diff --git "a/2024-12-03-13-15-38/splats/1148c086/transforms.json" "b/2024-12-03-13-15-38/splats/1148c086/transforms.json" new file mode 100644--- /dev/null +++ "b/2024-12-03-13-15-38/splats/1148c086/transforms.json" @@ -0,0 +1,16764 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_04426.png", + "transform_matrix": [ + [ + 0.9857080578804016, + -0.004632656462490559, + 0.16839885711669922, + 5.871979713439941 + ], + [ + -0.16840992867946625, + -0.002110876142978668, + 0.9857147932052612, + 34.634979248046875 + ], + [ + -0.004211008548736572, + -0.999987006187439, + -0.002860893029719591, + -0.22941485047340393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4426, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_18017530", + "mask_path": "../../mask/hdr_front_04426.png" + }, + { + "file_path": "../../rgb/hdr_front_04427.png", + "transform_matrix": [ + [ + 0.986179769039154, + -0.017681987956166267, + 0.16473256051540375, + 5.8617753982543945 + ], + [ + -0.1647462248802185, + 0.0006906812195666134, + 0.9863357543945312, + 34.545021057128906 + ], + [ + -0.017554152756929398, + -0.999843418598175, + -0.0022319050040096045, + -0.2310427725315094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4427, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_118017911", + "mask_path": "../../mask/hdr_front_04427.png" + }, + { + "file_path": "../../rgb/hdr_front_04428.png", + "transform_matrix": [ + [ + 0.9869701862335205, + -0.022455327212810516, + 0.1593286693096161, + 5.857505798339844 + ], + [ + -0.15942104160785675, + -0.002373317489400506, + 0.9872078895568848, + 34.473724365234375 + ], + [ + -0.021789932623505592, + -0.9997450709342957, + -0.005922244396060705, + -0.23686516284942627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4428, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_218018293", + "mask_path": "../../mask/hdr_front_04428.png" + }, + { + "file_path": "../../rgb/hdr_front_04429.png", + "transform_matrix": [ + [ + 0.9871925711631775, + -0.018490666523575783, + 0.1584574431180954, + 5.845685005187988 + ], + [ + -0.15853667259216309, + -0.0028915375005453825, + 0.9873488545417786, + 34.393184661865234 + ], + [ + -0.01779855228960514, + -0.9998248815536499, + -0.005785953253507614, + -0.23863285779953003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4429, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_318017959", + "mask_path": "../../mask/hdr_front_04429.png" + }, + { + "file_path": "../../rgb/hdr_front_04430.png", + "transform_matrix": [ + [ + 0.9860382080078125, + -0.013275470584630966, + 0.1659887433052063, + 5.822527885437012 + ], + [ + -0.1659994274377823, + 0.00030074449023231864, + 0.9861258864402771, + 34.30339050292969 + ], + [ + -0.013141203671693802, + -0.9999118447303772, + -0.0019071747083216906, + -0.23052296042442322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4430, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_418017387", + "mask_path": "../../mask/hdr_front_04430.png" + }, + { + "file_path": "../../rgb/hdr_front_04431.png", + "transform_matrix": [ + [ + 0.9836917519569397, + -0.011909354478120804, + 0.17946800589561462, + 5.803796768188477 + ], + [ + -0.1795114427804947, + -0.002674577059224248, + 0.9837522506713867, + 34.23169708251953 + ], + [ + -0.011235853657126427, + -0.9999254941940308, + -0.004768824204802513, + -0.22037556767463684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4431, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_518017292", + "mask_path": "../../mask/hdr_front_04431.png" + }, + { + "file_path": "../../rgb/hdr_front_04432.png", + "transform_matrix": [ + [ + 0.9815428256988525, + -0.010599843226373196, + 0.19094879925251007, + 5.786250591278076 + ], + [ + -0.1910446137189865, + -0.008906031027436256, + 0.9815409779548645, + 34.16339874267578 + ], + [ + -0.008703583851456642, + -0.999904215335846, + -0.010766691528260708, + -0.21246284246444702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4432, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_618017673", + "mask_path": "../../mask/hdr_front_04432.png" + }, + { + "file_path": "../../rgb/hdr_front_04433.png", + "transform_matrix": [ + [ + 0.9804090857505798, + -0.013529864139854908, + 0.19650736451148987, + 5.769537925720215 + ], + [ + -0.19664016366004944, + -0.009295295923948288, + 0.9804316759109497, + 34.08095169067383 + ], + [ + -0.011438513174653053, + -0.9998652935028076, + -0.01177370548248291, + -0.20904073119163513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4433, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_718018770", + "mask_path": "../../mask/hdr_front_04433.png" + }, + { + "file_path": "../../rgb/hdr_front_04434.png", + "transform_matrix": [ + [ + 0.9807297587394714, + -0.020631302148103714, + 0.19427697360515594, + 5.756294250488281 + ], + [ + -0.19437210261821747, + -0.002692494774237275, + 0.980924129486084, + 34.00240707397461 + ], + [ + -0.019714651629328728, + -0.9997835159301758, + -0.006650759372860193, + -0.2186797559261322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4434, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_818017244", + "mask_path": "../../mask/hdr_front_04434.png" + }, + { + "file_path": "../../rgb/hdr_front_04435.png", + "transform_matrix": [ + [ + 0.9811431169509888, + -0.024362463504076004, + 0.1917409896850586, + 5.748094081878662 + ], + [ + -0.19184453785419464, + -0.001964328810572624, + 0.9814233779907227, + 33.93361282348633 + ], + [ + -0.02353324182331562, + -0.9997012615203857, + -0.006601092871278524, + -0.2217680960893631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4435, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_918018102", + "mask_path": "../../mask/hdr_front_04435.png" + }, + { + "file_path": "../../rgb/hdr_front_04436.png", + "transform_matrix": [ + [ + 0.9809021949768066, + -0.016901889815926552, + 0.19376564025878906, + 5.733242511749268 + ], + [ + -0.19374731183052063, + 0.002730922307819128, + 0.9810477495193481, + 33.85578536987305 + ], + [ + -0.01711071841418743, + -0.9998534321784973, + -0.00059592752950266, + -0.22359654307365417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4436, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_18017768", + "mask_path": "../../mask/hdr_front_04436.png" + }, + { + "file_path": "../../rgb/hdr_front_04437.png", + "transform_matrix": [ + [ + 0.9792841672897339, + -0.006792666390538216, + 0.20237676799297333, + 5.712014675140381 + ], + [ + -0.20228254795074463, + 0.01248904038220644, + 0.9792476296424866, + 33.77862548828125 + ], + [ + -0.00917919259518385, + -0.9998989701271057, + 0.010856281965970993, + -0.228489488363266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4437, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_118017911", + "mask_path": "../../mask/hdr_front_04437.png" + }, + { + "file_path": "../../rgb/hdr_front_04438.png", + "transform_matrix": [ + [ + 0.9771643280982971, + -0.0049597593024373055, + 0.21242716908454895, + 5.694621562957764 + ], + [ + -0.21234239637851715, + 0.013835382647812366, + 0.9770974516868591, + 33.715980529785156 + ], + [ + -0.007785179186612368, + -0.999891996383667, + 0.012466274201869965, + -0.224879652261734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4438, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_218016862", + "mask_path": "../../mask/hdr_front_04438.png" + }, + { + "file_path": "../../rgb/hdr_front_04439.png", + "transform_matrix": [ + [ + 0.9752175211906433, + -0.0020862044766545296, + 0.2212386578321457, + 5.679054260253906 + ], + [ + -0.22120504081249237, + 0.01062899362295866, + 0.9751694798469543, + 33.648765563964844 + ], + [ + -0.004385945852845907, + -0.999941349029541, + 0.009904102422297001, + -0.2222227156162262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4439, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_318015575", + "mask_path": "../../mask/hdr_front_04439.png" + }, + { + "file_path": "../../rgb/hdr_front_04440.png", + "transform_matrix": [ + [ + 0.9744554758071899, + -0.006194473244249821, + 0.224495530128479, + 5.662168979644775 + ], + [ + -0.22436678409576416, + 0.01679430529475212, + 0.9743600487709045, + 33.567256927490234 + ], + [ + -0.009805893525481224, + -0.9998398423194885, + 0.014975468628108501, + -0.2250686138868332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4440, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_418016672", + "mask_path": "../../mask/hdr_front_04440.png" + }, + { + "file_path": "../../rgb/hdr_front_04441.png", + "transform_matrix": [ + [ + 0.975093424320221, + -0.015230325981974602, + 0.22127093374729156, + 5.648934841156006 + ], + [ + -0.22079341113567352, + 0.02802301198244095, + 0.9749179482460022, + 33.49488067626953 + ], + [ + -0.02104899473488331, + -0.999491274356842, + 0.02396230213344097, + -0.23730579018592834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4441, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_518017530", + "mask_path": "../../mask/hdr_front_04441.png" + }, + { + "file_path": "../../rgb/hdr_front_04442.png", + "transform_matrix": [ + [ + 0.9759242534637451, + -0.015874473378062248, + 0.217531219124794, + 5.638380527496338 + ], + [ + -0.217058926820755, + 0.027092529460787773, + 0.9757825136184692, + 33.423912048339844 + ], + [ + -0.02138350158929825, + -0.9995068311691284, + 0.02299456298351288, + -0.24327068030834198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4442, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_618017911", + "mask_path": "../../mask/hdr_front_04442.png" + }, + { + "file_path": "../../rgb/hdr_front_04443.png", + "transform_matrix": [ + [ + 0.9761149883270264, + -0.01020842231810093, + 0.21701441705226898, + 5.624471664428711 + ], + [ + -0.2166668027639389, + 0.027675090357661247, + 0.9758532643318176, + 33.339439392089844 + ], + [ + -0.01596781611442566, + -0.9995648860931396, + 0.02480224519968033, + -0.24649718403816223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4443, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_718016862", + "mask_path": "../../mask/hdr_front_04443.png" + }, + { + "file_path": "../../rgb/hdr_front_04444.png", + "transform_matrix": [ + [ + 0.9741665720939636, + -0.002958518685773015, + 0.22581104934215546, + 5.605055332183838 + ], + [ + -0.22561196982860565, + 0.03122098371386528, + 0.9737167954444885, + 33.25849151611328 + ], + [ + -0.009930801577866077, + -0.9995081424713135, + 0.02974696271121502, + -0.24151620268821716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4444, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_818017244", + "mask_path": "../../mask/hdr_front_04444.png" + }, + { + "file_path": "../../rgb/hdr_front_04445.png", + "transform_matrix": [ + [ + 0.9710542559623718, + 0.0006890168297104537, + 0.2388581484556198, + 5.583619594573975 + ], + [ + -0.23877118527889252, + 0.029938211664557457, + 0.9706143140792847, + 33.19160842895508 + ], + [ + -0.006482215598225594, + -0.99955153465271, + 0.029236141592264175, + -0.2326391339302063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4445, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_918017387", + "mask_path": "../../mask/hdr_front_04445.png" + }, + { + "file_path": "../../rgb/hdr_front_04446.png", + "transform_matrix": [ + [ + 0.9682354927062988, + 0.0018693999154493213, + 0.250032901763916, + 5.562757968902588 + ], + [ + -0.25000473856925964, + 0.02400553785264492, + 0.9679470658302307, + 33.12833023071289 + ], + [ + -0.004192694090306759, + -0.9997100830078125, + 0.023710373789072037, + -0.23274722695350647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4446, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_18018722", + "mask_path": "../../mask/hdr_front_04446.png" + }, + { + "file_path": "../../rgb/hdr_front_04447.png", + "transform_matrix": [ + [ + 0.9666474461555481, + -0.000483454525237903, + 0.25611045956611633, + 5.542720794677734 + ], + [ + -0.25606074929237366, + 0.017958689481019974, + 0.9664939641952515, + 33.04460525512695 + ], + [ + -0.005066662095487118, + -0.999838650226593, + 0.017235929146409035, + -0.2306552529335022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4447, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_118017435", + "mask_path": "../../mask/hdr_front_04447.png" + }, + { + "file_path": "../../rgb/hdr_front_04448.png", + "transform_matrix": [ + [ + 0.9673729538917542, + -0.005444108508527279, + 0.25329798460006714, + 5.530614376068115 + ], + [ + -0.2531796097755432, + 0.016580665484070778, + 0.9672772288322449, + 32.95692825317383 + ], + [ + -0.009465810842812061, + -0.9998477697372437, + 0.014661351218819618, + -0.23269277811050415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4448, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_218017101", + "mask_path": "../../mask/hdr_front_04448.png" + }, + { + "file_path": "../../rgb/hdr_front_04449.png", + "transform_matrix": [ + [ + 0.9686353802680969, + -0.0060579776763916016, + 0.24841241538524628, + 5.527042388916016 + ], + [ + -0.24831882119178772, + 0.013093271292746067, + 0.9685899019241333, + 32.88335037231445 + ], + [ + -0.00912022590637207, + -0.9998959302902222, + 0.011178296990692616, + -0.23604245483875275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4449, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_318017721", + "mask_path": "../../mask/hdr_front_04449.png" + }, + { + "file_path": "../../rgb/hdr_front_04450.png", + "transform_matrix": [ + [ + 0.9686906933784485, + 0.002389796543866396, + 0.2482592910528183, + 5.520118713378906 + ], + [ + -0.24826817214488983, + 0.013889826834201813, + 0.9685918688774109, + 32.80446243286133 + ], + [ + -0.00113354017958045, + -0.9999006390571594, + 0.014048255980014801, + -0.2378656268119812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4450, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_418018579", + "mask_path": "../../mask/hdr_front_04450.png" + }, + { + "file_path": "../../rgb/hdr_front_04451.png", + "transform_matrix": [ + [ + 0.9663731455802917, + 0.012705079279839993, + 0.2568296790122986, + 5.503203868865967 + ], + [ + -0.257036954164505, + 0.0189456045627594, + 0.9662159085273743, + 32.72356033325195 + ], + [ + 0.007410057820379734, + -0.9997398257255554, + 0.021574199199676514, + -0.23606738448143005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4451, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_518017530", + "mask_path": "../../mask/hdr_front_04451.png" + }, + { + "file_path": "../../rgb/hdr_front_04452.png", + "transform_matrix": [ + [ + 0.9630502462387085, + 0.018680740147829056, + 0.26867324113845825, + 5.489809513092041 + ], + [ + -0.2689815163612366, + 0.016577649861574173, + 0.963002622127533, + 32.652976989746094 + ], + [ + 0.013535629957914352, + -0.9996880888938904, + 0.020989883691072464, + -0.23043355345726013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4452, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_618017435", + "mask_path": "../../mask/hdr_front_04452.png" + }, + { + "file_path": "../../rgb/hdr_front_04453.png", + "transform_matrix": [ + [ + 0.9602264761924744, + 0.01402011327445507, + 0.27886998653411865, + 5.47918701171875 + ], + [ + -0.279093474149704, + 0.01787431910634041, + 0.96009761095047, + 32.576412200927734 + ], + [ + 0.008476066403090954, + -0.9997419714927673, + 0.021076319739222527, + -0.2295984923839569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4453, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_718017816", + "mask_path": "../../mask/hdr_front_04453.png" + }, + { + "file_path": "../../rgb/hdr_front_04454.png", + "transform_matrix": [ + [ + 0.9601871371269226, + 0.001092723454348743, + 0.27935531735420227, + 5.464666843414307 + ], + [ + -0.2793125808238983, + 0.02167382650077343, + 0.959955632686615, + 32.478553771972656 + ], + [ + -0.005005731247365475, + -0.9997645616531372, + 0.021116143092513084, + -0.23149725794792175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4454, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_818017721", + "mask_path": "../../mask/hdr_front_04454.png" + }, + { + "file_path": "../../rgb/hdr_front_04455.png", + "transform_matrix": [ + [ + 0.9623997211456299, + -0.0037406354676932096, + 0.2716112434864044, + 5.455944061279297 + ], + [ + -0.27149635553359985, + 0.018924351781606674, + 0.9622534513473511, + 32.39466094970703 + ], + [ + -0.008739503100514412, + -0.999813973903656, + 0.017197221517562866, + -0.23504005372524261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4455, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_918017864", + "mask_path": "../../mask/hdr_front_04455.png" + }, + { + "file_path": "../../rgb/hdr_front_04456.png", + "transform_matrix": [ + [ + 0.9634034633636475, + -0.001637342618778348, + 0.2680502235889435, + 5.443859100341797 + ], + [ + -0.2679901123046875, + 0.01616106741130352, + 0.9632861018180847, + 32.3187141418457 + ], + [ + -0.005909206811338663, + -0.9998681545257568, + 0.015130837447941303, + -0.23766878247261047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4456, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_18017768", + "mask_path": "../../mask/hdr_front_04456.png" + }, + { + "file_path": "../../rgb/hdr_front_04457.png", + "transform_matrix": [ + [ + 0.9623201489448547, + 0.005373222753405571, + 0.2718657851219177, + 5.42205810546875 + ], + [ + -0.27191677689552307, + 0.022952059283852577, + 0.9620470404624939, + 32.23698806762695 + ], + [ + -0.0010705845197662711, + -0.9997221827507019, + 0.023548297584056854, + -0.23846648633480072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4457, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_118019104", + "mask_path": "../../mask/hdr_front_04457.png" + }, + { + "file_path": "../../rgb/hdr_front_04458.png", + "transform_matrix": [ + [ + 0.9597634077072144, + 0.009018275886774063, + 0.2806648313999176, + 5.3981475830078125 + ], + [ + -0.2808096408843994, + 0.030901150777935982, + 0.9592658877372742, + 32.163673400878906 + ], + [ + -2.194207081629429e-05, + -0.9994817972183228, + 0.03219021484255791, + -0.23219123482704163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4458, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_218018293", + "mask_path": "../../mask/hdr_front_04458.png" + }, + { + "file_path": "../../rgb/hdr_front_04459.png", + "transform_matrix": [ + [ + 0.9574967622756958, + 0.00924133975058794, + 0.2882956564426422, + 5.375060558319092 + ], + [ + -0.2884424328804016, + 0.027688845992088318, + 0.9570967555046082, + 32.10181427001953 + ], + [ + 0.0008622828754596412, + -0.9995740056037903, + 0.029177576303482056, + -0.22889107465744019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4459, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_318017959", + "mask_path": "../../mask/hdr_front_04459.png" + }, + { + "file_path": "../../rgb/hdr_front_04460.png", + "transform_matrix": [ + [ + 0.9549150466918945, + 0.009389327839016914, + 0.29673048853874207, + 5.349191188812256 + ], + [ + -0.29687345027923584, + 0.024105863645672798, + 0.9546124935150146, + 32.031158447265625 + ], + [ + 0.0018102265894412994, + -0.9996653199195862, + 0.025806494057178497, + -0.22788026928901672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4460, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_418018102", + "mask_path": "../../mask/hdr_front_04460.png" + }, + { + "file_path": "../../rgb/hdr_front_04461.png", + "transform_matrix": [ + [ + 0.9539486169815063, + 0.0039176614955067635, + 0.2999444603919983, + 5.319147109985352 + ], + [ + -0.2999361455440521, + 0.02748812921345234, + 0.9535632729530334, + 31.94853973388672 + ], + [ + -0.004509173333644867, + -0.9996145367622375, + 0.027397312223911285, + -0.23226241767406464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4461, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_518016576", + "mask_path": "../../mask/hdr_front_04461.png" + }, + { + "file_path": "../../rgb/hdr_front_04462.png", + "transform_matrix": [ + [ + 0.9545667171478271, + -0.005350964143872261, + 0.2979491949081421, + 5.294311046600342 + ], + [ + -0.29764726758003235, + 0.03132208064198494, + 0.9541619420051575, + 31.86832618713379 + ], + [ + -0.014438075013458729, + -0.9994950890541077, + 0.02830631658434868, + -0.23637288808822632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4462, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_618018150", + "mask_path": "../../mask/hdr_front_04462.png" + }, + { + "file_path": "../../rgb/hdr_front_04463.png", + "transform_matrix": [ + [ + 0.9544517993927002, + -0.007842719554901123, + 0.2982620894908905, + 5.267980098724365 + ], + [ + -0.2979070544242859, + 0.03032674267888069, + 0.9541130661964417, + 31.78584098815918 + ], + [ + -0.016528155654668808, + -0.9995092749595642, + 0.026609012857079506, + -0.24183416366577148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4463, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_718017578", + "mask_path": "../../mask/hdr_front_04463.png" + }, + { + "file_path": "../../rgb/hdr_front_04464.png", + "transform_matrix": [ + [ + 0.9516752362251282, + -0.010094751603901386, + 0.30694037675857544, + 5.229930400848389 + ], + [ + -0.3065592050552368, + 0.02840503305196762, + 0.9514277577400208, + 31.700889587402344 + ], + [ + -0.018323075026273727, + -0.9995455741882324, + 0.023937726393342018, + -0.23829087615013123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4464, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_818017721", + "mask_path": "../../mask/hdr_front_04464.png" + }, + { + "file_path": "../../rgb/hdr_front_04465.png", + "transform_matrix": [ + [ + 0.9461095929145813, + -0.012693273834884167, + 0.32359758019447327, + 5.195206642150879 + ], + [ + -0.3232678174972534, + 0.022687749937176704, + 0.9460355043411255, + 31.6390323638916 + ], + [ + -0.01934998668730259, + -0.9996621012687683, + 0.017361771315336227, + -0.2278994768857956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4465, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_918018102", + "mask_path": "../../mask/hdr_front_04465.png" + }, + { + "file_path": "../../rgb/hdr_front_04466.png", + "transform_matrix": [ + [ + 0.9421638250350952, + -0.008647584356367588, + 0.33504125475883484, + 5.174432277679443 + ], + [ + -0.33487528562545776, + 0.016385376453399658, + 0.9421200156211853, + 31.577281951904297 + ], + [ + -0.013636837713420391, + -0.9998283386230469, + 0.012541847303509712, + -0.22507551312446594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4466, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_18018960", + "mask_path": "../../mask/hdr_front_04466.png" + }, + { + "file_path": "../../rgb/hdr_front_04467.png", + "transform_matrix": [ + [ + 0.9423136115074158, + -0.006757509429007769, + 0.3346630036830902, + 5.157650947570801 + ], + [ + -0.3345493674278259, + 0.013934572227299213, + 0.9422752261161804, + 31.49953269958496 + ], + [ + -0.011030816473066807, + -0.9998800754547119, + 0.010870016179978848, + -0.22775262594223022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4467, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_118017673", + "mask_path": "../../mask/hdr_front_04467.png" + }, + { + "file_path": "../../rgb/hdr_front_04468.png", + "transform_matrix": [ + [ + 0.9445434808731079, + -0.007458341307938099, + 0.32830166816711426, + 5.140222549438477 + ], + [ + -0.3282085359096527, + 0.011460515670478344, + 0.9445358514785767, + 31.43564224243164 + ], + [ + -0.010807177051901817, + -0.9999065399169922, + 0.00837706495076418, + -0.2352597713470459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4468, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_218017578", + "mask_path": "../../mask/hdr_front_04468.png" + }, + { + "file_path": "../../rgb/hdr_front_04469.png", + "transform_matrix": [ + [ + 0.9453034400939941, + -0.004405345302075148, + 0.3261624276638031, + 5.114505767822266 + ], + [ + -0.32608523964881897, + 0.012839899398386478, + 0.9452531933784485, + 31.380203247070312 + ], + [ + -0.008352058008313179, + -0.9999078512191772, + 0.01070108450949192, + -0.2389395833015442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4469, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_318018198", + "mask_path": "../../mask/hdr_front_04469.png" + }, + { + "file_path": "../../rgb/hdr_front_04470.png", + "transform_matrix": [ + [ + 0.9440087676048279, + -0.00265729078091681, + 0.3299100697040558, + 5.080411434173584 + ], + [ + -0.3298068940639496, + 0.01866898499429226, + 0.9438638091087341, + 31.322486877441406 + ], + [ + -0.008667205460369587, + -0.999822199344635, + 