, + 0.0037833615206182003, + 0.1848066747188568, + -15.151562690734863 + ], + [ + -0.1848383992910385, + -0.011413048952817917, + -0.9827026724815369, + -11.246054649353027 + ], + [ + -0.0016087114345282316, + -0.9999276399612427, + 0.011915684677660465, + -0.5153059363365173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4147, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_495121240", + "mask_path": "../../mask/hdr_right_04147.png" + }, + { + "file_path": "../../rgb/hdr_right_04148.png", + "transform_matrix": [ + [ + -0.9815592765808105, + 0.002676825737580657, + 0.19113902747631073, + -15.081480979919434 + ], + [ + -0.19115692377090454, + -0.010751358233392239, + -0.9815006852149963, + -11.238639831542969 + ], + [ + -0.0005723019712604582, + -0.9999386072158813, + 0.01106478925794363, + -0.5190545916557312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4148, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_595119476", + "mask_path": "../../mask/hdr_right_04148.png" + }, + { + "file_path": "../../rgb/hdr_right_04149.png", + "transform_matrix": [ + [ + -0.9785546660423279, + -0.0005432506441138685, + 0.2059866338968277, + -15.017945289611816 + ], + [ + -0.20596328377723694, + -0.012719760648906231, + -0.9784771203994751, + -11.225646018981934 + ], + [ + 0.003151659620925784, + -0.9999188780784607, + 0.012335091829299927, + -0.5242600440979004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4149, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_695119619", + "mask_path": "../../mask/hdr_right_04149.png" + }, + { + "file_path": "../../rgb/hdr_right_04150.png", + "transform_matrix": [ + [ + -0.9755775332450867, + -0.001875778310932219, + 0.21964731812477112, + -14.965852737426758 + ], + [ + -0.21960148215293884, + -0.013815266080200672, + -0.9754918813705444, + -11.217415809631348 + ], + [ + 0.004864292219281197, + -0.9999027848243713, + 0.013065936975181103, + -0.5296584963798523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4150, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_795118808", + "mask_path": "../../mask/hdr_right_04150.png" + }, + { + "file_path": "../../rgb/hdr_right_04151.png", + "transform_matrix": [ + [ + -0.9732840657234192, + -0.006562049500644207, + 0.22951029241085052, + -14.905323028564453 + ], + [ + -0.2294328212738037, + -0.010806352831423283, + -0.9732645750045776, + -11.210991859436035 + ], + [ + 0.008866779506206512, + -0.9999200701713562, + 0.009012099355459213, + -0.5305569171905518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4151, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_895119905", + "mask_path": "../../mask/hdr_right_04151.png" + }, + { + "file_path": "../../rgb/hdr_right_04152.png", + "transform_matrix": [ + [ + -0.9730074405670166, + -0.011010222136974335, + 0.2305109202861786, + -14.844880104064941 + ], + [ + -0.2304292768239975, + -0.008201836608350277, + -0.9730545878410339, + -11.205674171447754 + ], + [ + 0.01260416116565466, + -0.9999057650566101, + 0.005443369969725609, + -0.5217244625091553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4152, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1732549397_995119094", + "mask_path": "../../mask/hdr_right_04152.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file