0.016747290268540382, + -0.2376941591501236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4470, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_418018102", + "mask_path": "../../mask/hdr_front_04470.png" + }, + { + "file_path": "../../rgb/hdr_front_04471.png", + "transform_matrix": [ + [ + 0.9409890174865723, + -0.004138224292546511, + 0.33841195702552795, + 5.054048538208008 + ], + [ + -0.3382726013660431, + 0.019683076068758965, + 0.9408423900604248, + 31.272422790527344 + ], + [ + -0.010554403066635132, + -0.9997977018356323, + 0.017121709883213043, + -0.23332485556602478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4471, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_518017292", + "mask_path": "../../mask/hdr_front_04471.png" + }, + { + "file_path": "../../rgb/hdr_front_04472.png", + "transform_matrix": [ + [ + 0.9372801184654236, + -0.0009690899751149118, + 0.34857577085494995, + 5.028256416320801 + ], + [ + -0.3485274314880371, + 0.014286726713180542, + 0.9371896982192993, + 31.223033905029297 + ], + [ + -0.005888226442039013, + -0.9998974800109863, + 0.013052908703684807, + -0.22836513817310333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4472, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_618018627", + "mask_path": "../../mask/hdr_front_04472.png" + }, + { + "file_path": "../../rgb/hdr_front_04473.png", + "transform_matrix": [ + [ + 0.934995710849762, + 0.0018292962340638041, + 0.3546541929244995, + 4.997688293457031 + ], + [ + -0.3546457290649414, + 0.013440372422337532, + 0.934904158115387, + 31.150665283203125 + ], + [ + -0.003056467045098543, + -0.9999080300331116, + 0.013215442188084126, + -0.22973152995109558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4473, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_718016624", + "mask_path": "../../mask/hdr_front_04473.png" + }, + { + "file_path": "../../rgb/hdr_front_04474.png", + "transform_matrix": [ + [ + 0.9365652799606323, + 0.0007133512990549207, + 0.35049232840538025, + 4.972700119018555 + ], + [ + -0.35045790672302246, + 0.016072679311037064, + 0.9364405274391174, + 31.068965911865234 + ], + [ + -0.004965339787304401, + -0.9998705387115479, + 0.015303114429116249, + -0.24165603518486023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4474, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_818017244", + "mask_path": "../../mask/hdr_front_04474.png" + }, + { + "file_path": "../../rgb/hdr_front_04475.png", + "transform_matrix": [ + [ + 0.9404873251914978, + -0.002899942919611931, + 0.3398163318634033, + 4.955662727355957 + ], + [ + -0.33973658084869385, + 0.01525481790304184, + 0.9403969645500183, + 30.99304962158203 + ], + [ + -0.007910932414233685, + -0.9998794794082642, + 0.013361746445298195, + -0.24672353267669678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4475, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_918017864", + "mask_path": "../../mask/hdr_front_04475.png" + }, + { + "file_path": "../../rgb/hdr_front_04476.png", + "transform_matrix": [ + [ + 0.942620038986206, + 0.003150895470753312, + 0.3338525891304016, + 4.934298515319824 + ], + [ + -0.3338506519794464, + 0.01892029494047165, + 0.9424360990524292, + 30.911157608032227 + ], + [ + -0.0033470711205154657, + -0.9998160004615784, + 0.01888657733798027, + -0.24956583976745605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4476, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_18018245", + "mask_path": "../../mask/hdr_front_04476.png" + }, + { + "file_path": "../../rgb/hdr_front_04477.png", + "transform_matrix": [ + [ + 0.9403136372566223, + 0.012326865456998348, + 0.34008580446243286, + 4.903779029846191 + ], + [ + -0.3402986228466034, + 0.026226846501231194, + 0.9399516582489014, + 30.83228302001953 + ], + [ + 0.0026672808453440666, + -0.9995800852775574, + 0.028856275603175163, + -0.24698293209075928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4477, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_118017196", + "mask_path": "../../mask/hdr_front_04477.png" + }, + { + "file_path": "../../rgb/hdr_front_04478.png", + "transform_matrix": [ + [ + 0.9364444613456726, + 0.013869771733880043, + 0.35054147243499756, + 4.876954555511475 + ], + [ + -0.35078924894332886, + 0.024734849110245705, + 0.9361276626586914, + 30.768043518066406 + ], + [ + 0.004313287325203419, + -0.9995978474617004, + 0.028028180822730064, + -0.23914974927902222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4478, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_218017101", + "mask_path": "../../mask/hdr_front_04478.png" + }, + { + "file_path": "../../rgb/hdr_front_04479.png", + "transform_matrix": [ + [ + 0.93378084897995, + 0.01190137304365635, + 0.3576473593711853, + 4.848916530609131 + ], + [ + -0.35783085227012634, + 0.02207132801413536, + 0.9335256218910217, + 30.703723907470703 + ], + [ + 0.003216484794393182, + -0.999685525894165, + 0.024868464097380638, + -0.24051091074943542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4479, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_318017244", + "mask_path": "../../mask/hdr_front_04479.png" + }, + { + "file_path": "../../rgb/hdr_front_04480.png", + "transform_matrix": [ + [ + 0.9352542757987976, + 0.009391809813678265, + 0.35385212302207947, + 4.815694332122803 + ], + [ + -0.3539748787879944, + 0.02155771106481552, + 0.9350064396858215, + 30.618276596069336 + ], + [ + 0.001153161865659058, + -0.9997234344482422, + 0.02348640374839306, + -0.24779634177684784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4480, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_418016672", + "mask_path": "../../mask/hdr_front_04480.png" + }, + { + "file_path": "../../rgb/hdr_front_04481.png", + "transform_matrix": [ + [ + 0.9428262710571289, + 0.007638686336576939, + 0.33319711685180664, + 4.79558801651001 + ], + [ + -0.3332846462726593, + 0.022086581215262413, + 0.9425675868988037, + 30.532732009887695 + ], + [ + -0.00015920732403174043, + -0.9997268915176392, + 0.023369664326310158, + -0.25754082202911377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4481, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_518017292", + "mask_path": "../../mask/hdr_front_04481.png" + }, + { + "file_path": "../../rgb/hdr_front_04482.png", + "transform_matrix": [ + [ + 0.9512053728103638, + 0.006262968759983778, + 0.30849489569664, + 4.780740261077881 + ], + [ + -0.3085573613643646, + 0.021954135969281197, + 0.9509523510932922, + 30.45218276977539 + ], + [ + -0.0008169545326381922, + -0.999739408493042, + 0.02281538024544716, + -0.2600276470184326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4482, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_618017196", + "mask_path": "../../mask/hdr_front_04482.png" + }, + { + "file_path": "../../rgb/hdr_front_04483.png", + "transform_matrix": [ + [ + 0.9551036357879639, + 0.006469582207500935, + 0.29620108008384705, + 4.749220848083496 + ], + [ + -0.2962702810764313, + 0.02403121441602707, + 0.9548017978668213, + 30.37689971923828 + ], + [ + -0.0009409026824869215, + -0.9996902942657471, + 0.024869048967957497, + -0.2544627785682678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4483, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_718017578", + "mask_path": "../../mask/hdr_front_04483.png" + }, + { + "file_path": "../../rgb/hdr_front_04484.png", + "transform_matrix": [ + [ + 0.9552084803581238, + 0.005569141358137131, + 0.29588133096694946, + 4.722648620605469 + ], + [ + -0.2959255874156952, + 0.02539588324725628, + 0.9548733830451965, + 30.31808853149414 + ], + [ + -0.002196342684328556, + -0.9996619820594788, + 0.025906413793563843, + -0.24771443009376526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4484, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_818017721", + "mask_path": "../../mask/hdr_front_04484.png" + }, + { + "file_path": "../../rgb/hdr_front_04485.png", + "transform_matrix": [ + [ + 0.9572119116783142, + 0.006430568173527718, + 0.2893162667751312, + 4.70717716217041 + ], + [ + -0.28938618302345276, + 0.018115028738975525, + 0.9570410847663879, + 30.25406837463379 + ], + [ + 0.0009133481653407216, + -0.9998152852058411, + 0.019200840964913368, + -0.24239104986190796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4485, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_918018341", + "mask_path": "../../mask/hdr_front_04485.png" + }, + { + "file_path": "../../rgb/hdr_front_04486.png", + "transform_matrix": [ + [ + 0.962806224822998, + 0.006085121538490057, + 0.27012425661087036, + 4.6980109214782715 + ], + [ + -0.27018600702285767, + 0.014607028104364872, + 0.9626973867416382, + 30.177473068237305 + ], + [ + 0.0019124181708320975, + -0.9998748302459717, + 0.015707852318882942, + -0.24159710109233856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4486, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_18016576", + "mask_path": "../../mask/hdr_front_04486.png" + }, + { + "file_path": "../../rgb/hdr_front_04487.png", + "transform_matrix": [ + [ + 0.9707421660423279, + 0.0038867746479809284, + 0.24009254574775696, + 4.6976423263549805 + ], + [ + -0.24012391269207, + 0.016516702249646187, + 0.9706017971038818, + 30.104063034057617 + ], + [ + -0.000193024956388399, + -0.9998561143875122, + 0.016966769471764565, + -0.2506055235862732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4487, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_118015766", + "mask_path": "../../mask/hdr_front_04487.png" + }, + { + "file_path": "../../rgb/hdr_front_04488.png", + "transform_matrix": [ + [ + 0.9781463146209717, + 0.005527479108422995, + 0.20784421265125275, + 4.699441432952881 + ], + [ + -0.20789730548858643, + 0.011999980546534061, + 0.9780770540237427, + 30.039154052734375 + ], + [ + 0.002912174677476287, + -0.9999127388000488, + 0.012886885553598404, + -0.2556964159011841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4488, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_218015909", + "mask_path": "../../mask/hdr_front_04488.png" + }, + { + "file_path": "../../rgb/hdr_front_04489.png", + "transform_matrix": [ + [ + 0.9837230443954468, + 0.013591441325843334, + 0.17917704582214355, + 4.697444915771484 + ], + [ + -0.17933976650238037, + 0.011876951903104782, + 0.9837155938148499, + 29.965087890625 + ], + [ + 0.01124203484505415, + -0.9998371601104736, + 0.01412111520767212, + -0.25451159477233887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4489, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_318016052", + "mask_path": "../../mask/hdr_front_04489.png" + }, + { + "file_path": "../../rgb/hdr_front_04490.png", + "transform_matrix": [ + [ + 0.9871311783790588, + 0.01774369552731514, + 0.15892517566680908, + 4.694310188293457 + ], + [ + -0.1591794788837433, + 0.013973665423691273, + 0.9871507883071899, + 29.898101806640625 + ], + [ + 0.015294933691620827, + -0.9997448921203613, + 0.01661827228963375, + -0.2470722794532776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4490, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_418016672", + "mask_path": "../../mask/hdr_front_04490.png" + }, + { + "file_path": "../../rgb/hdr_front_04491.png", + "transform_matrix": [ + [ + 0.9895864129066467, + 0.01815827377140522, + 0.142790287733078, + 4.6944193840026855 + ], + [ + -0.14293530583381653, + 0.006949808914214373, + 0.9897076487541199, + 29.842395782470703 + ], + [ + 0.016979016363620758, + -0.9998109936714172, + 0.009472894482314587, + -0.23900213837623596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4491, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_518016576", + "mask_path": "../../mask/hdr_front_04491.png" + }, + { + "file_path": "../../rgb/hdr_front_04492.png", + "transform_matrix": [ + [ + 0.991507887840271, + 0.02141261100769043, + 0.1282721757888794, + 4.696696758270264 + ], + [ + -0.12834486365318298, + 0.0020498447120189667, + 0.9917274713516235, + 29.76938819885254 + ], + [ + 0.020972536876797676, + -0.9997686147689819, + 0.004780636169016361, + -0.23484843969345093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4492, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_618016958", + "mask_path": "../../mask/hdr_front_04492.png" + }, + { + "file_path": "../../rgb/hdr_front_04493.png", + "transform_matrix": [ + [ + 0.992982029914856, + 0.01866907626390457, + 0.11678218841552734, + 4.69707727432251 + ], + [ + -0.11683894693851471, + 0.001975372899323702, + 0.9931488633155823, + 29.69104766845703 + ], + [ + 0.018310481682419777, + -0.999823808670044, + 0.00414278544485569, + -0.2389659881591797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4493, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_718016386", + "mask_path": "../../mask/hdr_front_04493.png" + }, + { + "file_path": "../../rgb/hdr_front_04494.png", + "transform_matrix": [ + [ + 0.9938558340072632, + 0.011728002689778805, + 0.11005900800228119, + 4.694311618804932 + ], + [ + -0.11008220165967941, + 0.0013481737114489079, + 0.9939216375350952, + 29.626998901367188 + ], + [ + 0.0115083372220397, + -0.9999303221702576, + 0.002630935050547123, + -0.24598023295402527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4494, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_818016290", + "mask_path": "../../mask/hdr_front_04494.png" + }, + { + "file_path": "../../rgb/hdr_front_04495.png", + "transform_matrix": [ + [ + 0.9940593242645264, + 0.012733533047139645, + 0.10809212177991867, + 4.688772678375244 + ], + [ + -0.10812273621559143, + 0.0017384118400514126, + 0.9941360354423523, + 29.55397605895996 + ], + [ + 0.012470955029129982, + -0.9999174475669861, + 0.003104868810623884, + -0.25163522362709045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4495, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_918016672", + "mask_path": "../../mask/hdr_front_04495.png" + }, + { + "file_path": "../../rgb/hdr_front_04496.png", + "transform_matrix": [ + [ + 0.9933825731277466, + 0.014887400902807713, + 0.11388341337442398, + 4.679100513458252 + ], + [ + -0.11398210376501083, + 0.005956352688372135, + 0.993465006351471, + 29.47602653503418 + ], + [ + 0.014111783355474472, + -0.999871551990509, + 0.007613834459334612, + -0.253095418214798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4496, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_18013954", + "mask_path": "../../mask/hdr_front_04496.png" + }, + { + "file_path": "../../rgb/hdr_front_04497.png", + "transform_matrix": [ + [ + 0.9918400049209595, + 0.010616740211844444, + 0.12704642117023468, + 4.66449499130249 + ], + [ + -0.1271042674779892, + 0.004961984697729349, + 0.9918769001960754, + 29.40859603881836 + ], + [ + 0.00990009680390358, + -0.9999313950538635, + 0.006270927842706442, + -0.24383802711963654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4497, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_118016242", + "mask_path": "../../mask/hdr_front_04497.png" + }, + { + "file_path": "../../rgb/hdr_front_04498.png", + "transform_matrix": [ + [ + 0.9900303483009338, + 0.006010671146214008, + 0.14072570204734802, + 4.646504878997803 + ], + [ + -0.14071670174598694, + -0.001897514914162457, + 0.9900481104850769, + 29.343576431274414 + ], + [ + 0.006217882502824068, + -0.9999801516532898, + -0.0010327956406399608, + -0.23486892879009247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4498, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_218016624", + "mask_path": "../../mask/hdr_front_04498.png" + }, + { + "file_path": "../../rgb/hdr_front_04499.png", + "transform_matrix": [ + [ + 0.9884942770004272, + -0.001198560232296586, + 0.15125377476215363, + 4.631816387176514 + ], + [ + -0.15125460922718048, + -0.0006371824420057237, + 0.9884946942329407, + 29.264713287353516 + ], + [ + -0.0010883943177759647, + -0.9999991059303284, + -0.0008111390052363276, + -0.2310744971036911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4499, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_318016529", + "mask_path": "../../mask/hdr_front_04499.png" + }, + { + "file_path": "../../rgb/hdr_front_04500.png", + "transform_matrix": [ + [ + 0.9881495237350464, + -0.008317297324538231, + 0.15326908230781555, + 4.621402740478516 + ], + [ + -0.15320394933223724, + 0.007975662127137184, + 0.9881623983383179, + 29.182966232299805 + ], + [ + -0.009441261179745197, + -0.999933660030365, + 0.006606904324144125, + -0.23834028840065002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4500, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_418017148", + "mask_path": "../../mask/hdr_front_04500.png" + }, + { + "file_path": "../../rgb/hdr_front_04501.png", + "transform_matrix": [ + [ + 0.9881734848022461, + -0.012976340018212795, + 0.15279017388820648, + 4.6086297035217285 + ], + [ + -0.1526922732591629, + 0.008233731612563133, + 0.988239586353302, + 29.108854293823242 + ], + [ + -0.014081764034926891, + -0.9998819231987, + 0.006154967471957207, + -0.24763548374176025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4501, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_518015861", + "mask_path": "../../mask/hdr_front_04501.png" + }, + { + "file_path": "../../rgb/hdr_front_04502.png", + "transform_matrix": [ + [ + 0.9875129461288452, + -0.012674324214458466, + 0.15702669322490692, + 4.586879253387451 + ], + [ + -0.15686631202697754, + 0.012792922556400299, + 0.9875370860099792, + 29.025344848632812 + ], + [ + -0.01452519092708826, + -0.9998378753662109, + 0.01064500492066145, + -0.24691683053970337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4502, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_618016719", + "mask_path": "../../mask/hdr_front_04502.png" + }, + { + "file_path": "../../rgb/hdr_front_04503.png", + "transform_matrix": [ + [ + 0.985880434513092, + -0.0109010124579072, + 0.16709554195404053, + 4.565908432006836 + ], + [ + -0.16685663163661957, + 0.020031791180372238, + 0.985777735710144, + 28.944517135620117 + ], + [ + -0.014093196950852871, + -0.9997400045394897, + 0.01793004758656025, + -0.2400500774383545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4503, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_718016624", + "mask_path": "../../mask/hdr_front_04503.png" + }, + { + "file_path": "../../rgb/hdr_front_04504.png", + "transform_matrix": [ + [ + 0.9835547804832458, + -0.009961058385670185, + 0.1803348958492279, + 4.548953056335449 + ], + [ + -0.18017321825027466, + 0.01526735071092844, + 0.9835163950920105, + 28.878908157348633 + ], + [ + -0.01255009975284338, + -0.999833881855011, + 0.013221561908721924, + -0.23464883863925934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4504, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_818016767", + "mask_path": "../../mask/hdr_front_04504.png" + }, + { + "file_path": "../../rgb/hdr_front_04505.png", + "transform_matrix": [ + [ + 0.9817155599594116, + -0.004877705592662096, + 0.19029125571250916, + 4.533258438110352 + ], + [ + -0.19022507965564728, + 0.01161293126642704, + 0.9816718697547913, + 28.803691864013672 + ], + [ + -0.006998145487159491, + -0.999920666217804, + 0.010472733527421951, + -0.23245888948440552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4505, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_918017387", + "mask_path": "../../mask/hdr_front_04505.png" + }, + { + "file_path": "../../rgb/hdr_front_04506.png", + "transform_matrix": [ + [ + 0.9820459485054016, + -0.0061087836511433125, + 0.1885424703359604, + 4.520092487335205 + ], + [ + -0.18845626711845398, + 0.012498068623244762, + 0.9820020794868469, + 28.71694564819336 + ], + [ + -0.008355255238711834, + -0.9999032616615295, + 0.011122441850602627, + -0.23538169264793396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4506, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_18016099", + "mask_path": "../../mask/hdr_front_04506.png" + }, + { + "file_path": "../../rgb/hdr_front_04507.png", + "transform_matrix": [ + [ + 0.9835348129272461, + -0.015023080632090569, + 0.18009287118911743, + 4.508105278015137 + ], + [ + -0.17993929982185364, + 0.011025897227227688, + 0.9836159348487854, + 28.631271362304688 + ], + [ + -0.016762625426054, + -0.9998263716697693, + 0.008141111582517624, + -0.23906603455543518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4507, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_118013381", + "mask_path": "../../mask/hdr_front_04507.png" + }, + { + "file_path": "../../rgb/hdr_front_04508.png", + "transform_matrix": [ + [ + 0.983832597732544, + -0.01901029795408249, + 0.17807869613170624, + 4.490684986114502 + ], + [ + -0.17786794900894165, + 0.012266573496162891, + 0.9839779734611511, + 28.541059494018555 + ], + [ + -0.02089012786746025, + -0.999744176864624, + 0.008686932735145092, + -0.2387627363204956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4508, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_218016862", + "mask_path": "../../mask/hdr_front_04508.png" + }, + { + "file_path": "../../rgb/hdr_front_04509.png", + "transform_matrix": [ + [ + 0.9823849201202393, + -0.026119597256183624, + 0.18503448367118835, + 4.4638872146606445 + ], + [ + -0.1847795844078064, + 0.011877798475325108, + 0.982708215713501, + 28.46083641052246 + ], + [ + -0.02786574512720108, + -0.9995883107185364, + 0.006842200644314289, + -0.2332770824432373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4509, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_318016290", + "mask_path": "../../mask/hdr_front_04509.png" + }, + { + "file_path": "../../rgb/hdr_front_04510.png", + "transform_matrix": [ + [ + 0.9801939129829407, + -0.034340571612119675, + 0.1950397938489914, + 4.436570644378662 + ], + [ + -0.19505639374256134, + 0.0028984302189201117, + 0.9807877540588379, + 28.392915725708008 + ], + [ + -0.03424612060189247, + -0.9994060397148132, + -0.003857324831187725, + -0.22264046967029572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4510, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_418017148", + "mask_path": "../../mask/hdr_front_04510.png" + }, + { + "file_path": "../../rgb/hdr_front_04511.png", + "transform_matrix": [ + [ + 0.9798038005828857, + -0.034898579120635986, + 0.19689233601093292, + 4.4186553955078125 + ], + [ + -0.19687677919864655, + 0.003915184643119574, + 0.9804204702377319, + 28.314788818359375 + ], + [ + -0.03498614951968193, + -0.9993832111358643, + -0.0030346070416271687, + -0.22060805559158325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4511, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_518016576", + "mask_path": "../../mask/hdr_front_04511.png" + }, + { + "file_path": "../../rgb/hdr_front_04512.png", + "transform_matrix": [ + [ + 0.9821916222572327, + -0.03812728077173233, + 0.18397271633148193, + 4.406917095184326 + ], + [ + -0.18367451429367065, + 0.011212457902729511, + 0.982923150062561, + 28.23160171508789 + ], + [ + -0.039538972079753876, + -0.9992100596427917, + 0.0040097725577652454, + -0.22811397910118103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4512, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_618016242", + "mask_path": "../../mask/hdr_front_04512.png" + }, + { + "file_path": "../../rgb/hdr_front_04513.png", + "transform_matrix": [ + [ + 0.9859889149665833, + -0.040425706654787064, + 0.16183902323246002, + 4.397048473358154 + ], + [ + -0.1614988148212433, + 0.01156601868569851, + 0.9868050813674927, + 28.148571014404297 + ], + [ + -0.04176412150263786, + -0.9991157054901123, + 0.004875261336565018, + -0.2327629029750824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4513, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_718016624", + "mask_path": "../../mask/hdr_front_04513.png" + }, + { + "file_path": "../../rgb/hdr_front_04514.png", + "transform_matrix": [ + [ + 0.9883664846420288, + -0.0392831452190876, + 0.14693041145801544, + 4.377391338348389 + ], + [ + -0.14664584398269653, + 0.010045457631349564, + 0.9891380667686462, + 28.06038475036621 + ], + [ + -0.04033244028687477, + -0.9991776347160339, + 0.0041678836569190025, + -0.22605887055397034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4514, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_818016767", + "mask_path": "../../mask/hdr_front_04514.png" + }, + { + "file_path": "../../rgb/hdr_front_04515.png", + "transform_matrix": [ + [ + 0.9889413118362427, + -0.03705102577805519, + 0.1436043232679367, + 4.353153228759766 + ], + [ + -0.14334532618522644, + 0.009568430483341217, + 0.9896265268325806, + 27.984596252441406 + ], + [ + -0.03804074227809906, + -0.9992676377296448, + 0.004151524975895882, + -0.2208215445280075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4515, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_918016195", + "mask_path": "../../mask/hdr_front_04515.png" + }, + { + "file_path": "../../rgb/hdr_front_04516.png", + "transform_matrix": [ + [ + 0.989402711391449, + -0.03479936346411705, + 0.14096517860889435, + 4.340354919433594 + ], + [ + -0.14090506732463837, + 0.004185523372143507, + 0.9900142550468445, + 27.918916702270508 + ], + [ + -0.03504187986254692, + -0.9993855357170105, + -0.0007622390985488892, + -0.21965554356575012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4516, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_18015861", + "mask_path": "../../mask/hdr_front_04516.png" + }, + { + "file_path": "../../rgb/hdr_front_04517.png", + "transform_matrix": [ + [ + 0.9912286996841431, + -0.03516506776213646, + 0.12739324569702148, + 4.338663578033447 + ], + [ + -0.1272517293691635, + 0.006242105271667242, + 0.9918507933616638, + 27.843841552734375 + ], + [ + -0.035673703998327255, + -0.999362051486969, + 0.0017125374870374799, + -0.2219342589378357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4517, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_118017673", + "mask_path": "../../mask/hdr_front_04517.png" + }, + { + "file_path": "../../rgb/hdr_front_04518.png", + "transform_matrix": [ + [ + 0.9935150146484375, + -0.04073039069771767, + 0.10615553706884384, + 4.342251300811768 + ], + [ + -0.10566941648721695, + 0.013913853093981743, + 0.9943039417266846, + 27.768695831298828 + ], + [ + -0.04197541996836662, + -0.999073326587677, + 0.009519665502011776, + -0.23013804852962494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4518, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_218017816", + "mask_path": "../../mask/hdr_front_04518.png" + }, + { + "file_path": "../../rgb/hdr_front_04519.png", + "transform_matrix": [ + [ + 0.9956581592559814, + -0.0414118692278862, + 0.08336570113897324, + 4.3476762771606445 + ], + [ + -0.08292216807603836, + 0.012317784130573273, + 0.9964799880981445, + 27.695110321044922 + ], + [ + -0.04229297116398811, + -0.9990662336349487, + 0.008830340579152107, + -0.23588721454143524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4519, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_318017482", + "mask_path": "../../mask/hdr_front_04519.png" + }, + { + "file_path": "../../rgb/hdr_front_04520.png", + "transform_matrix": [ + [ + 0.9975263476371765, + -0.032378777861595154, + 0.06239194795489311, + 4.352390289306641 + ], + [ + -0.061942700296640396, + 0.014697816222906113, + 0.9979714751243591, + 27.613161087036133 + ], + [ + -0.033230122178792953, + -0.9993675947189331, + 0.012655830010771751, + -0.2343589961528778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4520, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_418018579", + "mask_path": "../../mask/hdr_front_04520.png" + }, + { + "file_path": "../../rgb/hdr_front_04521.png", + "transform_matrix": [ + [ + 0.9984713792800903, + -0.021924344822764397, + 0.05073598027229309, + 4.3559441566467285 + ], + [ + -0.05039217323064804, + 0.015959544107317924, + 0.998602032661438, + 27.535398483276367 + ], + [ + -0.022703414782881737, + -0.9996322989463806, + 0.014830335043370724, + -0.2265205830335617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4521, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_518017768", + "mask_path": "../../mask/hdr_front_04521.png" + }, + { + "file_path": "../../rgb/hdr_front_04522.png", + "transform_matrix": [ + [ + 0.9988420009613037, + -0.014588754624128342, + 0.04584497958421707, + 4.360025405883789 + ], + [ + -0.045716293156147, + 0.009035236202180386, + 0.9989136457443237, + 27.466882705688477 + ], + [ + -0.014987125992774963, + -0.9998527765274048, + 0.008357830345630646, + -0.21528716385364532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4522, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_618017196", + "mask_path": "../../mask/hdr_front_04522.png" + }, + { + "file_path": "../../rgb/hdr_front_04523.png", + "transform_matrix": [ + [ + 0.999197781085968, + -0.012572359293699265, + 0.038022033870220184, + 4.369301795959473 + ], + [ + -0.03794841840863228, + 0.0060430122539401054, + 0.9992614388465881, + 27.394855499267578 + ], + [ + -0.012792840600013733, + -0.9999027252197266, + 0.005561063066124916, + -0.21449008584022522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4523, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_718018293", + "mask_path": "../../mask/hdr_front_04523.png" + }, + { + "file_path": "../../rgb/hdr_front_04524.png", + "transform_matrix": [ + [ + 0.9995371103286743, + -0.020460225641727448, + 0.02251683920621872, + 4.377306938171387 + ], + [ + -0.022374635562300682, + 0.0071527669206261635, + 0.9997240900993347, + 27.323556900024414 + ], + [ + -0.020615635439753532, + -0.9997650980949402, + 0.006691665854305029, + -0.2247147262096405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4524, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_818017244", + "mask_path": "../../mask/hdr_front_04524.png" + }, + { + "file_path": "../../rgb/hdr_front_04525.png", + "transform_matrix": [ + [ + 0.9998013377189636, + -0.019646264612674713, + 0.003355508204549551, + 4.3852314949035645 + ], + [ + -0.0031546109821647406, + 0.010247745551168919, + 0.9999425411224365, + 27.2535343170166 + ], + [ + -0.019679520279169083, + -0.9997544884681702, + 0.010183732956647873, + -0.237261563539505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4525, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_918018102", + "mask_path": "../../mask/hdr_front_04525.png" + }, + { + "file_path": "../../rgb/hdr_front_04526.png", + "transform_matrix": [ + [ + 0.9998573660850525, + -0.014575115405023098, + -0.008524006232619286, + 4.386937141418457 + ], + [ + 0.008681705221533775, + 0.010790986008942127, + 0.9999041557312012, + 27.17314910888672 + ], + [ + -0.014481734484434128, + -0.9998356103897095, + 0.010915984399616718, + -0.23841515183448792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4526, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_18017530", + "mask_path": "../../mask/hdr_front_04526.png" + }, + { + "file_path": "../../rgb/hdr_front_04527.png", + "transform_matrix": [ + [ + 0.9998645782470703, + -0.013439889997243881, + -0.009492720477283001, + 4.382810592651367 + ], + [ + 0.009642543271183968, + 0.011127053759992123, + 0.9998916983604431, + 27.102689743041992 + ], + [ + -0.013332805596292019, + -0.9998477697372437, + 0.011255141347646713, + -0.22409141063690186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4527, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_118018627", + "mask_path": "../../mask/hdr_front_04527.png" + }, + { + "file_path": "../../rgb/hdr_front_04528.png", + "transform_matrix": [ + [ + 0.9999393224716187, + -0.008971664123237133, + -0.006394042633473873, + 4.384904384613037 + ], + [ + 0.006460953503847122, + 0.007449006661772728, + 0.9999513626098633, + 27.045307159423828 + ], + [ + -0.008923596702516079, + -0.999932050704956, + 0.007506520487368107, + -0.21700608730316162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4528, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_218018054", + "mask_path": "../../mask/hdr_front_04528.png" + }, + { + "file_path": "../../rgb/hdr_front_04529.png", + "transform_matrix": [ + [ + 0.999933660030365, + -0.009506003931164742, + -0.00650402344763279, + 4.3916544914245605 + ], + [ + 0.006575587205588818, + 0.007516541518270969, + 0.999950110912323, + 26.974321365356445 + ], + [ + -0.009456641040742397, + -0.9999265670776367, + 0.007578550837934017, + -0.21818357706069946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4529, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_318017721", + "mask_path": "../../mask/hdr_front_04529.png" + }, + { + "file_path": "../../rgb/hdr_front_04530.png", + "transform_matrix": [ + [ + 0.9998223781585693, + -0.014275932684540749, + -0.012303147464990616, + 4.396086692810059 + ], + [ + 0.012476225383579731, + 0.012098710983991623, + 0.9998489618301392, + 26.8966121673584 + ], + [ + -0.014124923385679722, + -0.9998250007629395, + 0.012274672277271748, + -0.22823666036128998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4530, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_418017148", + "mask_path": "../../mask/hdr_front_04530.png" + }, + { + "file_path": "../../rgb/hdr_front_04531.png", + "transform_matrix": [ + [ + 0.9997631311416626, + -0.01221153512597084, + -0.018015181645751, + 4.398578643798828 + ], + [ + 0.018168305978178978, + 0.012546698562800884, + 0.9997562170028687, + 26.826114654541016 + ], + [ + -0.011982526630163193, + -0.9998467564582825, + 0.01276558917015791, + -0.24264584481716156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4531, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_518018245", + "mask_path": "../../mask/hdr_front_04531.png" + }, + { + "file_path": "../../rgb/hdr_front_04532.png", + "transform_matrix": [ + [ + 0.9997495412826538, + -0.013386338017880917, + -0.017932163551449776, + 4.394604682922363 + ], + [ + 0.01807856559753418, + 0.010896921157836914, + 0.9997771978378296, + 26.747346878051758 + ], + [ + -0.013187949545681477, + -0.9998510479927063, + 0.011136198416352272, + -0.24608317017555237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4532, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_618017196", + "mask_path": "../../mask/hdr_front_04532.png" + }, + { + "file_path": "../../rgb/hdr_front_04533.png", + "transform_matrix": [ + [ + 0.9998124241828918, + -0.016936780884861946, + -0.009389997459948063, + 4.3851799964904785 + ], + [ + 0.009526986628770828, + 0.00802573375403881, + 0.9999223947525024, + 26.670772552490234 + ], + [ + -0.016860103234648705, + -0.9998244047164917, + 0.008185585960745811, + -0.23425161838531494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4533, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_718017816", + "mask_path": "../../mask/hdr_front_04533.png" + }, + { + "file_path": "../../rgb/hdr_front_04534.png", + "transform_matrix": [ + [ + 0.9998451471328735, + -0.016901090741157532, + 0.00488645676523447, + 4.379197597503662 + ], + [ + -0.004836541600525379, + 0.0029929587617516518, + 0.9999838471412659, + 26.609352111816406 + ], + [ + -0.016915442422032356, + -0.99985271692276, + 0.0029107527807354927, + -0.2303144484758377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4534, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_818017482", + "mask_path": "../../mask/hdr_front_04534.png" + }, + { + "file_path": "../../rgb/hdr_front_04535.png", + "transform_matrix": [ + [ + 0.9997800588607788, + -0.016066230833530426, + 0.013475191779434681, + 4.380882263183594 + ], + [ + -0.013481826521456242, + -0.000304751330986619, + 0.9999090433120728, + 26.53560447692871 + ], + [ + -0.016060663387179375, + -0.9998708963394165, + -0.000521286332514137, + -0.23138335347175598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4535, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_918017148", + "mask_path": "../../mask/hdr_front_04535.png" + }, + { + "file_path": "../../rgb/hdr_front_04536.png", + "transform_matrix": [ + [ + 0.9997791647911072, + -0.018888775259256363, + 0.009205357171595097, + 4.39107608795166 + ], + [ + -0.009237851947546005, + -0.0016337359556928277, + 0.9999560117721558, + 26.44816780090332 + ], + [ + -0.018872903659939766, + -0.9998202919960022, + -0.0018078667344525456, + -0.2327425181865692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4536, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_18016576", + "mask_path": "../../mask/hdr_front_04536.png" + }, + { + "file_path": "../../rgb/hdr_front_04537.png", + "transform_matrix": [ + [ + 0.9997916221618652, + -0.020403841510415077, + 0.0006168292020447552, + 4.4047651290893555 + ], + [ + -0.0007339844014495611, + -0.005734821781516075, + 0.9999833106994629, + 26.368776321411133 + ], + [ + -0.02039995975792408, + -0.9997753500938416, + -0.00574860256165266, + -0.23817560076713562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4537, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_118017196", + "mask_path": "../../mask/hdr_front_04537.png" + }, + { + "file_path": "../../rgb/hdr_front_04538.png", + "transform_matrix": [ + [ + 0.9998038411140442, + -0.01975748874247074, + -0.0013771656667813659, + 4.411707878112793 + ], + [ + 0.0012907709460705519, + -0.0043848492205142975, + 0.9999896287918091, + 26.291501998901367 + ], + [ + -0.019763318821787834, + -0.9997951984405518, + -0.0043584867380559444, + -0.24186751246452332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4538, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_218013286", + "mask_path": "../../mask/hdr_front_04538.png" + }, + { + "file_path": "../../rgb/hdr_front_04539.png", + "transform_matrix": [ + [ + 0.999758243560791, + -0.02170676365494728, + 0.0035085466224700212, + 4.410740375518799 + ], + [ + -0.0035288301296532154, + -0.0008962060092017055, + 0.9999934434890747, + 26.21520233154297 + ], + [ + -0.02170347422361374, + -0.9997640252113342, + -0.0009725888958200812, + -0.23536771535873413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4539, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_318016290", + "mask_path": "../../mask/hdr_front_04539.png" + }, + { + "file_path": "../../rgb/hdr_front_04540.png", + "transform_matrix": [ + [ + 0.999679684638977, + -0.02221422828733921, + 0.012126907706260681, + 4.407413959503174 + ], + [ + -0.01224442571401596, + -0.005161867942661047, + 0.9999117851257324, + 26.145278930664062 + ], + [ + -0.022149669006466866, + -0.999739944934845, + -0.005432214587926865, + -0.22771477699279785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4540, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_418016195", + "mask_path": "../../mask/hdr_front_04540.png" + }, + { + "file_path": "../../rgb/hdr_front_04541.png", + "transform_matrix": [ + [ + 0.9996278285980225, + -0.020389586687088013, + 0.018122076988220215, + 4.4083147048950195 + ], + [ + -0.018275706097483635, + -0.00737395416945219, + 0.9998058080673218, + 26.066965103149414 + ], + [ + -0.020251993089914322, + -0.9997649788856506, + -0.007743844762444496, + -0.22844287753105164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4541, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_518015623", + "mask_path": "../../mask/hdr_front_04541.png" + }, + { + "file_path": "../../rgb/hdr_front_04542.png", + "transform_matrix": [ + [ + 0.9996246099472046, + -0.022154560312628746, + 0.016118813306093216, + 4.4146318435668945 + ], + [ + -0.01626407541334629, + -0.006392330396920443, + 0.9998472929000854, + 25.974987030029297 + ], + [ + -0.022048139944672585, + -0.9997341632843018, + -0.006750253960490227, + -0.23649321496486664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4542, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_618015289", + "mask_path": "../../mask/hdr_front_04542.png" + }, + { + "file_path": "../../rgb/hdr_front_04543.png", + "transform_matrix": [ + [ + 0.999589204788208, + -0.026809047907590866, + 0.010128959082067013, + 4.421178817749023 + ], + [ + -0.010333184152841568, + -0.007490226067602634, + 0.9999185800552368, + 25.889877319335938 + ], + [ + -0.026730993762612343, + -0.9996125102043152, + -0.007764172274619341, + -0.24553552269935608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4543, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_718016862", + "mask_path": "../../mask/hdr_front_04543.png" + }, + { + "file_path": "../../rgb/hdr_front_04544.png", + "transform_matrix": [ + [ + 0.9995994567871094, + -0.02649630233645439, + 0.009945456869900227, + 4.419914722442627 + ], + [ + -0.010156913660466671, + -0.007858031429350376, + 0.9999176263809204, + 25.800308227539062 + ], + [ + -0.02641596458852291, + -0.9996179938316345, + -0.008124005049467087, + -0.24776704609394073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4544, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_818017244", + "mask_path": "../../mask/hdr_front_04544.png" + }, + { + "file_path": "../../rgb/hdr_front_04545.png", + "transform_matrix": [ + [ + 0.9993627071380615, + -0.028670091181993484, + 0.021266521885991096, + 4.412836074829102 + ], + [ + -0.02155548706650734, + -0.009807861410081387, + 0.9997195601463318, + 25.710590362548828 + ], + [ + -0.028453471139073372, + -0.9995408654212952, + -0.01041960809379816, + -0.2310710847377777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4545, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_918017625", + "mask_path": "../../mask/hdr_front_04545.png" + }, + { + "file_path": "../../rgb/hdr_front_04546.png", + "transform_matrix": [ + [ + 0.9986112713813782, + -0.03274725377559662, + 0.0412682369351387, + 4.402810573577881 + ], + [ + -0.04187086969614029, + -0.01793481968343258, + 0.9989621043205261, + 25.64154815673828 + ], + [ + -0.03197312727570534, + -0.9993028044700623, + -0.019281070679426193, + -0.20280182361602783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4546, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_18017292", + "mask_path": "../../mask/hdr_front_04546.png" + }, + { + "file_path": "../../rgb/hdr_front_04547.png", + "transform_matrix": [ + [ + 0.9980108141899109, + -0.03142240643501282, + 0.05465381219983101, + 4.392971038818359 + ], + [ + -0.055258139967918396, + -0.018696337938308716, + 0.9982970952987671, + 25.565475463867188 + ], + [ + -0.03034706972539425, + -0.9993312954902649, + -0.020395491272211075, + -0.19720232486724854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4547, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_118017673", + "mask_path": "../../mask/hdr_front_04547.png" + }, + { + "file_path": "../../rgb/hdr_front_04548.png", + "transform_matrix": [ + [ + 0.9980493783950806, + -0.032612454146146774, + 0.053234413266181946, + 4.393669128417969 + ], + [ + -0.05377033352851868, + -0.015781870111823082, + 0.9984285831451416, + 25.47663688659668 + ], + [ + -0.03172106668353081, + -0.9993434548377991, + -0.01750466786324978, + -0.20519937574863434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4548, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_218017816", + "mask_path": "../../mask/hdr_front_04548.png" + }, + { + "file_path": "../../rgb/hdr_front_04549.png", + "transform_matrix": [ + [ + 0.9985712766647339, + -0.030216945335268974, + 0.04407086223363876, + 4.395298957824707 + ], + [ + -0.04466059058904648, + -0.019127238541841507, + 0.99881911277771, + 25.394935607910156 + ], + [ + -0.029338305816054344, + -0.9993603825569153, + -0.02044941671192646, + -0.2126055359840393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4549, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_318017959", + "mask_path": "../../mask/hdr_front_04549.png" + }, + { + "file_path": "../../rgb/hdr_front_04550.png", + "transform_matrix": [ + [ + 0.9985296130180359, + -0.02710362896323204, + 0.046946488320827484, + 4.390021324157715 + ], + [ + -0.04740118235349655, + -0.016384387388825417, + 0.998741626739502, + 25.322206497192383 + ], + [ + -0.026300331577658653, + -0.9994984269142151, + -0.017645040526986122, + -0.21269634366035461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4550, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_418016910", + "mask_path": "../../mask/hdr_front_04550.png" + }, + { + "file_path": "../../rgb/hdr_front_04551.png", + "transform_matrix": [ + [ + 0.9978457689285278, + -0.025349939242005348, + 0.06050863862037659, + 4.379426002502441 + ], + [ + -0.06076851859688759, + -0.009609460830688477, + 0.9981056451797485, + 25.2567195892334 + ], + [ + -0.024720458313822746, + -0.9996325373649597, + -0.011129237711429596, + -0.2057686150074005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4551, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_518017292", + "mask_path": "../../mask/hdr_front_04551.png" + }, + { + "file_path": "../../rgb/hdr_front_04552.png", + "transform_matrix": [ + [ + 0.9972943663597107, + -0.022549888119101524, + 0.06996630132198334, + 4.375521183013916 + ], + [ + -0.07016696035861969, + -0.008231861516833305, + 0.9975013136863708, + 25.187358856201172 + ], + [ + -0.021917589008808136, + -0.999711811542511, + -0.009791846387088299, + -0.20040830969810486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4552, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_618017196", + "mask_path": "../../mask/hdr_front_04552.png" + }, + { + "file_path": "../../rgb/hdr_front_04553.png", + "transform_matrix": [ + [ + 0.9975533485412598, + -0.016018282622098923, + 0.06804913282394409, + 4.38347864151001 + ], + [ + -0.06815501302480698, + -0.00615925807505846, + 0.9976556897163391, + 25.10431671142578 + ], + [ + -0.015561600215733051, + -0.9998527765274048, + -0.007235915400087833, + -0.20905666053295135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4553, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_718016862", + "mask_path": "../../mask/hdr_front_04553.png" + }, + { + "file_path": "../../rgb/hdr_front_04554.png", + "transform_matrix": [ + [ + 0.9983405470848083, + -0.010430450551211834, + 0.056633394211530685, + 4.395695209503174 + ], + [ + -0.05670524761080742, + -0.0067265150137245655, + 0.9983683228492737, + 25.016799926757812 + ], + [ + -0.010032485239207745, + -0.9999229907989502, + -0.007306813262403011, + -0.21654242277145386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4554, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_818016290", + "mask_path": "../../mask/hdr_front_04554.png" + }, + { + "file_path": "../../rgb/hdr_front_04555.png", + "transform_matrix": [ + [ + 0.998840868473053, + -0.006011932156980038, + 0.047756291925907135, + 4.408435344696045 + ], + [ + -0.04778963327407837, + -0.005530402064323425, + 0.9988421201705933, + 24.93663215637207 + ], + [ + -0.005740858148783445, + -0.9999666213989258, + -0.005811300128698349, + -0.21969398856163025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4555, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_918016910", + "mask_path": "../../mask/hdr_front_04555.png" + }, + { + "file_path": "../../rgb/hdr_front_04556.png", + "transform_matrix": [ + [ + 0.9985570907592773, + -0.0008659948944114149, + 0.05369407311081886, + 4.411025047302246 + ], + [ + -0.05369440093636513, + -0.0003584909427445382, + 0.9985573291778564, + 24.86090850830078 + ], + [ + -0.00084549596067518, + -0.9999996423721313, + -0.00040447275387123227, + -0.2192549854516983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4556, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228600_18016338", + "mask_path": "../../mask/hdr_front_04556.png" + }, + { + "file_path": "../../rgb/hdr_front_04557.png", + "transform_matrix": [ + [ + 0.9973007440567017, + -0.0021103632170706987, + 0.07339434325695038, + 4.400139808654785 + ], + [ + -0.07340188324451447, + -0.0037544493097811937, + 0.9972953200340271, + 24.790687561035156 + ], + [ + -0.0018290989100933075, + -0.9999907612800598, + -0.003899219213053584, + -0.1996537446975708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4557, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228600_118018865", + "mask_path": "../../mask/hdr_front_04557.png" + }, + { + "file_path": "../../rgb/hdr_front_04558.png", + "transform_matrix": [ + [ + 0.995858907699585, + -0.004054477903991938, + 0.09082141518592834, + 4.389130115509033 + ], + [ + -0.09086111932992935, + -0.011011767201125622, + 0.9958027005195618, + 24.715763092041016 + ], + [ + -0.003037353977560997, + -0.9999312162399292, + -0.011334560811519623, + -0.18959687650203705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4558, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228600_218016862", + "mask_path": "../../mask/hdr_front_04558.png" + }, + { + "file_path": "../../rgb/hdr_left_04457.png", + "transform_matrix": [ + [ + -0.3440873622894287, + 0.008600817993283272, + 0.9388982653617859, + 5.784151554107666 + ], + [ + -0.9389375448226929, + -0.0029926809947937727, + -0.3440743684768677, + 34.73015213012695 + ], + [ + -0.0001494982570875436, + -0.9999585151672363, + 0.009105375036597252, + -0.23033612966537476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4457, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_18017530", + "mask_path": "../../mask/hdr_left_04457.png" + }, + { + "file_path": "../../rgb/hdr_left_04458.png", + "transform_matrix": [ + [ + -0.3406156897544861, + -0.0044461265206336975, + 0.9401921033859253, + 5.773594856262207 + ], + [ + -0.9402011036872864, + -0.00014219191507436335, + -0.34061962366104126, + 34.639869689941406 + ], + [ + 0.0016481246566399932, + -0.9999901056289673, + -0.004131818190217018, + -0.23054522275924683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4458, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_118017911", + "mask_path": "../../mask/hdr_left_04458.png" + }, + { + "file_path": "../../rgb/hdr_left_04459.png", + "transform_matrix": [ + [ + -0.3354620337486267, + -0.009215962141752243, + 0.9420086741447449, + 5.7688117027282715 + ], + [ + -0.9420343637466431, + -0.003134481841698289, + -0.3355018198490143, + 34.568092346191406 + ], + [ + 0.00604467885568738, + -0.9999526739120483, + -0.007630248088389635, + -0.23622456192970276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4459, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_218018293", + "mask_path": "../../mask/hdr_left_04459.png" + }, + { + "file_path": "../../rgb/hdr_left_04460.png", + "transform_matrix": [ + [ + -0.33463069796562195, + -0.005249901674687862, + 0.9423347115516663, + 5.756903171539307 + ], + [ + -0.9423350095748901, + -0.0036407976876944304, + -0.3346511125564575, + 34.48747253417969 + ], + [ + 0.005187734495848417, + -0.9999796748161316, + -0.003728841431438923, + -0.23839107155799866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4460, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_318017959", + "mask_path": "../../mask/hdr_left_04460.png" + }, + { + "file_path": "../../rgb/hdr_left_04461.png", + "transform_matrix": [ + [ + -0.34180906414985657, + -4.01565594074782e-05, + 0.9397693872451782, + 5.734465599060059 + ], + [ + -0.9397693276405334, + -0.0005489125614985824, + -0.34180906414985657, + 34.39834976196289 + ], + [ + 0.000529576325789094, + -0.9999998807907104, + 0.0001498876081313938, + -0.23045258224010468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4461, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_418017387", + "mask_path": "../../mask/hdr_left_04461.png" + }, + { + "file_path": "../../rgb/hdr_left_04462.png", + "transform_matrix": [ + [ + -0.3546355664730072, + 0.001313203596509993, + 0.9350036978721619, + 5.717041969299316 + ], + [ + -0.9349997639656067, + -0.0037054589483886957, + -0.35462892055511475, + 34.32785415649414 + ], + [ + 0.0029989166650921106, + -0.9999922513961792, + 0.0025419332087039948, + -0.2207268327474594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4462, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_518017292", + "mask_path": "../../mask/hdr_left_04462.png" + }, + { + "file_path": "../../rgb/hdr_left_04463.png", + "transform_matrix": [ + [ + -0.36553263664245605, + 0.002609855495393276, + 0.930794894695282, + 5.700624942779541 + ], + [ + -0.9307602047920227, + -0.010091524571180344, + -0.36549076437950134, + 34.26055908203125 + ], + [ + 0.008439258672297001, + -0.9999457001686096, + 0.00611793203279376, + -0.21354788541793823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4463, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_618017673", + "mask_path": "../../mask/hdr_left_04463.png" + }, + { + "file_path": "../../rgb/hdr_left_04464.png", + "transform_matrix": [ + [ + -0.3708049952983856, + -0.0003273110487498343, + 0.9287106990814209, + 5.684464931488037 + ], + [ + -0.9286577105522156, + -0.010556083172559738, + -0.37078753113746643, + 34.17859649658203 + ], + [ + 0.00992491003125906, + -0.999944269657135, + 0.00361028965562582, + -0.20992469787597656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4464, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_718018770", + "mask_path": "../../mask/hdr_left_04464.png" + }, + { + "file_path": "../../rgb/hdr_left_04465.png", + "transform_matrix": [ + [ + -0.3686959743499756, + -0.007426924537867308, + 0.929520308971405, + 5.671003818511963 + ], + [ + -0.9295280575752258, + -0.003923272248357534, + -0.3687303364276886, + 34.0998649597168 + ], + [ + 0.006385292392224073, + -0.999964714050293, + -0.005457038059830666, + -0.2183096706867218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4465, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_818017244", + "mask_path": "../../mask/hdr_left_04465.png" + }, + { + "file_path": "../../rgb/hdr_left_04466.png", + "transform_matrix": [ + [ + -0.3662906587123871, + -0.01115575060248375, + 0.9304335713386536, + 5.6625566482543945 + ], + [ + -0.9304738640785217, + -0.0031611458398401737, + -0.3663444519042969, + 34.03084945678711 + ], + [ + 0.0070280819199979305, + -0.9999327659606934, + -0.009222231805324554, + -0.2210022211074829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4466, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_918018102", + "mask_path": "../../mask/hdr_left_04466.png" + }, + { + "file_path": "../../rgb/hdr_left_04467.png", + "transform_matrix": [ + [ + -0.36821043491363525, + -0.003696259343996644, + 0.9297351241111755, + 5.6478986740112305 + ], + [ + -0.9297424554824829, + 0.0015080791199579835, + -0.36820733547210693, + 33.95319366455078 + ], + [ + -4.1124974814010784e-05, + -0.9999920725822449, + -0.003991857636719942, + -0.2230152189731598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4467, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_18017768", + "mask_path": "../../mask/hdr_left_04467.png" + }, + { + "file_path": "../../rgb/hdr_left_04468.png", + "transform_matrix": [ + [ + -0.376348614692688, + 0.006402431521564722, + 0.9264560341835022, + 5.627528190612793 + ], + [ + -0.926390528678894, + 0.011150289326906204, + -0.37639904022216797, + 33.87677764892578 + ], + [ + -0.01274012215435505, + -0.9999173879623413, + 0.0017347598914057016, + -0.22781693935394287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4468, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_118017911", + "mask_path": "../../mask/hdr_left_04468.png" + }, + { + "file_path": "../../rgb/hdr_left_04469.png", + "transform_matrix": [ + [ + -0.3858422636985779, + 0.008220873773097992, + 0.9225282073020935, + 5.611148834228516 + ], + [ + -0.92244952917099, + 0.012360873632133007, + -0.38591957092285156, + 33.81499481201172 + ], + [ + -0.014575847424566746, + -0.9998897910118103, + 0.002813994651660323, + -0.22422288358211517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4469, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_218016862", + "mask_path": "../../mask/hdr_left_04469.png" + }, + { + "file_path": "../../rgb/hdr_left_04470.png", + "transform_matrix": [ + [ + -0.3941448926925659, + 0.011080467142164707, + 0.9189815521240234, + 5.596480846405029 + ], + [ + -0.9189609885215759, + 0.009035224094986916, + -0.3942449986934662, + 33.74853515625 + ], + [ + -0.01267162337899208, + -0.999897837638855, + 0.006621330976486206, + -0.22211724519729614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4470, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_318015575", + "mask_path": "../../mask/hdr_left_04470.png" + }, + { + "file_path": "../../rgb/hdr_left_04471.png", + "transform_matrix": [ + [ + -0.3972252607345581, + 0.006966932211071253, + 0.9176946878433228, + 5.57992696762085 + ], + [ + -0.9175695776939392, + 0.015157181769609451, + -0.39728617668151855, + 33.667293548583984 + ], + [ + -0.016677530482411385, + -0.999860942363739, + 0.00037183318636380136, + -0.22400617599487305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4471, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_418016672", + "mask_path": "../../mask/hdr_left_04471.png" + }, + { + "file_path": "../../rgb/hdr_left_04472.png", + "transform_matrix": [ + [ + -0.39420315623283386, + -0.0020640911534428596, + 0.9190210103988647, + 5.566361904144287 + ], + [ + -0.9187233448028564, + 0.02643280103802681, + -0.3940161168575287, + 33.594608306884766 + ], + [ + -0.02347901649773121, + -0.9996484518051147, + -0.012316221371293068, + -0.23437926173210144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4472, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_518017530", + "mask_path": "../../mask/hdr_left_04472.png" + }, + { + "file_path": "../../rgb/hdr_left_04473.png", + "transform_matrix": [ + [ + -0.3906780481338501, + -0.0027023039292544127, + 0.9205234050750732, + 5.555426120758057 + ], + [ + -0.9202532172203064, + 0.025552844628691673, + -0.3904883861541748, + 33.52332305908203 + ], + [ + -0.02246677316725254, + -0.9996697902679443, + -0.01246973592787981, + -0.24038633704185486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4473, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_618017911", + "mask_path": "../../mask/hdr_left_04473.png" + }, + { + "file_path": "../../rgb/hdr_left_04474.png", + "transform_matrix": [ + [ + -0.3901832401752472, + 0.0029650619253516197, + 0.9207323789596558, + 5.541463375091553 + ], + [ + -0.9203915596008301, + 0.026140622794628143, + -0.3901229798793793, + 33.43881607055664 + ], + [ + -0.025225259363651276, + -0.9996539354324341, + -0.00747061287984252, + -0.24402567744255066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4474, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_718016862", + "mask_path": "../../mask/hdr_left_04474.png" + }, + { + "file_path": "../../rgb/hdr_left_04475.png", + "transform_matrix": [ + [ + -0.3984546959400177, + 0.010200580582022667, + 0.9171313047409058, + 5.522950172424316 + ], + [ + -0.9166578054428101, + 0.02956528775393963, + -0.39857780933380127, + 33.35862350463867 + ], + [ + -0.0311809740960598, + -0.9995108842849731, + -0.0024299840442836285, + -0.23927325010299683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4475, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_818017244", + "mask_path": "../../mask/hdr_left_04475.png" + }, + { + "file_path": "../../rgb/hdr_left_04476.png", + "transform_matrix": [ + [ + -0.41070905327796936, + 0.013824468478560448, + 0.9116616249084473, + 5.502869129180908 + ], + [ + -0.9112289547920227, + 0.028104806318879128, + -0.4109402894973755, + 33.292842864990234 + ], + [ + -0.031303100287914276, + -0.9995093941688538, + 0.0010543601820245385, + -0.2307904064655304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4476, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_918017387", + "mask_path": "../../mask/hdr_left_04476.png" + }, + { + "file_path": "../../rgb/hdr_left_04477.png", + "transform_matrix": [ + [ + -0.42118436098098755, + 0.01498275063931942, + 0.9068512320518494, + 5.483180999755859 + ], + [ + -0.9065940976142883, + 0.02202082797884941, + -0.42142876982688904, + 33.230499267578125 + ], + [ + -0.02628377638757229, + -0.9996452927589417, + 0.00430844584479928, + -0.2315702736377716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4477, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_18018722", + "mask_path": "../../mask/hdr_left_04477.png" + }, + { + "file_path": "../../rgb/hdr_left_04478.png", + "transform_matrix": [ + [ + -0.42688268423080444, + 0.012617412023246288, + 0.9042190909385681, + 5.463784217834473 + ], + [ + -0.9040911793708801, + 0.015892641618847847, + -0.4270440638065338, + 33.147274017333984 + ], + [ + -0.019758619368076324, + -0.9997941851615906, + 0.004623000044375658, + -0.22990040481090546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4478, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_118017435", + "mask_path": "../../mask/hdr_left_04478.png" + }, + { + "file_path": "../../rgb/hdr_left_04479.png", + "transform_matrix": [ + [ + -0.4242665469646454, + 0.007662943564355373, + 0.9055048823356628, + 5.451375961303711 + ], + [ + -0.9053882360458374, + 0.014553813263773918, + -0.4243350327014923, + 33.05936050415039 + ], + [ + -0.0164302047342062, + -0.9998648166656494, + 0.0007632451015524566, + -0.23169006407260895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4479, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_218017101", + "mask_path": "../../mask/hdr_left_04479.png" + }, + { + "file_path": "../../rgb/hdr_left_04480.png", + "transform_matrix": [ + [ + -0.4196925461292267, + 0.007059142459183931, + 0.9076388478279114, + 5.447287559509277 + ], + [ + -0.9075721502304077, + 0.011132637038826942, + -0.41974833607673645, + 32.98538589477539 + ], + [ + -0.013067476451396942, + -0.9999130964279175, + 0.00173439912032336, + -0.23535050451755524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4480, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_318017721", + "mask_path": "../../mask/hdr_left_04480.png" + }, + { + "file_path": "../../rgb/hdr_left_04481.png", + "transform_matrix": [ + [ + -0.4195205271244049, + 0.01550669502466917, + 0.9076133966445923, + 5.4403557777404785 + ], + [ + -0.9075803160667419, + 0.011929793283343315, + -0.4197090268135071, + 32.906494140625 + ], + [ + -0.017335940152406693, + -0.9998086094856262, + 0.009068779647350311, + -0.237766295671463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4481, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_418018579", + "mask_path": "../../mask/hdr_left_04481.png" + }, + { + "file_path": "../../rgb/hdr_left_04482.png", + "transform_matrix": [ + [ + -0.4274911880493164, + 0.025802144780755043, + 0.9036511778831482, + 5.424367427825928 + ], + [ + -0.9036373496055603, + 0.016866212710738182, + -0.42796623706817627, + 32.82630920410156 + ], + [ + -0.026283619925379753, + -0.9995248317718506, + 0.01610562764108181, + -0.23624968528747559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4482, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_518017530", + "mask_path": "../../mask/hdr_left_04482.png" + }, + { + "file_path": "../../rgb/hdr_left_04483.png", + "transform_matrix": [ + [ + -0.43851515650749207, + 0.03174953907728195, + 0.898162841796875, + 5.412256240844727 + ], + [ + -0.8983235359191895, + 0.01433651801198721, + -0.43910038471221924, + 32.75669479370117 + ], + [ + -0.026817763224244118, + -0.9993930459022522, + 0.022234579548239708, + -0.23129042983055115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4483, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_618017435", + "mask_path": "../../mask/hdr_left_04483.png" + }, + { + "file_path": "../../rgb/hdr_left_04484.png", + "transform_matrix": [ + [ + -0.4480494558811188, + 0.027065929025411606, + 0.8935989737510681, + 5.402724266052246 + ], + [ + -0.8936309814453125, + 0.015495718456804752, + -0.44853484630584717, + 32.680938720703125 + ], + [ + -0.025986971333622932, + -0.9995136260986328, + 0.017244108021259308, + -0.22992949187755585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4484, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_718017816", + "mask_path": "../../mask/hdr_left_04484.png" + }, + { + "file_path": "../../rgb/hdr_left_04485.png", + "transform_matrix": [ + [ + -0.44856780767440796, + 0.014139817096292973, + 0.8936368823051453, + 5.3882317543029785 + ], + [ + -0.8934375047683716, + 0.01929181069135666, + -0.44877296686172485, + 32.58309555053711 + ], + [ + -0.02358543872833252, + -0.9997139573097229, + 0.003979362081736326, + -0.23044195771217346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4485, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_818017721", + "mask_path": "../../mask/hdr_left_04485.png" + }, + { + "file_path": "../../rgb/hdr_left_04486.png", + "transform_matrix": [ + [ + -0.4413703382015228, + 0.009325548075139523, + 0.8972765207290649, + 5.378664970397949 + ], + [ + -0.8971226811408997, + 0.01664881594479084, + -0.44146767258644104, + 32.49858093261719 + ], + [ + -0.019055521115660667, + -0.999817967414856, + 0.0010178722441196442, + -0.2339114248752594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4486, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_918017864", + "mask_path": "../../mask/hdr_left_04486.png" + }, + { + "file_path": "../../rgb/hdr_left_04487.png", + "transform_matrix": [ + [ + -0.4380420744419098, + 0.01143705751746893, + 0.8988816142082214, + 5.36619758605957 + ], + [ + -0.8987833261489868, + 0.013933436945080757, + -0.4381714463233948, + 32.4223518371582 + ], + [ + -0.017535902559757233, + -0.9998376369476318, + 0.004176009446382523, + -0.23699387907981873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4487, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_18017768", + "mask_path": "../../mask/hdr_left_04487.png" + }, + { + "file_path": "../../rgb/hdr_left_04488.png", + "transform_matrix": [ + [ + -0.44157230854034424, + 0.01843789964914322, + 0.8970361948013306, + 5.344817161560059 + ], + [ + -0.8968285918235779, + 0.020670343190431595, + -0.4418949782848358, + 32.340938568115234 + ], + [ + -0.02668965794146061, + -0.9996163845062256, + 0.007408189587295055, + -0.23762266337871552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4488, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_118019104", + "mask_path": "../../mask/hdr_left_04488.png" + }, + { + "file_path": "../../rgb/hdr_left_04489.png", + "transform_matrix": [ + [ + -0.4497494101524353, + 0.022060861811041832, + 0.892882227897644, + 5.321868419647217 + ], + [ + -0.8924538493156433, + 0.028497634455561638, + -0.4502377212047577, + 32.2683219909668 + ], + [ + -0.035377662628889084, + -0.9993504285812378, + 0.006871507968753576, + -0.23077178001403809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4489, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_218018293", + "mask_path": "../../mask/hdr_left_04489.png" + }, + { + "file_path": "../../rgb/hdr_left_04490.png", + "transform_matrix": [ + [ + -0.45684295892715454, + 0.022264374420046806, + 0.8892685770988464, + 5.299617290496826 + ], + [ + -0.8889506459236145, + 0.0251819659024477, + -0.4573100209236145, + 32.20707321166992 + ], + [ + -0.032575253397226334, + -0.9994350671768188, + 0.008287732489407063, + -0.22780053317546844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4490, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_318017959", + "mask_path": "../../mask/hdr_left_04490.png" + }, + { + "file_path": "../../rgb/hdr_left_04491.png", + "transform_matrix": [ + [ + -0.464670330286026, + 0.02238975465297699, + 0.885200560092926, + 5.274679660797119 + ], + [ + -0.8849944472312927, + 0.021484695374965668, + -0.4651055335998535, + 32.137081146240234 + ], + [ + -0.029431862756609917, + -0.9995184540748596, + 0.009831511415541172, + -0.2271534949541092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4491, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_418018102", + "mask_path": "../../mask/hdr_left_04491.png" + }, + { + "file_path": "../../rgb/hdr_left_04492.png", + "transform_matrix": [ + [ + -0.46767657995224, + 0.016910187900066376, + 0.8837378025054932, + 5.244982719421387 + ], + [ + -0.8833953738212585, + 0.024824831634759903, + -0.4679703712463379, + 32.0546989440918 + ], + [ + -0.029852110892534256, + -0.9995488524436951, + 0.003328392980620265, + -0.23076152801513672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4492, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_518016576", + "mask_path": "../../mask/hdr_left_04492.png" + }, + { + "file_path": "../../rgb/hdr_left_04493.png", + "transform_matrix": [ + [ + -0.4658607244491577, + 0.007647819351404905, + 0.8848249912261963, + 5.21991491317749 + ], + [ + -0.8843843340873718, + 0.02868945524096489, + -0.4658767282962799, + 31.97430419921875 + ], + [ + -0.028948089107871056, + -0.9995591640472412, + -0.006601675879210234, + -0.2337813377380371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4493, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_618018150", + "mask_path": "../../mask/hdr_left_04493.png" + }, + { + "file_path": "../../rgb/hdr_left_04494.png", + "transform_matrix": [ + [ + -0.4661569595336914, + 0.005155193153768778, + 0.8846870064735413, + 5.193617820739746 + ], + [ + -0.8842929601669312, + 0.027690712362527847, + -0.4661107063293457, + 31.8918399810791 + ], + [ + -0.026900500059127808, + -0.999603271484375, + -0.00834951363503933, + -0.23916232585906982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4494, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_718017578", + "mask_path": "../../mask/hdr_left_04494.png" + }, + { + "file_path": "../../rgb/hdr_left_04495.png", + "transform_matrix": [ + [ + -0.4741974472999573, + 0.002878524363040924, + 0.880413830280304, + 5.156536102294922 + ], + [ + -0.8800927996635437, + 0.02565137669444084, + -0.47410842776298523, + 31.807559967041016 + ], + [ + -0.023948557674884796, + -0.9996668696403503, + -0.009630445390939713, + -0.23564603924751282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4495, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_818017721", + "mask_path": "../../mask/hdr_left_04495.png" + }, + { + "file_path": "../../rgb/hdr_left_04496.png", + "transform_matrix": [ + [ + -0.4895813465118408, + 0.00022944717784412205, + 0.871957540512085, + 5.123696804046631 + ], + [ + -0.8717860579490662, + 0.019706834107637405, + -0.489490270614624, + 31.746984481811523 + ], + [ + -0.01729583367705345, + -0.9998058676719666, + -0.009448066353797913, + -0.22566907107830048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4496, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_918018102", + "mask_path": "../../mask/hdr_left_04496.png" + }, + { + "file_path": "../../rgb/hdr_left_04497.png", + "transform_matrix": [ + [ + -0.5001064538955688, + 0.004238278605043888, + 0.8659536242485046, + 5.104236125946045 + ], + [ + -0.8658573031425476, + 0.013246559537947178, + -0.5001156330108643, + 31.68610954284668 + ], + [ + -0.013590534217655659, + -0.9999032616615295, + -0.002954942872747779, + -0.22381234169006348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4497, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_18018960", + "mask_path": "../../mask/hdr_left_04497.png" + }, + { + "file_path": "../../rgb/hdr_left_04498.png", + "transform_matrix": [ + [ + -0.49975451827049255, + 0.006129649002104998, + 0.8661453723907471, + 5.087411880493164 + ], + [ + -0.8660780787467957, + 0.010800479911267757, + -0.49979206919670105, + 31.608335494995117 + ], + [ + -0.012418335303664207, + -0.9999228715896606, + -8.883008558768779e-05, + -0.2268890142440796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4498, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_118017673", + "mask_path": "../../mask/hdr_left_04498.png" + }, + { + "file_path": "../../rgb/hdr_left_04499.png", + "transform_matrix": [ + [ + -0.4939046800136566, + 0.005449650343507528, + 0.8694989085197449, + 5.06925106048584 + ], + [ + -0.8694584369659424, + 0.008413366973400116, + -0.4939344525337219, + 31.543970108032227 + ], + [ + -0.01000718493014574, + -0.9999498128890991, + 0.0005828422144986689, + -0.23461613059043884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4499, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_218017578", + "mask_path": "../../mask/hdr_left_04499.png" + }, + { + "file_path": "../../rgb/hdr_left_04500.png", + "transform_matrix": [ + [ + -0.49192699790000916, + 0.008509497158229351, + 0.87059485912323, + 5.043290615081787 + ], + [ + -0.8705433011054993, + 0.009821617044508457, + -0.49199387431144714, + 31.488370895385742 + ], + [ + -0.012737270444631577, + -0.999915599822998, + 0.002576367696747184, + -0.23836416006088257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4500, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_318018198", + "mask_path": "../../mask/hdr_left_04500.png" + }, + { + "file_path": "../../rgb/hdr_left_04501.png", + "transform_matrix": [ + [ + -0.4953717589378357, + 0.010245408862829208, + 0.868620753288269, + 5.009627342224121 + ], + [ + -0.8684813380241394, + 0.015599203296005726, + -0.49547630548477173, + 31.43093490600586 + ], + [ + -0.018626147881150246, + -0.9998258948326111, + 0.0011705446522682905, + -0.23660850524902344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4501, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_418018102", + "mask_path": "../../mask/hdr_left_04501.png" + }, + { + "file_path": "../../rgb/hdr_left_04502.png", + "transform_matrix": [ + [ + -0.5031919479370117, + 0.00873632449656725, + 0.8641305565834045, + 4.9842448234558105 + ], + [ + -0.8639734387397766, + 0.016497410833835602, + -0.5032671689987183, + 31.381500244140625 + ], + [ + -0.018652621656656265, + -0.9998257756233215, + -0.0007534113829024136, + -0.2320159673690796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4502, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_518017292", + "mask_path": "../../mask/hdr_left_04502.png" + }, + { + "file_path": "../../rgb/hdr_left_04503.png", + "transform_matrix": [ + [ + -0.5125044584274292, + 0.011870063841342926, + 0.8586025238037109, + 4.959640026092529 + ], + [ + -0.858544647693634, + 0.01096128299832344, + -0.5126215219497681, + 31.332868576049805 + ], + [ + -0.015496233478188515, + -0.9998694658279419, + 0.004573277197778225, + -0.22785663604736328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4503, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_618018627", + "mask_path": "../../mask/hdr_left_04503.png" + }, + { + "file_path": "../../rgb/hdr_left_04504.png", + "transform_matrix": [ + [ + -0.5180583596229553, + 0.01464632898569107, + 0.8552197813987732, + 4.929789066314697 + ], + [ + -0.8551923632621765, + 0.010031179524958134, + -0.5182135105133057, + 31.260948181152344 + ], + [ + -0.016168788075447083, + -0.9998424053192139, + 0.007328694220632315, + -0.22950074076652527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4504, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_718016624", + "mask_path": "../../mask/hdr_left_04504.png" + }, + { + "file_path": "../../rgb/hdr_left_04505.png", + "transform_matrix": [ + [ + -0.5142536163330078, + 0.013545532710850239, + 0.8575311303138733, + 4.9043097496032715 + ], + [ + -0.8574517965316772, + 0.012720593251287937, + -0.5144069790840149, + 31.178943634033203 + ], + [ + -0.017876222729682922, + -0.9998273253440857, + 0.005073031410574913, + -0.24106436967849731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4505, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_818017244", + "mask_path": "../../mask/hdr_left_04505.png" + }, + { + "file_path": "../../rgb/hdr_left_04506.png", + "transform_matrix": [ + [ + -0.5044776201248169, + 0.009969786740839481, + 0.8633671998977661, + 4.886022567749023 + ], + [ + -0.8632867932319641, + 0.01204962469637394, + -0.5045698285102844, + 31.102237701416016 + ], + [ + -0.015433702617883682, + -0.9998777508735657, + 0.0025280234403908253, + -0.2459830939769745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4506, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_918017864", + "mask_path": "../../mask/hdr_left_04506.png" + }, + { + "file_path": "../../rgb/hdr_left_04507.png", + "transform_matrix": [ + [ + -0.49897605180740356, + 0.016040123999118805, + 0.8664672374725342, + 4.8639750480651855 + ], + [ + -0.866344153881073, + 0.015795201063156128, + -0.4991976022720337, + 31.019906997680664 + ], + [ + -0.021693212911486626, + -0.9997466206550598, + 0.006014842540025711, + -0.24885696172714233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4507, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_18018245", + "mask_path": "../../mask/hdr_left_04507.png" + }, + { + "file_path": "../../rgb/hdr_left_04508.png", + "transform_matrix": [ + [ + -0.5046544671058655, + 0.025193331763148308, + 0.8629536628723145, + 4.834195137023926 + ], + [ + -0.8627062439918518, + 0.023012666031718254, + -0.5051815509796143, + 30.941505432128906 + ], + [ + -0.03258606791496277, + -0.9994177222251892, + 0.010121000930666924, + -0.246102973818779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4508, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_118017196", + "mask_path": "../../mask/hdr_left_04508.png" + }, + { + "file_path": "../../rgb/hdr_left_04509.png", + "transform_matrix": [ + [ + -0.5142310261726379, + 0.02669926919043064, + 0.8572359681129456, + 4.808595657348633 + ], + [ + -0.8570518493652344, + 0.0213772039860487, + -0.5147864818572998, + 30.878040313720703 + ], + [ + -0.03206972777843475, + -0.9994149804115295, + 0.011889836750924587, + -0.23850412666797638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4509, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_218017101", + "mask_path": "../../mask/hdr_left_04509.png" + }, + { + "file_path": "../../rgb/hdr_left_04510.png", + "transform_matrix": [ + [ + -0.5207445621490479, + 0.024705560877919197, + 0.8533548712730408, + 4.781390190124512 + ], + [ + -0.8532277941703796, + 0.018617480993270874, + -0.5212059617042542, + 30.814233779907227 + ], + [ + -0.02876400388777256, + -0.9995213747024536, + 0.011384520679712296, + -0.24000254273414612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4510, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_318017244", + "mask_path": "../../mask/hdr_left_04510.png" + }, + { + "file_path": "../../rgb/hdr_left_04511.png", + "transform_matrix": [ + [ + -0.5172882080078125, + 0.0222104974091053, + 0.8555229902267456, + 4.747714042663574 + ], + [ + -0.8553841710090637, + 0.01815679296851158, + -0.5176756978034973, + 30.728506088256836 + ], + [ + -0.027031388133764267, + -0.9995884299278259, + 0.009606215171515942, + -0.24718555808067322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4511, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_418016672", + "mask_path": "../../mask/hdr_left_04511.png" + }, + { + "file_path": "../../rgb/hdr_left_04512.png", + "transform_matrix": [ + [ + -0.49835205078125, + 0.020529350265860558, + 0.8667316436767578, + 4.725196361541748 + ], + [ + -0.866564154624939, + 0.01896885596215725, + -0.49870505928993225, + 30.641437530517578 + ], + [ + -0.02667899616062641, + -0.9996092915534973, + 0.00833683181554079, + -0.25680461525917053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4512, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_518017292", + "mask_path": "../../mask/hdr_left_04512.png" + }, + { + "file_path": "../../rgb/hdr_left_04513.png", + "transform_matrix": [ + [ + -0.47558027505874634, + 0.01923072151839733, + 0.8794620633125305, + 4.707535743713379 + ], + [ + -0.8792875409126282, + 0.019174037501215935, + -0.475905179977417, + 30.55901336669922 + ], + [ + -0.026014840230345726, + -0.9996312260627747, + 0.007790538016706705, + -0.25926780700683594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4513, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_618017196", + "mask_path": "../../mask/hdr_left_04513.png" + }, + { + "file_path": "../../rgb/hdr_left_04514.png", + "transform_matrix": [ + [ + -0.46419474482536316, + 0.0194720346480608, + 0.8855190873146057, + 4.674644470214844 + ], + [ + -0.8852900862693787, + 0.021418267861008644, + -0.46454566717147827, + 30.482776641845703 + ], + [ + -0.028011934831738472, + -0.999580979347229, + 0.0072961547411978245, + -0.2535278797149658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4514, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_718017578", + "mask_path": "../../mask/hdr_left_04514.png" + }, + { + "file_path": "../../rgb/hdr_left_04515.png", + "transform_matrix": [ + [ + -0.4639025926589966, + 0.018572622910141945, + 0.8856915235519409, + 4.648035526275635 + ], + [ + -0.8854178190231323, + 0.022787461057305336, + -0.4642370939254761, + 30.42393684387207 + ], + [ + -0.028804758563637733, + -0.9995678663253784, + 0.005873369053006172, + -0.2465686947107315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4515, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_818017721", + "mask_path": "../../mask/hdr_left_04515.png" + }, + { + "file_path": "../../rgb/hdr_left_04516.png", + "transform_matrix": [ + [ + -0.4578055143356323, + 0.019451480358839035, + 0.8888395428657532, + 4.631840705871582 + ], + [ + -0.8887606859207153, + 0.015596464276313782, + -0.4581061601638794, + 30.35940933227539 + ], + [ + -0.02277359738945961, + -0.9996891617774963, + 0.01014756690710783, + -0.24209444224834442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4516, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_918018341", + "mask_path": "../../mask/hdr_left_04516.png" + }, + { + "file_path": "../../rgb/hdr_left_04517.png", + "transform_matrix": [ + [ + -0.43994489312171936, + 0.019153781235218048, + 0.8978204727172852, + 4.620583534240723 + ], + [ + -0.8978126049041748, + 0.012349762953817844, + -0.44020453095436096, + 30.281288146972656 + ], + [ + -0.019519450142979622, + -0.9997403025627136, + 0.011763293296098709, + -0.2416791021823883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4517, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_18016576", + "mask_path": "../../mask/hdr_left_04517.png" + }, + { + "file_path": "../../rgb/hdr_left_04518.png", + "transform_matrix": [ + [ + -0.4118545949459076, + 0.01701950654387474, + 0.9110905528068542, + 4.617024898529053 + ], + [ + -0.9110217094421387, + 0.014666615054011345, + -0.4120974540710449, + 30.205421447753906 + ], + [ + -0.020376311615109444, + -0.9997476935386658, + 0.009464629925787449, + -0.2503719925880432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4518, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_118015766", + "mask_path": "../../mask/hdr_left_04518.png" + }, + { + "file_path": "../../rgb/hdr_left_04519.png", + "transform_matrix": [ + [ + -0.3814737796783447, + 0.01871391572058201, + 0.9241902232170105, + 4.615517616271973 + ], + [ + -0.9242246150970459, + 0.010585607960820198, + -0.38170233368873596, + 30.137788772583008 + ], + [ + -0.01692626066505909, + -0.999768853187561, + 0.013257731683552265, + -0.2561039626598358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4519, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_218015909", + "mask_path": "../../mask/hdr_left_04519.png" + }, + { + "file_path": "../../rgb/hdr_left_04520.png", + "transform_matrix": [ + [ + -0.35426008701324463, + 0.02681177482008934, + 0.9347625374794006, + 4.610692977905273 + ], + [ + -0.9349405169487, + 0.010847005061805248, + -0.3546386659145355, + 30.06123924255371 + ], + [ + -0.019647864624857903, + -0.9995816946029663, + 0.02122475579380989, + -0.25567615032196045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4520, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_318016052", + "mask_path": "../../mask/hdr_left_04520.png" + }, + { + "file_path": "../../rgb/hdr_left_04521.png", + "transform_matrix": [ + [ + -0.33494457602500916, + 0.030981099233031273, + 0.9417283535003662, + 4.605612754821777 + ], + [ + -0.9419609904289246, + 0.013214172795414925, + -0.3354620337486267, + 29.992460250854492 + ], + [ + -0.022837141528725624, + -0.9994326233863831, + 0.02475697174668312, + -0.2484551966190338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4521, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_418016672", + "mask_path": "../../mask/hdr_left_04521.png" + }, + { + "file_path": "../../rgb/hdr_left_04522.png", + "transform_matrix": [ + [ + -0.31951940059661865, + 0.03140610456466675, + 0.947059154510498, + 4.604195594787598 + ], + [ + -0.9474427103996277, + 0.006408714223653078, + -0.3198612928390503, + 29.935279846191406 + ], + [ + -0.01611502654850483, + -0.9994861483573914, + 0.027707774192094803, + -0.24112257361412048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4522, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_518016576", + "mask_path": "../../mask/hdr_left_04522.png" + }, + { + "file_path": "../../rgb/hdr_left_04523.png", + "transform_matrix": [ + [ + -0.30557703971862793, + 0.03466576710343361, + 0.9515361189842224, + 4.60513162612915 + ], + [ + -0.9520888328552246, + 0.0017044137930497527, + -0.3058166205883026, + 29.860931396484375 + ], + [ + -0.012223180383443832, + -0.9993975162506104, + 0.03248406574130058, + -0.2377493530511856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4523, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_618016958", + "mask_path": "../../mask/hdr_left_04523.png" + }, + { + "file_path": "../../rgb/hdr_left_04524.png", + "transform_matrix": [ + [ + -0.29455408453941345, + 0.03192630782723427, + 0.9551013112068176, + 4.604450225830078 + ], + [ + -0.9555701017379761, + 0.0017836750485002995, + -0.29475829005241394, + 29.781522750854492 + ], + [ + -0.011114135384559631, + -0.9994886517524719, + 0.029982436448335648, + -0.2416442483663559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4524, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_718016386", + "mask_path": "../../mask/hdr_left_04524.png" + }, + { + "file_path": "../../rgb/hdr_left_04525.png", + "transform_matrix": [ + [ + -0.288126140832901, + 0.024988234043121338, + 0.9572663903236389, + 4.60105562210083 + ], + [ + -0.9575556516647339, + 0.001246721250936389, + -0.2882457673549652, + 29.716840744018555 + ], + [ + -0.008396197110414505, + -0.9996870160102844, + 0.0235684122890234, + -0.24808022379875183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4525, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_818016290", + "mask_path": "../../mask/hdr_left_04525.png" + }, + { + "file_path": "../../rgb/hdr_left_04526.png", + "transform_matrix": [ + [ + -0.2862248420715332, + 0.02599368616938591, + 0.9578098058700562, + 4.595341205596924 + ], + [ + -0.958119809627533, + 0.0016630672616884112, + -0.2863626182079315, + 29.643632888793945 + ], + [ + -0.00903652235865593, + -0.9996607303619385, + 0.02442905679345131, + -0.2537964880466461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4526, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_918016672", + "mask_path": "../../mask/hdr_left_04526.png" + }, + { + "file_path": "../../rgb/hdr_left_04527.png", + "transform_matrix": [ + [ + -0.29178982973098755, + 0.028146307915449142, + 0.9560681581497192, + 4.586198806762695 + ], + [ + -0.9563833475112915, + 0.005802424158900976, + -0.2920568287372589, + 29.56623649597168 + ], + [ + -0.013767835684120655, + -0.9995870590209961, + 0.025225576013326645, + -0.25506865978240967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4527, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_18013954", + "mask_path": "../../mask/hdr_left_04527.png" + }, + { + "file_path": "../../rgb/hdr_left_04528.png", + "transform_matrix": [ + [ + -0.304471880197525, + 0.02387356199324131, + 0.9522221088409424, + 4.572787284851074 + ], + [ + -0.9524495601654053, + 0.004632867872714996, + -0.3046607971191406, + 29.500024795532227 + ], + [ + -0.011684858240187168, + -0.9997043013572693, + 0.02132778987288475, + -0.2454853504896164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4528, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_118016242", + "mask_path": "../../mask/hdr_left_04528.png" + }, + { + "file_path": "../../rgb/hdr_left_04529.png", + "transform_matrix": [ + [ + -0.3176145553588867, + 0.01926261931657791, + 0.9480242133140564, + 4.556058406829834 + ], + [ + -0.9482120871543884, + -0.0024080993607640266, + -0.3176285922527313, + 29.436250686645508 + ], + [ + -0.0038354224525392056, + -0.999811589717865, + 0.019029896706342697, + -0.23671570420265198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4529, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_218016624", + "mask_path": "../../mask/hdr_left_04529.png" + }, + { + "file_path": "../../rgb/hdr_left_04530.png", + "transform_matrix": [ + [ + -0.3277173340320587, + 0.012048065662384033, + 0.9446989893913269, + 4.542351245880127 + ], + [ + -0.9447718262672424, + -0.0012890129582956433, + -0.32772618532180786, + 29.358346939086914 + ], + [ + -0.002730737440288067, + -0.9999266266822815, + 0.011805105954408646, + -0.23215419054031372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4530, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_318016529", + "mask_path": "../../mask/hdr_left_04530.png" + }, + { + "file_path": "../../rgb/hdr_left_04531.png", + "transform_matrix": [ + [ + -0.3296634256839752, + 0.00492814602330327, + 0.9440856575965881, + 4.532124042510986 + ], + [ + -0.9440600872039795, + 0.007296905852854252, + -0.3296926021575928, + 29.276784896850586 + ], + [ + -0.0085136778652668, + -0.9999613165855408, + 0.002246946096420288, + -0.23797670006752014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4531, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_418017148", + "mask_path": "../../mask/hdr_left_04531.png" + }, + { + "file_path": "../../rgb/hdr_left_04532.png", + "transform_matrix": [ + [ + -0.3292141258716583, + 0.00026917713694274426, + 0.9442552924156189, + 4.51930570602417 + ], + [ + -0.9442276358604431, + 0.007561807055026293, + -0.3292066752910614, + 29.202627182006836 + ], + [ + -0.007228890433907509, + -0.9999713897705078, + -0.0022352873347699642, + -0.24683144688606262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4532, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_518015861", + "mask_path": "../../mask/hdr_left_04532.png" + }, + { + "file_path": "../../rgb/hdr_left_04533.png", + "transform_matrix": [ + [ + -0.3332599401473999, + 0.0005682128248736262, + 0.9428347945213318, + 4.497958183288574 + ], + [ + -0.9427641034126282, + 0.012064576148986816, + -0.3332422375679016, + 29.11949348449707 + ], + [ + -0.011564255692064762, + -0.9999271035194397, + -0.0034849452786147594, + -0.24571242928504944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4533, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_618016719", + "mask_path": "../../mask/hdr_left_04533.png" + }, + { + "file_path": "../../rgb/hdr_left_04534.png", + "transform_matrix": [ + [ + -0.3428601622581482, + 0.0023335148580372334, + 0.9393835663795471, + 4.477952480316162 + ], + [ + -0.9391981363296509, + 0.019168617203831673, + -0.3428401052951813, + 29.039560317993164 + ], + [ + -0.018806707113981247, + -0.9998136758804321, + -0.00438051950186491, + -0.2383141815662384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4534, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_718016624", + "mask_path": "../../mask/hdr_left_04534.png" + }, + { + "file_path": "../../rgb/hdr_left_04535.png", + "transform_matrix": [ + [ + -0.35545608401298523, + 0.0032607007306069136, + 0.9346872568130493, + 4.462283134460449 + ], + [ + -0.9345811605453491, + 0.014225839637219906, + -0.3554653525352478, + 28.975133895874023 + ], + [ + -0.014455779455602169, + -0.9998935461044312, + -0.0020092702470719814, + -0.2334434539079666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4535, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_818016767", + "mask_path": "../../mask/hdr_left_04535.png" + }, + { + "file_path": "../../rgb/hdr_left_04536.png", + "transform_matrix": [ + [ + -0.36489593982696533, + 0.00833287462592125, + 0.9310110211372375, + 4.447569370269775 + ], + [ + -0.9309608340263367, + 0.010436623357236385, + -0.3649697005748749, + 28.900798797607422 + ], + [ + -0.012757857330143452, + -0.999910831451416, + 0.003949299920350313, + -0.23204046487808228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4536, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_918017387", + "mask_path": "../../mask/hdr_left_04536.png" + }, + { + "file_path": "../../rgb/hdr_left_04537.png", + "transform_matrix": [ + [ + -0.36324048042297363, + 0.007103887852281332, + 0.9316682815551758, + 4.434230327606201 + ], + [ + -0.9316025376319885, + 0.011345467530190945, + -0.3633013367652893, + 28.81389808654785 + ], + [ + -0.013151065446436405, + -0.9999104142189026, + 0.0024968681391328573, + -0.23477265238761902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4537, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_18016099", + "mask_path": "../../mask/hdr_left_04537.png" + }, + { + "file_path": "../../rgb/hdr_left_04538.png", + "transform_matrix": [ + [ + -0.3552333116531372, + -0.0018014686647802591, + 0.9347758889198303, + 4.421412944793701 + ], + [ + -0.9347371459007263, + 0.009987980127334595, + -0.3551993668079376, + 28.727476119995117 + ], + [ + -0.008696642704308033, + -0.9999485015869141, + -0.005231959279626608, + -0.23782995343208313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4538, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_118013381", + "mask_path": "../../mask/hdr_left_04538.png" + }, + { + "file_path": "../../rgb/hdr_left_04539.png", + "transform_matrix": [ + [ + -0.3533211946487427, + -0.005787145812064409, + 0.9354841113090515, + 4.4037981033325195 + ], + [ + -0.9354636073112488, + 0.011256366968154907, + -0.35324376821517944, + 28.637083053588867 + ], + [ + -0.008485879749059677, + -0.9999200105667114, + -0.009390773251652718, + -0.23705995082855225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4539, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_218016862", + "mask_path": "../../mask/hdr_left_04539.png" + }, + { + "file_path": "../../rgb/hdr_left_04540.png", + "transform_matrix": [ + [ + -0.35992637276649475, + -0.012905464507639408, + 0.9328914880752563, + 4.377690315246582 + ], + [ + -0.9329649806022644, + 0.010774715803563595, + -0.359805703163147, + 28.55746841430664 + ], + [ + -0.005408180877566338, + -0.9998586773872375, + -0.015918446704745293, + -0.23100420832633972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4540, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_318016290", + "mask_path": "../../mask/hdr_left_04540.png" + }, + { + "file_path": "../../rgb/hdr_left_04541.png", + "transform_matrix": [ + [ + -0.3694002628326416, + -0.021141022443771362, + 0.9290298223495483, + 4.351379871368408 + ], + [ + -0.9292492270469666, + 0.0016579487128183246, + -0.3694497346878052, + 28.49043846130371 + ], + [ + 0.006270261015743017, + -0.9997751712799072, + -0.020257720723748207, + -0.2205583155155182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4541, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_418017148", + "mask_path": "../../mask/hdr_left_04541.png" + }, + { + "file_path": "../../rgb/hdr_left_04542.png", + "transform_matrix": [ + [ + -0.3711536228656769, + -0.02170160599052906, + 0.9283177852630615, + 4.333650588989258 + ], + [ + -0.9285545945167542, + 0.0026500981766730547, + -0.3711863160133362, + 28.412471771240234 + ], + [ + 0.005595205817371607, + -0.9997610449790955, + -0.021134721115231514, + -0.21838495135307312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4542, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_518016576", + "mask_path": "../../mask/hdr_left_04542.png" + }, + { + "file_path": "../../rgb/hdr_left_04543.png", + "transform_matrix": [ + [ + -0.35889190435409546, + -0.024916084483265877, + 0.9330465197563171, + 4.320642948150635 + ], + [ + -0.9333789348602295, + 0.01012430526316166, + -0.3587494492530823, + 28.328134536743164 + ], + [ + -0.0005078165559098125, + -0.9996383786201477, + -0.026889678090810776, + -0.2248668670654297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4543, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_618016242", + "mask_path": "../../mask/hdr_left_04543.png" + }, + { + "file_path": "../../rgb/hdr_left_04544.png", + "transform_matrix": [ + [ + -0.3378201425075531, + -0.027194295078516006, + 0.9408178329467773, + 4.308632850646973 + ], + [ + -0.9412100911140442, + 0.010775669477880001, + -0.3376496136188507, + 28.243135452270508 + ], + [ + -0.0009557985467836261, + -0.9995721578598022, + -0.029235780239105225, + -0.22921901941299438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4544, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_718016624", + "mask_path": "../../mask/hdr_left_04544.png" + }, + { + "file_path": "../../rgb/hdr_left_04545.png", + "transform_matrix": [ + [ + -0.3235841989517212, + -0.026040734723210335, + 0.9458408951759338, + 4.287554740905762 + ], + [ + -0.9461991786956787, + 0.009454363957047462, + -0.32344645261764526, + 28.153608322143555 + ], + [ + -0.0005195416742935777, + -0.9996162056922913, + -0.027699004858732224, + -0.22271783649921417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4545, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_818016767", + "mask_path": "../../mask/hdr_left_04545.png" + }, + { + "file_path": "../../rgb/hdr_left_04546.png", + "transform_matrix": [ + [ + -0.3204088509082794, + -0.02380574494600296, + 0.9469801783561707, + 4.262997150421143 + ], + [ + -0.9472788572311401, + 0.009021585807204247, + -0.3202831447124481, + 28.0775203704834 + ], + [ + -0.0009186840616166592, + -0.999675989151001, + -0.02544127032160759, + -0.2177170217037201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4546, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_918016195", + "mask_path": "../../mask/hdr_left_04546.png" + }, + { + "file_path": "../../rgb/hdr_left_04547.png", + "transform_matrix": [ + [ + -0.3178884983062744, + -0.02155178412795067, + 0.9478830695152283, + 4.249945640563965 + ], + [ + -0.9481220245361328, + 0.0036718726623803377, + -0.3178851306438446, + 28.011615753173828 + ], + [ + 0.0033704855013638735, + -0.9997609853744507, + -0.021600965410470963, + -0.2172471433877945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4547, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_18015861", + "mask_path": "../../mask/hdr_left_04547.png" + }, + { + "file_path": "../../rgb/hdr_left_04548.png", + "transform_matrix": [ + [ + -0.30487287044525146, + -0.02191181294620037, + 0.9521409869194031, + 4.2469940185546875 + ], + [ + -0.9523923993110657, + 0.005910894833505154, + -0.3048173785209656, + 27.935285568237305 + ], + [ + 0.0010510965948924422, + -0.9997425079345703, + -0.022670717909932137, + -0.2192654311656952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4548, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_118017673", + "mask_path": "../../mask/hdr_left_04548.png" + }, + { + "file_path": "../../rgb/hdr_left_04549.png", + "transform_matrix": [ + [ + -0.284420907497406, + -0.027475347742438316, + 0.9583057761192322, + 4.248662948608398 + ], + [ + -0.9586837291717529, + 0.01387003157287836, + -0.2841354310512543, + 27.85812759399414 + ], + [ + -0.005485011264681816, + -0.9995262622833252, + -0.030285095795989037, + -0.22620540857315063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4549, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_218017816", + "mask_path": "../../mask/hdr_left_04549.png" + }, + { + "file_path": "../../rgb/hdr_left_04550.png", + "transform_matrix": [ + [ + -0.262398362159729, + -0.02815946936607361, + 0.964548647403717, + 4.252066135406494 + ], + [ + -0.9649479985237122, + 0.012577159330248833, + -0.26213982701301575, + 27.782379150390625 + ], + [ + -0.004749564919620752, + -0.9995243549346924, + -0.030472641810774803, + -0.2319764494895935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4550, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_318017482", + "mask_path": "../../mask/hdr_left_04550.png" + }, + { + "file_path": "../../rgb/hdr_left_04551.png", + "transform_matrix": [ + [ + -0.24207593500614166, + -0.01913103461265564, + 0.970068633556366, + 4.254940986633301 + ], + [ + -0.9702041149139404, + 0.015235785394906998, + -0.24180924892425537, + 27.69839859008789 + ], + [ + -0.010153695940971375, + -0.9997009038925171, + -0.02224922552704811, + -0.23107609152793884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4551, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_418018579", + "mask_path": "../../mask/hdr_left_04551.png" + }, + { + "file_path": "../../rgb/hdr_left_04552.png", + "transform_matrix": [ + [ + -0.23074479401111603, + -0.008680896833539009, + 0.9729755520820618, + 4.25748872756958 + ], + [ + -0.9729106426239014, + 0.016650643199682236, + -0.23058085143566132, + 27.6195011138916 + ], + [ + -0.014199021272361279, + -0.9998237490653992, + -0.01228778064250946, + -0.22414612770080566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4552, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_518017768", + "mask_path": "../../mask/hdr_left_04552.png" + }, + { + "file_path": "../../rgb/hdr_left_04553.png", + "transform_matrix": [ + [ + -0.2259744256734848, + -0.0013477092143148184, + 0.974132239818573, + 4.261153697967529 + ], + [ + -0.974089503288269, + 0.009789054282009602, + -0.2259509414434433, + 27.55052375793457 + ], + [ + -0.009231318719685078, + -0.9999512434005737, + -0.003524864325299859, + -0.21421612799167633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4553, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_618017196", + "mask_path": "../../mask/hdr_left_04553.png" + }, + { + "file_path": "../../rgb/hdr_left_04554.png", + "transform_matrix": [ + [ + -0.21833769977092743, + 0.0006625692476518452, + 0.9758729934692383, + 4.269777774810791 + ], + [ + -0.9758489727973938, + 0.006900046020746231, + -0.2183370143175125, + 27.477724075317383 + ], + [ + -0.006878232583403587, + -0.9999760389328003, + -0.0008599700522609055, + -0.2138652503490448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4554, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_718018293", + "mask_path": "../../mask/hdr_left_04554.png" + }, + { + "file_path": "../../rgb/hdr_left_04555.png", + "transform_matrix": [ + [ + -0.20317965745925903, + -0.007241202052682638, + 0.9791147112846375, + 4.276513576507568 + ], + [ + -0.9791193604469299, + 0.00821579247713089, + -0.20311984419822693, + 27.404865264892578 + ], + [ + -0.006573372054845095, + -0.9999400973320007, + -0.008759280666708946, + -0.223197802901268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4555, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_818017244", + "mask_path": "../../mask/hdr_left_04555.png" + }, + { + "file_path": "../../rgb/hdr_left_04556.png", + "transform_matrix": [ + [ + -0.18437989056110382, + -0.006449871696531773, + 0.9828338027000427, + 4.28289794921875 + ], + [ + -0.9828023910522461, + 0.011564360931515694, + -0.1842980980873108, + 27.332889556884766 + ], + [ + -0.010177145712077618, + -0.9999123811721802, + -0.008471181616187096, + -0.2355646938085556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4556, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_918018102", + "mask_path": "../../mask/hdr_left_04556.png" + }, + { + "file_path": "../../rgb/hdr_left_04557.png", + "transform_matrix": [ + [ + -0.17268802225589752, + -0.0013945747632533312, + 0.9849755167961121, + 4.283664703369141 + ], + [ + -0.9849054217338562, + 0.012263654731214046, + -0.17265836894512177, + 27.25128746032715 + ], + [ + -0.011838615871965885, + -0.9999238848686218, + -0.003491308307275176, + -0.23719379305839539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4557, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_18017530", + "mask_path": "../../mask/hdr_left_04557.png" + }, + { + "file_path": "../../rgb/hdr_left_04558.png", + "transform_matrix": [ + [ + -0.17173241078853607, + -0.00026066918508149683, + 0.9851436018943787, + 4.2794623374938965 + ], + [ + -0.9850658774375916, + 0.012612352147698402, + -0.17171552777290344, + 27.180728912353516 + ], + [ + -0.012380216270685196, + -0.9999204277992249, + -0.002422724151983857, + -0.22296112775802612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4558, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_118018627", + "mask_path": "../../mask/hdr_left_04558.png" + }, + { + "file_path": "../../rgb/hdr_left_04559.png", + "transform_matrix": [ + [ + -0.17477673292160034, + 0.004212359897792339, + 0.9845991134643555, + 4.281798362731934 + ], + [ + -0.984562337398529, + 0.008892735466361046, + -0.17480826377868652, + 27.123674392700195 + ], + [ + -0.009492134675383568, + -0.9999516010284424, + 0.002593090059235692, + -0.21662452816963196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4559, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_218018054", + "mask_path": "../../mask/hdr_left_04559.png" + }, + { + "file_path": "../../rgb/hdr_left_04560.png", + "transform_matrix": [ + [ + -0.174669548869133, + 0.0036778426729142666, + 0.984620213508606, + 4.288539886474609 + ], + [ + -0.9845815300941467, + 0.008961774408817291, + -0.174696147441864, + 27.052677154541016 + ], + [ + -0.009466450661420822, + -0.9999530911445618, + 0.002055790275335312, + -0.21774160861968994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4560, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_318017721", + "mask_path": "../../mask/hdr_left_04560.png" + }, + { + "file_path": "../../rgb/hdr_left_04561.png", + "transform_matrix": [ + [ + -0.16896390914916992, + -0.0011010158341377974, + 0.9856215715408325, + 4.292519569396973 + ], + [ + -0.9855332970619202, + 0.013621249236166477, + -0.16893355548381805, + 26.9743595123291 + ], + [ + -0.01323939859867096, + -0.9999067187309265, + -0.003386583412066102, + -0.22694452106952667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4561, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_418017148", + "mask_path": "../../mask/hdr_left_04561.png" + }, + { + "file_path": "../../rgb/hdr_left_04562.png", + "transform_matrix": [ + [ + -0.1633278876543045, + 0.0009546545334160328, + 0.9865713715553284, + 4.2945685386657715 + ], + [ + -0.9864709377288818, + 0.014144165441393852, + -0.16332495212554932, + 26.903270721435547 + ], + [ + -0.014110147021710873, + -0.9998995661735535, + -0.0013683965662494302, + -0.2415347397327423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4562, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_518018245", + "mask_path": "../../mask/hdr_left_04562.png" + }, + { + "file_path": "../../rgb/hdr_left_04563.png", + "transform_matrix": [ + [ + -0.1634114533662796, + -0.0002201110328314826, + 0.9865579605102539, + 4.290600776672363 + ], + [ + -0.9864814877510071, + 0.012493378482758999, + -0.1633959859609604, + 26.824512481689453 + ], + [ + -0.01228947564959526, + -0.999921977519989, + -0.0022586951963603497, + -0.24497714638710022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4563, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_618017196", + "mask_path": "../../mask/hdr_left_04563.png" + }, + { + "file_path": "../../rgb/hdr_left_04564.png", + "transform_matrix": [ + [ + -0.17183701694011688, + -0.003757801838219166, + 0.9851181507110596, + 4.281840801239014 + ], + [ + -0.9850867390632629, + 0.009509822353720665, + -0.17179524898529053, + 26.748823165893555 + ], + [ + -0.008722728118300438, + -0.9999477863311768, + -0.0053358967415988445, + -0.23300200700759888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4564, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_718017816", + "mask_path": "../../mask/hdr_left_04564.png" + }, + { + "file_path": "../../rgb/hdr_left_04565.png", + "transform_matrix": [ + [ + -0.18588323891162872, + -0.003702278947457671, + 0.9825648069381714, + 4.276983737945557 + ], + [ + -0.9825654625892639, + 0.004288078751415014, + -0.18586720526218414, + 26.68887710571289 + ], + [ + -0.003525183303281665, + -0.9999839663505554, + -0.004434812348335981, + -0.22947603464126587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4565, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_818017482", + "mask_path": "../../mask/hdr_left_04565.png" + }, + { + "file_path": "../../rgb/hdr_left_04566.png", + "transform_matrix": [ + [ + -0.1943150907754898, + -0.002856677630916238, + 0.9809349179267883, + 4.279354572296143 + ], + [ + -0.9809390306472778, + 0.0008765021339058876, + -0.19431336224079132, + 26.616004943847656 + ], + [ + -0.0003047018253710121, + -0.9999955892562866, + -0.0029725409112870693, + -0.23090386390686035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4566, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_918017148", + "mask_path": "../../mask/hdr_left_04566.png" + }, + { + "file_path": "../../rgb/hdr_left_04567.png", + "transform_matrix": [ + [ + -0.1901262104511261, + -0.0056847878731787205, + 0.9817431569099426, + 4.289207935333252 + ], + [ + -0.9817585349082947, + -0.0003963122144341469, + -0.19013147056102753, + 26.528135299682617 + ], + [ + 0.00146993319503963, + -0.9999838471412659, + -0.005505736917257309, + -0.23207612335681915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4567, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_18016576", + "mask_path": "../../mask/hdr_left_04567.png" + }, + { + "file_path": "../../rgb/hdr_left_04568.png", + "transform_matrix": [ + [ + -0.18168754875659943, + -0.007211232557892799, + 0.9833298325538635, + 4.302215576171875 + ], + [ + -0.9833402037620544, + -0.004384811036288738, + -0.18172161281108856, + 26.4478702545166 + ], + [ + 0.005622151307761669, + -0.9999644160270691, + -0.0062944237142801285, + -0.2376638948917389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4568, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_118017196", + "mask_path": "../../mask/hdr_left_04568.png" + }, + { + "file_path": "../../rgb/hdr_left_04569.png", + "transform_matrix": [ + [ + -0.17972633242607117, + -0.00656748516485095, + 0.9836947321891785, + 4.309000015258789 + ], + [ + -0.9837079048156738, + -0.0030082366429269314, + -0.17974881827831268, + 26.37038803100586 + ], + [ + 0.004139683675020933, + -0.9999739527702332, + -0.005919824354350567, + -0.24131131172180176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4569, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_218013286", + "mask_path": "../../mask/hdr_left_04569.png" + }, + { + "file_path": "../../rgb/hdr_left_04570.png", + "transform_matrix": [ + [ + -0.18453028798103333, + -0.008510547690093517, + 0.9827900528907776, + 4.3084211349487305 + ], + [ + -0.9828261137008667, + 0.00041652124491520226, + -0.18453344702720642, + 26.294588088989258 + ], + [ + 0.0011611275840550661, + -0.9999637603759766, + -0.00844124797731638, + -0.23434484004974365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4570, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_318016290", + "mask_path": "../../mask/hdr_left_04570.png" + }, + { + "file_path": "../../rgb/hdr_left_04571.png", + "transform_matrix": [ + [ + -0.19299381971359253, + -0.009007291868329048, + 0.9811585545539856, + 4.305782794952393 + ], + [ + -0.9811838269233704, + -0.00396385882049799, + -0.19303518533706665, + 26.225547790527344 + ], + [ + 0.005627897568047047, + -0.9999516010284424, + -0.008072806522250175, + -0.22699852287769318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4571, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_418016195", + "mask_path": "../../mask/hdr_left_04571.png" + }, + { + "file_path": "../../rgb/hdr_left_04572.png", + "transform_matrix": [ + [ + -0.19887369871139526, + -0.007175344508141279, + 0.979998767375946, + 4.307165145874023 + ], + [ + -0.9799959063529968, + -0.006255463697016239, + -0.1989189088344574, + 26.14784049987793 + ], + [ + 0.007557658478617668, + -0.9999547600746155, + -0.005787757225334644, + -0.22810402512550354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4572, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_518015623", + "mask_path": "../../mask/hdr_left_04572.png" + }, + { + "file_path": "../../rgb/hdr_left_04573.png", + "transform_matrix": [ + [ + -0.19690954685211182, + -0.008942930027842522, + 0.9803808927536011, + 4.313322067260742 + ], + [ + -0.9803972840309143, + -0.005247330758720636, + -0.1969607174396515, + 26.055662155151367 + ], + [ + 0.006905787158757448, + -0.9999462962150574, + -0.007734372746199369, + -0.23589153587818146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4573, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_618015289", + "mask_path": "../../mask/hdr_left_04573.png" + }, + { + "file_path": "../../rgb/hdr_left_04574.png", + "transform_matrix": [ + [ + -0.1910296380519867, + -0.013605616055428982, + 0.981489896774292, + 4.319394111633301 + ], + [ + -0.9815452098846436, + -0.006266788579523563, + -0.19112728536128998, + 25.969947814941406 + ], + [ + 0.00875119399279356, + -0.9998878240585327, + -0.012157382443547249, + -0.24453337490558624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4574, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_718016862", + "mask_path": "../../mask/hdr_left_04574.png" + }, + { + "file_path": "../../rgb/hdr_left_04575.png", + "transform_matrix": [ + [ + -0.19084987044334412, + -0.013293012045323849, + 0.9815292358398438, + 4.318114757537842 + ], + [ + -0.9815775156021118, + -0.006632237695157528, + -0.19094908237457275, + 25.880361557006836 + ], + [ + 0.009048023261129856, + -0.9998896718025208, + -0.011782356537878513, + -0.2468256652355194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4575, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_818017244", + "mask_path": "../../mask/hdr_left_04575.png" + }, + { + "file_path": "../../rgb/hdr_left_04576.png", + "transform_matrix": [ + [ + -0.20194901525974274, + -0.01545434445142746, + 0.9792741537094116, + 4.311953067779541 + ], + [ + -0.9793263673782349, + -0.00873254332691431, + -0.20209760963916779, + 25.791793823242188 + ], + [ + 0.01167483814060688, + -0.9998425245285034, + -0.013371319510042667, + -0.23010200262069702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4576, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_918017625", + "mask_path": "../../mask/hdr_left_04576.png" + }, + { + "file_path": "../../rgb/hdr_left_04577.png", + "transform_matrix": [ + [ + -0.2214992195367813, + -0.019513875246047974, + 0.9749652743339539, + 4.303580284118652 + ], + [ + -0.9749337434768677, + -0.017127832397818565, + -0.22183488309383392, + 25.72476577758789 + ], + [ + 0.021027900278568268, + -0.9996629357337952, + -0.0152309350669384, + -0.20217162370681763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4577, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_18017292", + "mask_path": "../../mask/hdr_left_04577.png" + }, + { + "file_path": "../../rgb/hdr_left_04578.png", + "transform_matrix": [ + [ + -0.2345498651266098, + -0.018178872764110565, + 0.9719340801239014, + 4.294861793518066 + ], + [ + -0.9718589186668396, + -0.018066802993416786, + -0.23486964404582977, + 25.650014877319336 + ], + [ + 0.021829405799508095, + -0.9996715188026428, + -0.013429734855890274, + -0.19682705402374268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4578, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_118017673", + "mask_path": "../../mask/hdr_left_04578.png" + }, + { + "file_path": "../../rgb/hdr_left_04579.png", + "transform_matrix": [ + [ + -0.23316533863544464, + -0.01937023550271988, + 0.9722442030906677, + 4.2954421043396 + ], + [ + -0.9722467660903931, + -0.01513278391212225, + -0.2334674745798111, + 25.561038970947266 + ], + [ + 0.019235078245401382, + -0.9996978640556335, + -0.015304205007851124, + -0.2044547200202942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4579, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_218017816", + "mask_path": "../../mask/hdr_left_04579.png" + }, + { + "file_path": "../../rgb/hdr_left_04580.png", + "transform_matrix": [ + [ + -0.22423884272575378, + -0.016980508342385292, + 0.9743862748146057, + 4.296297073364258 + ], + [ + -0.974292516708374, + -0.01835714466869831, + -0.224537193775177, + 25.47842788696289 + ], + [ + 0.021699700504541397, + -0.9996873736381531, + -0.01242759544402361, + -0.21233808994293213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4580, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_318017959", + "mask_path": "../../mask/hdr_left_04580.png" + }, + { + "file_path": "../../rgb/hdr_left_04581.png", + "transform_matrix": [ + [ + -0.22704778611660004, + -0.013864108361303806, + 0.973784863948822, + 4.29125452041626 + ], + [ + -0.9737100005149841, + -0.0156507957726717, + -0.22725313901901245, + 25.405977249145508 + ], + [ + 0.018391167744994164, + -0.9997814893722534, + -0.009946140460669994, + -0.212519109249115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4581, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_418016910", + "mask_path": "../../mask/hdr_left_04581.png" + }, + { + "file_path": "../../rgb/hdr_left_04582.png", + "transform_matrix": [ + [ + -0.24025537073612213, + -0.012101159431040287, + 0.9706342816352844, + 4.281803131103516 + ], + [ + -0.9706392288208008, + -0.00905368011444807, + -0.24036948382854462, + 25.34181785583496 + ], + [ + 0.011696560308337212, + -0.9998859167098999, + -0.009570660069584846, + -0.2052386999130249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4582, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_518017292", + "mask_path": "../../mask/hdr_left_04582.png" + }, + { + "file_path": "../../rgb/hdr_left_04583.png", + "transform_matrix": [ + [ + -0.24944643676280975, + -0.00929577462375164, + 0.9683438539505005, + 4.27870512008667 + ], + [ + -0.9683381915092468, + -0.007801014930009842, + -0.24951986968517303, + 25.27337646484375 + ], + [ + 0.009873545728623867, + -0.9999263882637024, + -0.0070555140264332294, + -0.20006036758422852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4583, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_618017196", + "mask_path": "../../mask/hdr_left_04583.png" + }, + { + "file_path": "../../rgb/hdr_left_04584.png", + "transform_matrix": [ + [ + -0.2475835382938385, + -0.0027639311738312244, + 0.9688626527786255, + 4.286492347717285 + ], + [ + -0.9688466191291809, + -0.0057018413208425045, + -0.24759569764137268, + 25.190143585205078 + ], + [ + 0.0062086377292871475, + -0.9999799728393555, + -0.001266143168322742, + -0.2091589868068695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4584, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_718016862", + "mask_path": "../../mask/hdr_left_04584.png" + }, + { + "file_path": "../../rgb/hdr_left_04585.png", + "transform_matrix": [ + [ + -0.23647819459438324, + 0.0028182766400277615, + 0.9716326594352722, + 4.297732353210449 + ], + [ + -0.9716224074363708, + -0.0061170258559286594, + -0.2364579737186432, + 25.10150718688965 + ], + [ + 0.005277096293866634, + -0.9999773502349854, + 0.004184846766293049, + -0.21721771359443665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4585, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_818016290", + "mask_path": "../../mask/hdr_left_04585.png" + }, + { + "file_path": "../../rgb/hdr_left_04586.png", + "transform_matrix": [ + [ + -0.22782199084758759, + 0.0072309416718780994, + 0.9736759066581726, + 4.3097243309021 + ], + [ + -0.9736980199813843, + -0.004802752751857042, + -0.22779150307178497, + 25.020463943481445 + ], + [ + 0.0030291767325252295, + -0.999962329864502, + 0.008134930394589901, + -0.22069145739078522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4586, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_918016910", + "mask_path": "../../mask/hdr_left_04586.png" + }, + { + "file_path": "../../rgb/hdr_left_04587.png", + "transform_matrix": [ + [ + -0.23359103500843048, + 0.012380754575133324, + 0.9722561240196228, + 4.3128180503845215 + ], + [ + -0.9723296761512756, + 0.0002904165303334594, + -0.23361241817474365, + 24.945329666137695 + ], + [ + -0.0031746577005833387, + -0.9999234080314636, + 0.0119703384116292, + -0.2203274518251419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4587, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228600_18016338", + "mask_path": "../../mask/hdr_left_04587.png" + }, + { + "file_path": "../../rgb/hdr_left_04588.png", + "transform_matrix": [ + [ + -0.25274282693862915, + 0.011146697215735912, + 0.9674692749977112, + 4.303617000579834 + ], + [ + -0.9675333499908447, + -0.0033669539261609316, + -0.25272077322006226, + 24.877025604248047 + ], + [ + 0.000440421310486272, + -0.9999322891235352, + 0.011635777540504932, + -0.20090146362781525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4588, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228600_118018865", + "mask_path": "../../mask/hdr_left_04588.png" + }, + { + "file_path": "../../rgb/hdr_left_04589.png", + "transform_matrix": [ + [ + -0.26962801814079285, + 0.00920741818845272, + 0.9629204869270325, + 4.294130325317383 + ], + [ + -0.9629314541816711, + -0.010855997912585735, + -0.26952728629112244, + 24.80376625061035 + ], + [ + 0.007971812039613724, + -0.9998987913131714, + 0.011793198995292187, + -0.1913081407546997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4589, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228600_218016862", + "mask_path": "../../mask/hdr_left_04589.png" + }, + { + "file_path": "../../rgb/hdr_right_04436.png", + "transform_matrix": [ + [ + 0.003132505575194955, + -0.0016750054201111197, + -0.9999937415122986, + 5.987874507904053 + ], + [ + 0.9999765753746033, + -0.006077387370169163, + 0.0031426537316292524, + 34.69274139404297 + ], + [ + -0.00608261302113533, + -0.999980092048645, + 0.0016559286741539836, + -0.22950968146324158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4436, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_18017530", + "mask_path": "../../mask/hdr_right_04436.png" + }, + { + "file_path": "../../rgb/hdr_right_04437.png", + "transform_matrix": [ + [ + -0.0006129439570941031, + -0.014709978364408016, + -0.9998916387557983, + 5.977446556091309 + ], + [ + 0.9999944567680359, + -0.0032648546621203423, + -0.0005649436498060822, + 34.603214263916016 + ], + [ + -0.003256190102547407, + -0.9998864531517029, + 0.014711896888911724, + -0.2324841022491455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4437, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_118017911", + "mask_path": "../../mask/hdr_right_04437.png" + }, + { + "file_path": "../../rgb/hdr_right_04438.png", + "transform_matrix": [ + [ + -0.006091998890042305, + -0.019461989402770996, + -0.9997920989990234, + 5.972848892211914 + ], + [ + 0.9999622702598572, + -0.006312709301710129, + -0.005970124155282974, + 34.53253936767578 + ], + [ + -0.0061952052637934685, + -0.9997906684875488, + 0.019499707967042923, + -0.23903138935565948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4438, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_218018293", + "mask_path": "../../mask/hdr_right_04438.png" + }, + { + "file_path": "../../rgb/hdr_right_04439.png", + "transform_matrix": [ + [ + -0.006972292438149452, + -0.015493608079850674, + -0.999855637550354, + 5.960982322692871 + ], + [ + 0.9999530911445618, + -0.006828234996646643, + -0.006867148447781801, + 34.45210266113281 + ], + [ + -0.006720851641148329, + -0.9998566508293152, + 0.015540490858256817, + -0.2403714805841446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4439, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_318017959", + "mask_path": "../../mask/hdr_right_04439.png" + }, + { + "file_path": "../../rgb/hdr_right_04440.png", + "transform_matrix": [ + [ + 0.0006667866255156696, + -0.010308307595551014, + -0.999946653842926, + 5.938277721405029 + ], + [ + 0.9999931454658508, + -0.003658561035990715, + 0.0007045238744467497, + 34.36143493652344 + ], + [ + -0.003665628144517541, + -0.9999401569366455, + 0.01030579674988985, + -0.2314782440662384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4440, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_418017387", + "mask_path": "../../mask/hdr_right_04440.png" + }, + { + "file_path": "../../rgb/hdr_right_04441.png", + "transform_matrix": [ + [ + 0.014353785663843155, + -0.00899660587310791, + -0.9998565316200256, + 5.920331001281738 + ], + [ + 0.9998737573623657, + -0.006674165837466717, + 0.014414139091968536, + 34.288150787353516 + ], + [ + -0.006802885793149471, + -0.9999372363090515, + 0.008899671025574207, + -0.22135049104690552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4441, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_518017292", + "mask_path": "../../mask/hdr_right_04441.png" + }, + { + "file_path": "../../rgb/hdr_right_04442.png", + "transform_matrix": [ + [ + 0.0260369423776865, + -0.007733981125056744, + -0.9996311664581299, + 5.90343713760376 + ], + [ + 0.9995746612548828, + -0.012939326465129852, + 0.02613561600446701, + 34.218482971191406 + ], + [ + -0.013136683963239193, + -0.9998863935470581, + 0.007393789477646351, + -0.21363168954849243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4442, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_618017673", + "mask_path": "../../mask/hdr_right_04442.png" + }, + { + "file_path": "../../rgb/hdr_right_04443.png", + "transform_matrix": [ + [ + 0.03169482946395874, + -0.010686993598937988, + -0.9994405508041382, + 5.887032985687256 + ], + [ + 0.9994040131568909, + -0.013344853185117245, + 0.0318363755941391, + 34.1353645324707 + ], + [ + -0.013677621260285378, + -0.9998538494110107, + 0.010257660411298275, + -0.21057242155075073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4443, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_718018770", + "mask_path": "../../mask/hdr_right_04443.png" + }, + { + "file_path": "../../rgb/hdr_right_04444.png", + "transform_matrix": [ + [ + 0.029414022341370583, + -0.017779584974050522, + -0.9994091987609863, + 5.873656272888184 + ], + [ + 0.9995409250259399, + -0.006735685747116804, + 0.029537739232182503, + 34.057090759277344 + ], + [ + -0.007256874814629555, + -0.9998191595077515, + 0.017573298886418343, + -0.22068475186824799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4444, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_818017244", + "mask_path": "../../mask/hdr_right_04444.png" + }, + { + "file_path": "../../rgb/hdr_right_04445.png", + "transform_matrix": [ + [ + 0.02682984247803688, + -0.021500566974282265, + -0.9994087219238281, + 5.865307331085205 + ], + [ + 0.9996183514595032, + -0.006000174675136805, + 0.026964593678712845, + 33.98859786987305 + ], + [ + -0.006576381158083677, + -0.9997507929801941, + 0.02133137360215187, + -0.22416841983795166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4445, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228587_918018102", + "mask_path": "../../mask/hdr_right_04445.png" + }, + { + "file_path": "../../rgb/hdr_right_04446.png", + "transform_matrix": [ + [ + 0.028895970433950424, + -0.014047855511307716, + -0.9994837045669556, + 5.850581169128418 + ], + [ + 0.9995810389518738, + -0.0013105180114507675, + 0.02891719713807106, + 33.91053771972656 + ], + [ + -0.0017160656861960888, + -0.9999004602432251, + 0.014004101045429707, + -0.22486644983291626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4446, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_18017768", + "mask_path": "../../mask/hdr_right_04446.png" + }, + { + "file_path": "../../rgb/hdr_right_04447.png", + "transform_matrix": [ + [ + 0.037696026265621185, + -0.003973934333771467, + -0.9992814064025879, + 5.829836845397949 + ], + [ + 0.9992551207542419, + 0.008423036895692348, + 0.037661533802747726, + 33.83234405517578 + ], + [ + 0.00826731976121664, + -0.9999566674232483, + 0.004288488533347845, + -0.22805488109588623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4447, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_118017911", + "mask_path": "../../mask/hdr_right_04447.png" + }, + { + "file_path": "../../rgb/hdr_right_04448.png", + "transform_matrix": [ + [ + 0.04796575382351875, + -0.0021829355973750353, + -0.9988466501235962, + 5.812989711761475 + ], + [ + 0.9988026022911072, + 0.009740650653839111, + 0.0479423962533474, + 33.76848220825195 + ], + [ + 0.00962476059794426, + -0.9999501705169678, + 0.0026475400663912296, + -0.22417625784873962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4448, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_218016862", + "mask_path": "../../mask/hdr_right_04448.png" + }, + { + "file_path": "../../rgb/hdr_right_04449.png", + "transform_matrix": [ + [ + 0.05698913335800171, + 0.0006535445572808385, + -0.9983746409416199, + 5.797891139984131 + ], + [ + 0.9983534216880798, + 0.006509121507406235, + 0.05699223279953003, + 33.7001953125 + ], + [ + 0.0065357880666852, + -0.9999786019325256, + -0.00028152039158158004, + -0.22135993838310242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4449, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_318015575", + "mask_path": "../../mask/hdr_right_04449.png" + }, + { + "file_path": "../../rgb/hdr_right_04450.png", + "transform_matrix": [ + [ + 0.06031088903546333, + -0.003468516282737255, + -0.998173713684082, + 5.781177520751953 + ], + [ + 0.9981022477149963, + 0.01266578957438469, + 0.06026257202029228, + 33.61829376220703 + ], + [ + 0.01243363507091999, + -0.9999138116836548, + 0.004225818905979395, + -0.224384605884552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4450, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_418016672", + "mask_path": "../../mask/hdr_right_04450.png" + }, + { + "file_path": "../../rgb/hdr_right_04451.png", + "transform_matrix": [ + [ + 0.05698946863412857, + -0.012490970082581043, + -0.9982966780662537, + 5.767768383026123 + ], + [ + 0.9981062412261963, + 0.023905260488390923, + 0.05667949840426445, + 33.54632568359375 + ], + [ + 0.023156560957431793, + -0.999636173248291, + 0.013829663395881653, + -0.23710991442203522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4451, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_518017530", + "mask_path": "../../mask/hdr_right_04451.png" + }, + { + "file_path": "../../rgb/hdr_right_04452.png", + "transform_matrix": [ + [ + 0.05316133797168732, + -0.01311937253922224, + -0.9984997510910034, + 5.757015228271484 + ], + [ + 0.9983379244804382, + 0.022985221818089485, + 0.05285074561834335, + 33.47581481933594 + ], + [ + 0.022257370874285698, + -0.9996496438980103, + 0.014319492504000664, + -0.24318374693393707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4452, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_618017911", + "mask_path": "../../mask/hdr_right_04452.png" + }, + { + "file_path": "../../rgb/hdr_right_04453.png", + "transform_matrix": [ + [ + 0.05264255031943321, + -0.007450945675373077, + -0.99858558177948, + 5.743083477020264 + ], + [ + 0.998345136642456, + 0.023568937554955482, + 0.05245404690504074, + 33.391387939453125 + ], + [ + 0.02314477041363716, + -0.9996944665908813, + 0.008679344318807125, + -0.24570602178573608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4453, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_718016862", + "mask_path": "../../mask/hdr_right_04453.png" + }, + { + "file_path": "../../rgb/hdr_right_04454.png", + "transform_matrix": [ + [ + 0.06166885420680046, + -0.00023812492145225406, + -0.9980967044830322, + 5.724132061004639 + ], + [ + 0.9977307319641113, + 0.027090022340416908, + 0.06163981184363365, + 33.30934143066406 + ], + [ + 0.02702377922832966, + -0.9996329545974731, + 0.0019081947393715382, + -0.2397160828113556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4454, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_818017244", + "mask_path": "../../mask/hdr_right_04454.png" + }, + { + "file_path": "../../rgb/hdr_right_04455.png", + "transform_matrix": [ + [ + 0.07506527751684189, + 0.0033536991104483604, + -0.997173011302948, + 5.703366756439209 + ], + [ + 0.9968409538269043, + 0.025770697742700577, + 0.07512699067592621, + 33.2408447265625 + ], + [ + 0.02594979666173458, + -0.9996622204780579, + -0.001408620155416429, + -0.23051762580871582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4455, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228588_918017387", + "mask_path": "../../mask/hdr_right_04455.png" + }, + { + "file_path": "../../rgb/hdr_right_04456.png", + "transform_matrix": [ + [ + 0.0865568071603775, + 0.004485840909183025, + -0.9962368011474609, + 5.683063983917236 + ], + [ + 0.9960438013076782, + 0.019806943833827972, + 0.0866292342543602, + 33.17618942260742 + ], + [ + 0.0201210118830204, + -0.9997937679290771, + -0.002753667999058962, + -0.230808824300766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4456, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_18018722", + "mask_path": "../../mask/hdr_right_04456.png" + }, + { + "file_path": "../../rgb/hdr_right_04457.png", + "transform_matrix": [ + [ + 0.09280388057231903, + 0.002106589963659644, + -0.9956822991371155, + 5.663326740264893 + ], + [ + 0.9955877065658569, + 0.013743426650762558, + 0.09282415360212326, + 33.09172821044922 + ], + [ + 0.013879628852009773, + -0.9999033808708191, + -0.0008218531729653478, + -0.22930310666561127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4457, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_118017435", + "mask_path": "../../mask/hdr_right_04457.png" + }, + { + "file_path": "../../rgb/hdr_right_04458.png", + "transform_matrix": [ + [ + 0.08989059180021286, + -0.002841808134689927, + -0.9959476590156555, + 5.651083946228027 + ], + [ + 0.9958785772323608, + 0.012373070232570171, + 0.0898490771651268, + 33.00440979003906 + ], + [ + 0.012067596428096294, + -0.9999194145202637, + 0.003942317329347134, + -0.23199722170829773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4458, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_218017101", + "mask_path": "../../mask/hdr_right_04458.png" + }, + { + "file_path": "../../rgb/hdr_right_04459.png", + "transform_matrix": [ + [ + 0.08486112207174301, + -0.003434477373957634, + -0.9963868856430054, + 5.647270679473877 + ], + [ + 0.9963558912277222, + 0.0088986586779356, + 0.08482784032821655, + 32.93144226074219 + ], + [ + 0.008575167506933212, + -0.9999544620513916, + 0.004177110735327005, + -0.2355770468711853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4459, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_318017721", + "mask_path": "../../mask/hdr_right_04459.png" + }, + { + "file_path": "../../rgb/hdr_right_04460.png", + "transform_matrix": [ + [ + 0.08473441004753113, + 0.005013913847506046, + -0.9963909983634949, + 5.640336513519287 + ], + [ + 0.9963526129722595, + 0.009695379063487053, + 0.08477993309497833, + 32.85255813598633 + ], + [ + 0.010085467249155045, + -0.9999403953552246, + -0.004174094181507826, + -0.23634609580039978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4460, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_418018579", + "mask_path": "../../mask/hdr_right_04460.png" + }, + { + "file_path": "../../rgb/hdr_right_04461.png", + "transform_matrix": [ + [ + 0.0936107262969017, + 0.015291525050997734, + -0.9954914450645447, + 5.623828887939453 + ], + [ + 0.9954788088798523, + 0.014727778732776642, + 0.09383578598499298, + 32.77055740356445 + ], + [ + 0.016096269711852074, + -0.9997746348381042, + -0.013843713328242302, + -0.2330796718597412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4461, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_518017530", + "mask_path": "../../mask/hdr_right_04461.png" + }, + { + "file_path": "../../rgb/hdr_right_04462.png", + "transform_matrix": [ + [ + 0.10586419701576233, + 0.021214796230196953, + -0.9941543340682983, + 5.610989093780518 + ], + [ + 0.9942747354507446, + 0.012328015640377998, + 0.1061401516199112, + 32.698482513427734 + ], + [ + 0.014507691375911236, + -0.9996989369392395, + -0.019788241013884544, + -0.22685036063194275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4462, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_618017435", + "mask_path": "../../mask/hdr_right_04462.png" + }, + { + "file_path": "../../rgb/hdr_right_04463.png", + "transform_matrix": [ + [ + 0.11636890470981598, + 0.016509320586919785, + -0.9930688738822937, + 5.60085391998291 + ], + [ + 0.9930862188339233, + 0.013598344288766384, + 0.1165969967842102, + 32.62063980102539 + ], + [ + 0.015429030172526836, + -0.999771237373352, + -0.014812756329774857, + -0.22653743624687195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4463, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_718017816", + "mask_path": "../../mask/hdr_right_04463.png" + }, + { + "file_path": "../../rgb/hdr_right_04464.png", + "transform_matrix": [ + [ + 0.1168028935790062, + 0.003580291522666812, + -0.9931486248970032, + 5.586373805999756 + ], + [ + 0.992997407913208, + 0.017397506162524223, + 0.11684785783290863, + 32.52273941040039 + ], + [ + 0.01769665814936161, + -0.9998422861099243, + -0.0015231430297717452, + -0.2298421561717987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4464, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_818017721", + "mask_path": "../../mask/hdr_right_04464.png" + }, + { + "file_path": "../../rgb/hdr_right_04465.png", + "transform_matrix": [ + [ + 0.10878054797649384, + -0.0012186580570414662, + -0.9940650463104248, + 5.577293395996094 + ], + [ + 0.9939607977867126, + 0.014668232761323452, + 0.10875117033720016, + 32.43984603881836 + ], + [ + 0.014448646456003189, + -0.9998916983604431, + 0.0028069131076335907, + -0.23407474160194397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4465, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228589_918017864", + "mask_path": "../../mask/hdr_right_04465.png" + }, + { + "file_path": "../../rgb/hdr_right_04466.png", + "transform_matrix": [ + [ + 0.10511096566915512, + 0.0009003555751405656, + -0.9944600462913513, + 5.56503963470459 + ], + [ + 0.9943888187408447, + 0.011914023198187351, + 0.10511424392461777, + 32.36434555053711 + ], + [ + 0.011942660436034203, + -0.9999287128448486, + 0.00035699017462320626, + -0.23656561970710754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4466, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_18017768", + "mask_path": "../../mask/hdr_right_04466.png" + }, + { + "file_path": "../../rgb/hdr_right_04467.png", + "transform_matrix": [ + [ + 0.10908079147338867, + 0.007893934845924377, + -0.994001567363739, + 5.543413162231445 + ], + [ + 0.9938427209854126, + 0.018695088103413582, + 0.10921189934015274, + 32.282108306884766 + ], + [ + 0.019445057958364487, + -0.999794065952301, + -0.005806055385619402, + -0.23621417582035065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4467, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_118019104", + "mask_path": "../../mask/hdr_right_04467.png" + }, + { + "file_path": "../../rgb/hdr_right_04468.png", + "transform_matrix": [ + [ + 0.1181957945227623, + 0.011499760672450066, + -0.9929236769676208, + 5.519906044006348 + ], + [ + 0.992601215839386, + 0.026621706783771515, + 0.11846570670604706, + 32.207645416259766 + ], + [ + 0.02779565192759037, + -0.9995794296264648, + -0.008268103003501892, + -0.22916874289512634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4468, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_218018293", + "mask_path": "../../mask/hdr_right_04468.png" + }, + { + "file_path": "../../rgb/hdr_right_04469.png", + "transform_matrix": [ + [ + 0.126097172498703, + 0.011688664555549622, + -0.9919490218162537, + 5.497165679931641 + ], + [ + 0.9917108416557312, + 0.023389488458633423, + 0.1263425052165985, + 32.14482498168945 + ], + [ + 0.024677954614162445, + -0.9996581673622131, + -0.008642429485917091, + -0.22600644826889038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4469, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_318017959", + "mask_path": "../../mask/hdr_right_04469.png" + }, + { + "file_path": "../../rgb/hdr_right_04470.png", + "transform_matrix": [ + [ + 0.13484317064285278, + 0.011798622086644173, + -0.990796685218811, + 5.471671104431152 + ], + [ + 0.9906401634216309, + 0.01978481560945511, + 0.1350574940443039, + 32.07310104370117 + ], + [ + 0.02119622193276882, + -0.99973464012146, + -0.00902034342288971, + -0.22515426576137543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4470, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_418018102", + "mask_path": "../../mask/hdr_right_04470.png" + }, + { + "file_path": "../../rgb/hdr_right_04471.png", + "transform_matrix": [ + [ + 0.13815101981163025, + 0.006312594283372164, + -0.9903910160064697, + 5.441774845123291 + ], + [ + 0.9901250004768372, + 0.02315964549779892, + 0.13826154172420502, + 31.990081787109375 + ], + [ + 0.023809894919395447, + -0.9997118711471558, + -0.0030507296323776245, + -0.23007526993751526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4471, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_518016576", + "mask_path": "../../mask/hdr_right_04471.png" + }, + { + "file_path": "../../rgb/hdr_right_04472.png", + "transform_matrix": [ + [ + 0.13604435324668884, + -0.00294689554721117, + -0.9906983375549316, + 5.416856288909912 + ], + [ + 0.9903522729873657, + 0.026999708265066147, + 0.1359165757894516, + 31.910152435302734 + ], + [ + 0.026348035782575607, + -0.9996311068534851, + 0.00659162225201726, + -0.23515397310256958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4472, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_618018150", + "mask_path": "../../mask/hdr_right_04472.png" + }, + { + "file_path": "../../rgb/hdr_right_04473.png", + "transform_matrix": [ + [ + 0.13636210560798645, + -0.005440099164843559, + -0.9906441569328308, + 5.390538215637207 + ], + [ + 0.9903431534767151, + 0.02600361779332161, + 0.1361778974533081, + 31.827634811401367 + ], + [ + 0.025019507855176926, + -0.9996470212936401, + 0.008933471515774727, + -0.24096345901489258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4473, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_718017578", + "mask_path": "../../mask/hdr_right_04473.png" + }, + { + "file_path": "../../rgb/hdr_right_04474.png", + "transform_matrix": [ + [ + 0.1453709602355957, + -0.007731661666184664, + -0.9893471002578735, + 5.352863311767578 + ], + [ + 0.9891172051429749, + 0.024060091003775597, + 0.14514918625354767, + 31.741575241088867 + ], + [ + 0.02268153615295887, + -0.9996806383132935, + 0.011145158670842648, + -0.23781198263168335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4474, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_818017721", + "mask_path": "../../mask/hdr_right_04474.png" + }, + { + "file_path": "../../rgb/hdr_right_04475.png", + "transform_matrix": [ + [ + 0.162708580493927, + -0.010406926274299622, + -0.9866193532943726, + 5.318832874298096 + ], + [ + 0.9865384697914124, + 0.018301401287317276, + 0.1625022292137146, + 31.677562713623047 + ], + [ + 0.01636536605656147, + -0.9997783899307251, + 0.01324462890625, + -0.22803059220314026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4475, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228590_918018102", + "mask_path": "../../mask/hdr_right_04475.png" + }, + { + "file_path": "../../rgb/hdr_right_04476.png", + "transform_matrix": [ + [ + 0.1746629923582077, + -0.006414469797164202, + -0.984607458114624, + 5.298518657684326 + ], + [ + 0.9845705032348633, + 0.011970872059464455, + 0.1745785027742386, + 31.614303588867188 + ], + [ + 0.010666781105101109, + -0.9999077320098877, + 0.008406365290284157, + -0.22497794032096863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4476, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_18018960", + "mask_path": "../../mask/hdr_right_04476.png" + }, + { + "file_path": "../../rgb/hdr_right_04477.png", + "transform_matrix": [ + [ + 0.17427264153957367, + -0.004522590897977352, + -0.984687089920044, + 5.2817230224609375 + ], + [ + 0.9846600294113159, + 0.00952073559165001, + 0.1742241233587265, + 31.53660011291504 + ], + [ + 0.008586999960243702, + -0.9999443888664246, + 0.0061124167405068874, + -0.2275104820728302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4477, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_118017673", + "mask_path": "../../mask/hdr_right_04477.png" + }, + { + "file_path": "../../rgb/hdr_right_04478.png", + "transform_matrix": [ + [ + 0.16762754321098328, + -0.005193720106035471, + -0.9858366847038269, + 5.264041900634766 + ], + [ + 0.985831618309021, + 0.0070617180317640305, + 0.16758951544761658, + 31.473546981811523 + ], + [ + 0.006091291084885597, + -0.9999615550041199, + 0.006303872913122177, + -0.23518484830856323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4478, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_218017578", + "mask_path": "../../mask/hdr_right_04478.png" + }, + { + "file_path": "../../rgb/hdr_right_04479.png", + "transform_matrix": [ + [ + 0.16540420055389404, + -0.002130739623680711, + -0.986223578453064, + 5.23823881149292 + ], + [ + 0.9861935973167419, + 0.00844624638557434, + 0.16538095474243164, + 31.418384552001953 + ], + [ + 0.007977504283189774, + -0.9999620318412781, + 0.003498365171253681, + -0.23843038082122803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4479, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_318018198", + "mask_path": "../../mask/hdr_right_04479.png" + }, + { + "file_path": "../../rgb/hdr_right_04480.png", + "transform_matrix": [ + [ + 0.1693211793899536, + -0.0004001322668045759, + -0.985560953617096, + 5.2042951583862305 + ], + [ + 0.9854615926742554, + 0.01426666509360075, + 0.16929838061332703, + 31.360170364379883 + ], + [ + 0.013992923311889172, + -0.9998981356620789, + 0.0028099624905735254, + -0.23675568401813507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4480, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_418018102", + "mask_path": "../../mask/hdr_right_04480.png" + }, + { + "file_path": "../../rgb/hdr_right_04481.png", + "transform_matrix": [ + [ + 0.17819935083389282, + -0.0019208748126402497, + -0.9839926958084106, + 5.178267478942871 + ], + [ + 0.9838850498199463, + 0.01526071596890688, + 0.17815005779266357, + 31.308988571166992 + ], + [ + 0.014674225822091103, + -0.9998816847801208, + 0.004609368741512299, + -0.23255500197410583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4481, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_518017292", + "mask_path": "../../mask/hdr_right_04481.png" + }, + { + "file_path": "../../rgb/hdr_right_04482.png", + "transform_matrix": [ + [ + 0.1888488531112671, + 0.001200253376737237, + -0.9820054769515991, + 5.152863025665283 + ], + [ + 0.9819563627243042, + 0.009840148501098156, + 0.1888515204191208, + 31.25825309753418 + ], + [ + 0.009889747016131878, + -0.9999508261680603, + 0.000679703545756638, + -0.22741864621639252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4482, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_618018627", + "mask_path": "../../mask/hdr_right_04482.png" + }, + { + "file_path": "../../rgb/hdr_right_04483.png", + "transform_matrix": [ + [ + 0.19523228704929352, + 0.003969681449234486, + -0.9807490110397339, + 5.122519016265869 + ], + [ + 0.9807102084159851, + 0.0089796781539917, + 0.1952609419822693, + 31.185070037841797 + ], + [ + 0.009581932798027992, + -0.9999517798423767, + -0.0021399841643869877, + -0.2284766584634781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4483, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_718016624", + "mask_path": "../../mask/hdr_right_04483.png" + }, + { + "file_path": "../../rgb/hdr_right_04484.png", + "transform_matrix": [ + [ + 0.19086387753486633, + 0.002873573452234268, + -0.9816122651100159, + 5.097377300262451 + ], + [ + 0.9815436601638794, + 0.011621718294918537, + 0.1908845603466034, + 31.103925704956055 + ], + [ + 0.011956542730331421, + -0.9999282956123352, + -0.0006023729802109301, + -0.24044105410575867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4484, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_818017244", + "mask_path": "../../mask/hdr_right_04484.png" + }, + { + "file_path": "../../rgb/hdr_right_04485.png", + "transform_matrix": [ + [ + 0.17967218160629272, + -0.0006891981465741992, + -0.9837263226509094, + 5.079935550689697 + ], + [ + 0.9836702346801758, + 0.01082878652960062, + 0.1796543449163437, + 31.02943229675293 + ], + [ + 0.010528742335736752, + -0.9999411702156067, + 0.002623574575409293, + -0.24596482515335083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4485, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228591_918017864", + "mask_path": "../../mask/hdr_right_04485.png" + }, + { + "file_path": "../../rgb/hdr_right_04486.png", + "transform_matrix": [ + [ + 0.17346195876598358, + 0.005389555357396603, + -0.984825849533081, + 5.058335304260254 + ], + [ + 0.9847228527069092, + 0.014508351683616638, + 0.17352326214313507, + 30.94830894470215 + ], + [ + 0.015223412774503231, + -0.9998801946640015, + -0.0027905728202313185, + -0.247907817363739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4486, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_18018245", + "mask_path": "../../mask/hdr_right_04486.png" + }, + { + "file_path": "../../rgb/hdr_right_04487.png", + "transform_matrix": [ + [ + 0.18002693355083466, + 0.014535881578922272, + -0.9835542440414429, + 5.028046131134033 + ], + [ + 0.9833673238754272, + 0.02180018462240696, + 0.18031488358974457, + 30.868566513061523 + ], + [ + 0.02406270056962967, + -0.9996566772460938, + -0.010369492694735527, + -0.24393422901630402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4487, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_118017196", + "mask_path": "../../mask/hdr_right_04487.png" + }, + { + "file_path": "../../rgb/hdr_right_04488.png", + "transform_matrix": [ + [ + 0.1909843236207962, + 0.016029231250286102, + -0.9814621806144714, + 5.001615524291992 + ], + [ + 0.9813241362571716, + 0.020283661782741547, + 0.19128882884979248, + 30.802940368652344 + ], + [ + 0.022973857820034027, + -0.9996657371520996, + -0.011856012046337128, + -0.23599232733249664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4488, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_218017101", + "mask_path": "../../mask/hdr_right_04488.png" + }, + { + "file_path": "../../rgb/hdr_right_04489.png", + "transform_matrix": [ + [ + 0.19842493534088135, + 0.014027068391442299, + -0.9800156950950623, + 4.973843574523926 + ], + [ + 0.979911208152771, + 0.017603816464543343, + 0.19865572452545166, + 30.737686157226562 + ], + [ + 0.020038576796650887, + -0.9997466206550598, + -0.01025224756449461, + -0.237709641456604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4489, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_318017244", + "mask_path": "../../mask/hdr_right_04489.png" + }, + { + "file_path": "../../rgb/hdr_right_04490.png", + "transform_matrix": [ + [ + 0.1944284588098526, + 0.01153576374053955, + -0.9808489084243774, + 4.940486431121826 + ], + [ + 0.9807323813438416, + 0.01709897071123123, + 0.1946064978837967, + 30.652753829956055 + ], + [ + 0.019016440957784653, + -0.9997872114181519, + -0.007988971658051014, + -0.24531635642051697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4490, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_418016672", + "mask_path": "../../mask/hdr_right_04490.png" + }, + { + "file_path": "../../rgb/hdr_right_04491.png", + "transform_matrix": [ + [ + 0.17279918491840363, + 0.009880267083644867, + -0.9849075078964233, + 4.919593334197998 + ], + [ + 0.9847715497016907, + 0.017676178365945816, + 0.17295269668102264, + 30.569950103759766 + ], + [ + 0.01911821775138378, + -0.9997949004173279, + -0.00667537609115243, + -0.2552069127559662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4491, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_518017292", + "mask_path": "../../mask/hdr_right_04491.png" + }, + { + "file_path": "../../rgb/hdr_right_04492.png", + "transform_matrix": [ + [ + 0.1470465064048767, + 0.008618869818747044, + -0.9890920519828796, + 4.903733730316162 + ], + [ + 0.988953173160553, + 0.017603734508156776, + 0.1471792608499527, + 30.492626190185547 + ], + [ + 0.018680235370993614, + -0.9998078942298889, + -0.005935091525316238, + -0.25780487060546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4492, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_618017196", + "mask_path": "../../mask/hdr_right_04492.png" + }, + { + "file_path": "../../rgb/hdr_right_04493.png", + "transform_matrix": [ + [ + 0.13427837193012238, + 0.008881394751369953, + -0.990903913974762, + 4.871681213378906 + ], + [ + 0.990726888179779, + 0.019711684435606003, + 0.13443109393119812, + 30.418920516967773 + ], + [ + 0.020726319402456284, + -0.9997662305831909, + -0.006152184680104256, + -0.2520959675312042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4493, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_718017578", + "mask_path": "../../mask/hdr_right_04493.png" + }, + { + "file_path": "../../rgb/hdr_right_04494.png", + "transform_matrix": [ + [ + 0.1339421272277832, + 0.00798243097960949, + -0.9909570217132568, + 4.845096111297607 + ], + [ + 0.9907459020614624, + 0.02107732743024826, + 0.13408340513706207, + 30.360149383544922 + ], + [ + 0.0219570342451334, + -0.9997460246086121, + -0.005085419397801161, + -0.24539953470230103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4494, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_818017721", + "mask_path": "../../mask/hdr_right_04494.png" + }, + { + "file_path": "../../rgb/hdr_right_04495.png", + "transform_matrix": [ + [ + 0.1271396279335022, + 0.008873424492776394, + -0.9918451309204102, + 4.829331874847412 + ], + [ + 0.9917740821838379, + 0.013812597841024399, + 0.12725406885147095, + 30.29698371887207 + ], + [ + 0.014829137362539768, + -0.9998652338981628, + -0.007044306956231594, + -0.24026373028755188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4495, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228592_918018341", + "mask_path": "../../mask/hdr_right_04495.png" + }, + { + "file_path": "../../rgb/hdr_right_04496.png", + "transform_matrix": [ + [ + 0.10728573054075241, + 0.008613508194684982, + -0.9941909909248352, + 4.819283485412598 + ], + [ + 0.9941650032997131, + 0.010354142636060715, + 0.10737266391515732, + 30.222829818725586 + ], + [ + 0.011218850500881672, + -0.9999092817306519, + -0.007452397141605616, + -0.23963238298892975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4496, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_18016576", + "mask_path": "../../mask/hdr_right_04496.png" + }, + { + "file_path": "../../rgb/hdr_right_04497.png", + "transform_matrix": [ + [ + 0.07634688913822174, + 0.006546088494360447, + -0.9970598220825195, + 4.81744909286499 + ], + [ + 0.9969990849494934, + 0.012344549410045147, + 0.0764232948422432, + 30.153165817260742 + ], + [ + 0.01280852872878313, + -0.9999024271965027, + -0.00558397825807333, + -0.24876460433006287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4497, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_118015766", + "mask_path": "../../mask/hdr_right_04497.png" + }, + { + "file_path": "../../rgb/hdr_right_04498.png", + "transform_matrix": [ + [ + 0.043325066566467285, + 0.008323329500854015, + -0.9990264177322388, + 4.817555904388428 + ], + [ + 0.9990268349647522, + 0.007917857728898525, + 0.04339107498526573, + 30.09219741821289 + ], + [ + 0.00827130675315857, + -0.9999340176582336, + -0.007972188293933868, + -0.25384289026260376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4498, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_218015909", + "mask_path": "../../mask/hdr_right_04498.png" + }, + { + "file_path": "../../rgb/hdr_right_04499.png", + "transform_matrix": [ + [ + 0.014162570238113403, + 0.016504982486367226, + -0.999763548374176, + 4.813945770263672 + ], + [ + 0.999866783618927, + 0.007877924479544163, + 0.014294094406068325, + 30.021547317504883 + ], + [ + 0.008111984468996525, + -0.9998327493667603, + -0.016391213983297348, + -0.2516931891441345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4499, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_318016052", + "mask_path": "../../mask/hdr_right_04499.png" + }, + { + "file_path": "../../rgb/hdr_right_04500.png", + "transform_matrix": [ + [ + -0.006357487756758928, + 0.020738493651151657, + -0.9997647404670715, + 4.809616565704346 + ], + [ + 0.999930739402771, + 0.010035133920609951, + -0.006150358356535435, + 29.95693016052246 + ], + [ + 0.009905221872031689, + -0.9997345209121704, + -0.02080085501074791, + -0.24363940954208374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4500, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_418016672", + "mask_path": "../../mask/hdr_right_04500.png" + }, + { + "file_path": "../../rgb/hdr_right_04501.png", + "transform_matrix": [ + [ + -0.02267448604106903, + 0.02121691405773163, + -0.9995177984237671, + 4.808748722076416 + ], + [ + 0.9997395873069763, + 0.003060848219320178, + -0.02261452190577984, + 29.903120040893555 + ], + [ + 0.0025795605033636093, + -0.9997701644897461, + -0.021280791610479355, + -0.23593953251838684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4501, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_518016576", + "mask_path": "../../mask/hdr_right_04501.png" + }, + { + "file_path": "../../rgb/hdr_right_04502.png", + "transform_matrix": [ + [ + -0.03729749470949173, + 0.02452762983739376, + -0.9990032315254211, + 4.810114860534668 + ], + [ + 0.999300479888916, + -0.0017936641816049814, + -0.03735258802771568, + 29.831796646118164 + ], + [ + -0.00270804762840271, + -0.9996975064277649, + -0.024443576112389565, + -0.2317272126674652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4502, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_618016958", + "mask_path": "../../mask/hdr_right_04502.png" + }, + { + "file_path": "../../rgb/hdr_right_04503.png", + "transform_matrix": [ + [ + -0.04888388514518738, + 0.021828612312674522, + -0.9985659122467041, + 4.809772968292236 + ], + [ + 0.9988002777099609, + -0.0018317552749067545, + -0.04893536865711212, + 29.7547664642334 + ], + [ + -0.0028973196167498827, + -0.9997600317001343, + -0.021712880581617355, + -0.23617172241210938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4503, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_718016386", + "mask_path": "../../mask/hdr_right_04503.png" + }, + { + "file_path": "../../rgb/hdr_right_04504.png", + "transform_matrix": [ + [ + -0.05568642169237137, + 0.014913693070411682, + -0.9983369708061218, + 4.806588172912598 + ], + [ + 0.9984430074691772, + -0.002437371527776122, + -0.055728718638420105, + 29.691482543945312 + ], + [ + -0.00326443905942142, + -0.9998857975006104, + -0.014754746109247208, + -0.24401238560676575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4504, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_818016290", + "mask_path": "../../mask/hdr_right_04504.png" + }, + { + "file_path": "../../rgb/hdr_right_04505.png", + "transform_matrix": [ + [ + -0.05765589326620102, + 0.015926651656627655, + -0.9982094764709473, + 4.800919532775879 + ], + [ + 0.998332142829895, + -0.002040848368778825, + -0.05769551917910576, + 29.618680953979492 + ], + [ + -0.002956090960651636, + -0.9998710751533508, + -0.015782421454787254, + -0.24953053891658783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4505, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228593_918016672", + "mask_path": "../../mask/hdr_right_04505.png" + }, + { + "file_path": "../../rgb/hdr_right_04506.png", + "transform_matrix": [ + [ + -0.051823925226926804, + 0.018058307468891144, + -0.9984930157661438, + 4.791618347167969 + ], + [ + 0.9986554980278015, + 0.0021583344787359238, + -0.05179331824183464, + 29.54006576538086 + ], + [ + 0.0012197807664051652, + -0.9998346567153931, + -0.018145887181162834, + -0.25047457218170166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4506, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_18013954", + "mask_path": "../../mask/hdr_right_04506.png" + }, + { + "file_path": "../../rgb/hdr_right_04507.png", + "transform_matrix": [ + [ + -0.038603998720645905, + 0.013737262226641178, + -0.9991602301597595, + 4.777860164642334 + ], + [ + 0.9992543458938599, + 0.0011223751353099942, + -0.03859218582510948, + 29.471141815185547 + ], + [ + 0.0005912815686315298, + -0.9999050498008728, + -0.013770349323749542, + -0.24175995588302612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4507, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_118016242", + "mask_path": "../../mask/hdr_right_04507.png" + }, + { + "file_path": "../../rgb/hdr_right_04508.png", + "transform_matrix": [ + [ + -0.02483210898935795, + 0.009078094735741615, + -0.9996504187583923, + 4.7607293128967285 + ], + [ + 0.9996736645698547, + -0.005779578350484371, + -0.02488514967262745, + 29.404563903808594 + ], + [ + -0.006003468297421932, + -0.9999420642852783, + -0.008931613527238369, + -0.23373407125473022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4508, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_218016624", + "mask_path": "../../mask/hdr_right_04508.png" + }, + { + "file_path": "../../rgb/hdr_right_04509.png", + "transform_matrix": [ + [ + -0.014223558828234673, + 0.0018275281181558967, + -0.9998972415924072, + 4.746689319610596 + ], + [ + 0.9998883605003357, + -0.004551722668111324, + -0.014231725595891476, + 29.324480056762695 + ], + [ + -0.0045772637240588665, + -0.9999879598617554, + -0.00176258257124573, + -0.2306862771511078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4509, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_318016529", + "mask_path": "../../mask/hdr_right_04509.png" + }, + { + "file_path": "../../rgb/hdr_right_04510.png", + "transform_matrix": [ + [ + -0.012207170948386192, + -0.00529923290014267, + -0.9999115467071533, + 4.736397743225098 + ], + [ + 0.9999170303344727, + 0.004055165220052004, + -0.012228705920279026, + 29.24250030517578 + ], + [ + 0.004119608551263809, + -0.9999777674674988, + 0.00524928979575634, + -0.23825792968273163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4510, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_418017148", + "mask_path": "../../mask/hdr_right_04510.png" + }, + { + "file_path": "../../rgb/hdr_right_04511.png", + "transform_matrix": [ + [ + -0.012701896019279957, + -0.009956498630344868, + -0.9998698830604553, + 4.723593235015869 + ], + [ + 0.999909520149231, + 0.004314801190048456, + -0.012745323590934277, + 29.168447494506836 + ], + [ + 0.00444113789126277, + -0.9999411106109619, + 0.009900790639221668, + -0.24807268381118774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4511, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_518015861", + "mask_path": "../../mask/hdr_right_04511.png" + }, + { + "file_path": "../../rgb/hdr_right_04512.png", + "transform_matrix": [ + [ + -0.008413312956690788, + -0.009671307168900967, + -0.9999178647994995, + 4.702097415924072 + ], + [ + 0.9999247193336487, + 0.008861375972628593, + -0.008499052375555038, + 29.084444046020508 + ], + [ + 0.008942847140133381, + -0.9999139904975891, + 0.00959602277725935, + -0.24705712497234344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4512, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_618016719", + "mask_path": "../../mask/hdr_right_04512.png" + }, + { + "file_path": "../../rgb/hdr_right_04513.png", + "transform_matrix": [ + [ + 0.0017938202945515513, + -0.007938220165669918, + -0.9999669790267944, + 4.681725025177002 + ], + [ + 0.9998695254325867, + 0.01607036031782627, + 0.0016660918481647968, + 29.00243377685547 + ], + [ + 0.016056600958108902, + -0.9998394250869751, + 0.007966011762619019, + -0.23958830535411835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4513, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_718016624", + "mask_path": "../../mask/hdr_right_04513.png" + }, + { + "file_path": "../../rgb/hdr_right_04514.png", + "transform_matrix": [ + [ + 0.015239082276821136, + -0.007051782216876745, + -0.9998589754104614, + 4.665538311004639 + ], + [ + 0.999821662902832, + 0.01126597449183464, + 0.015159081667661667, + 28.935264587402344 + ], + [ + 0.011157489381730556, + -0.9999116659164429, + 0.007222206797450781, + -0.23438572883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4514, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_818016767", + "mask_path": "../../mask/hdr_right_04514.png" + }, + { + "file_path": "../../rgb/hdr_right_04515.png", + "transform_matrix": [ + [ + 0.025382552295923233, + -0.002009051153436303, + -0.9996758103370667, + 4.650409698486328 + ], + [ + 0.9996494650840759, + 0.0075818742625415325, + 0.025366676971316338, + 28.858858108520508 + ], + [ + 0.007528453599661589, + -0.9999692440032959, + 0.002200793707743287, + -0.23182564973831177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4515, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228594_918017387", + "mask_path": "../../mask/hdr_right_04515.png" + }, + { + "file_path": "../../rgb/hdr_right_04516.png", + "transform_matrix": [ + [ + 0.023598341271281242, + -0.0032329631503671408, + -0.9997162818908691, + 4.637145042419434 + ], + [ + 0.9996863007545471, + 0.008472212590277195, + 0.023570241406559944, + 28.772321701049805 + ], + [ + 0.008393608964979649, + -0.999958872795105, + 0.0034318792168051004, + -0.23484063148498535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4516, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_18016099", + "mask_path": "../../mask/hdr_right_04516.png" + }, + { + "file_path": "../../rgb/hdr_right_04517.png", + "transform_matrix": [ + [ + 0.014983663335442543, + -0.012112987227737904, + -0.9998143911361694, + 4.624672889709473 + ], + [ + 0.9998642802238464, + 0.007025071885436773, + 0.01489933393895626, + 28.687660217285156 + ], + [ + 0.006843292620033026, + -0.9999019503593445, + 0.012216605246067047, + -0.23963159322738647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4517, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_118013381", + "mask_path": "../../mask/hdr_right_04517.png" + }, + { + "file_path": "../../rgb/hdr_right_04518.png", + "transform_matrix": [ + [ + 0.012932215817272663, + -0.016092218458652496, + -0.9997868537902832, + 4.607131481170654 + ], + [ + 0.9998838901519775, + 0.008271920494735241, + 0.012800323776900768, + 28.597692489624023 + ], + [ + 0.00806417129933834, + -0.9998363852500916, + 0.01619732193648815, + -0.2397179901599884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4518, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_218016862", + "mask_path": "../../mask/hdr_right_04518.png" + }, + { + "file_path": "../../rgb/hdr_right_04519.png", + "transform_matrix": [ + [ + 0.020003436133265495, + -0.023230349645018578, + -0.9995300769805908, + 4.580718517303467 + ], + [ + 0.9997725486755371, + 0.007862715050578117, + 0.019825581461191177, + 28.516651153564453 + ], + [ + 0.0073984647169709206, + -0.9996992349624634, + 0.023382345214486122, + -0.23510247468948364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4519, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_318016290", + "mask_path": "../../mask/hdr_right_04519.png" + }, + { + "file_path": "../../rgb/hdr_right_04520.png", + "transform_matrix": [ + [ + 0.03020065277814865, + -0.031493209302425385, + -0.999047577381134, + 4.553942680358887 + ], + [ + 0.9995416402816772, + -0.0011468160664662719, + 0.030251746997237206, + 28.447513580322266 + ], + [ + -0.002098448807373643, + -0.9995033144950867, + 0.031444139778614044, + -0.22595080733299255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4520, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_418017148", + "mask_path": "../../mask/hdr_right_04520.png" + }, + { + "file_path": "../../rgb/hdr_right_04521.png", + "transform_matrix": [ + [ + 0.03208998218178749, + -0.03205892816185951, + -0.9989707469940186, + 4.536128520965576 + ], + [ + 0.9994843602180481, + -0.0001353440893581137, + 0.03211081773042679, + 28.369169235229492 + ], + [ + -0.0011646427446976304, + -0.999485969543457, + 0.03203805163502693, + -0.22393286228179932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4521, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_518016576", + "mask_path": "../../mask/hdr_right_04521.png" + }, + { + "file_path": "../../rgb/hdr_right_04522.png", + "transform_matrix": [ + [ + 0.01894070766866207, + -0.035234954208135605, + -0.9991995692253113, + 4.523653984069824 + ], + [ + 0.9997992515563965, + 0.007200608961284161, + 0.018698211759328842, + 28.287548065185547 + ], + [ + 0.006536015309393406, + -0.9993531703948975, + 0.035364266484975815, + -0.23137611150741577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4522, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_618016242", + "mask_path": "../../mask/hdr_right_04522.png" + }, + { + "file_path": "../../rgb/hdr_right_04523.png", + "transform_matrix": [ + [ + -0.0035251169465482235, + -0.037444230169057846, + -0.9992926716804504, + 4.512491226196289 + ], + [ + 0.999963641166687, + 0.0076203844510018826, + -0.0038129568565636873, + 28.207130432128906 + ], + [ + 0.007757767103612423, + -0.9992697238922119, + 0.0374160036444664, + -0.23619148135185242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4523, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_718016624", + "mask_path": "../../mask/hdr_right_04523.png" + }, + { + "file_path": "../../rgb/hdr_right_04524.png", + "transform_matrix": [ + [ + -0.01861700974404812, + -0.036242298781871796, + -0.999169647693634, + 4.491941928863525 + ], + [ + 0.9998034238815308, + 0.006145105697214603, + -0.018851686269044876, + 28.120676040649414 + ], + [ + 0.00682323332875967, + -0.9993240833282471, + 0.03612077236175537, + -0.22939187288284302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4524, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_818016767", + "mask_path": "../../mask/hdr_right_04524.png" + }, + { + "file_path": "../../rgb/hdr_right_04525.png", + "transform_matrix": [ + [ + -0.021983496844768524, + -0.03399679809808731, + -0.9991801977157593, + 4.467508316040039 + ], + [ + 0.9997377395629883, + 0.005678244866430759, + -0.022188963368535042, + 28.045270919799805 + ], + [ + 0.006427943240851164, + -0.9994058609008789, + 0.03386304900050163, + -0.22391623258590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4525, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228595_918016195", + "mask_path": "../../mask/hdr_right_04525.png" + }, + { + "file_path": "../../rgb/hdr_right_04526.png", + "transform_matrix": [ + [ + -0.024653663858771324, + -0.03173450380563736, + -0.9991921782493591, + 4.454555511474609 + ], + [ + 0.9996954202651978, + 0.00030282512307167053, + -0.024675702676177025, + 27.97987937927246 + ], + [ + 0.0010856528533622622, + -0.9994962215423584, + 0.03171737864613533, + -0.22281242907047272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4526, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_18015861", + "mask_path": "../../mask/hdr_right_04526.png" + }, + { + "file_path": "../../rgb/hdr_right_04527.png", + "transform_matrix": [ + [ + -0.03834208473563194, + -0.03204735741019249, + -0.9987506866455078, + 4.452017307281494 + ], + [ + 0.9992580413818359, + 0.0024020408745855093, + -0.038438618183135986, + 27.906368255615234 + ], + [ + 0.003630897030234337, + -0.9994834661483765, + 0.03193148598074913, + -0.22496798634529114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4527, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_118017673", + "mask_path": "../../mask/hdr_right_04527.png" + }, + { + "file_path": "../../rgb/hdr_right_04528.png", + "transform_matrix": [ + [ + -0.05968742445111275, + -0.037531957030296326, + -0.9975113868713379, + 4.4542236328125 + ], + [ + 0.9981403946876526, + 0.01014266163110733, + -0.06010666489601135, + 27.833662033081055 + ], + [ + 0.012373341247439384, + -0.9992439150810242, + 0.03685677796602249, + -0.23323364555835724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4528, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_218017816", + "mask_path": "../../mask/hdr_right_04528.png" + }, + { + "file_path": "../../rgb/hdr_right_04529.png", + "transform_matrix": [ + [ + -0.08252052962779999, + -0.038127996027469635, + -0.9958597421646118, + 4.458130359649658 + ], + [ + 0.9965201616287231, + 0.008620699867606163, + -0.08290529996156693, + 27.762622833251953 + ], + [ + 0.011746021918952465, + -0.9992356300354004, + 0.03728393092751503, + -0.23906871676445007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4529, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_318017482", + "mask_path": "../../mask/hdr_right_04529.png" + }, + { + "file_path": "../../rgb/hdr_right_04530.png", + "transform_matrix": [ + [ + -0.10347867012023926, + -0.029016762971878052, + -0.9942083954811096, + 4.46143102645874 + ], + [ + 0.9945328831672668, + 0.011070790700614452, + -0.10383555293083191, + 27.6829776763916 + ], + [ + 0.014019644819200039, + -0.9995176196098328, + 0.027712535113096237, + -0.23630067706108093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4530, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_418018579", + "mask_path": "../../mask/hdr_right_04530.png" + }, + { + "file_path": "../../rgb/hdr_right_04531.png", + "transform_matrix": [ + [ + -0.1150890439748764, + -0.01851930469274521, + -0.9931825399398804, + 4.464186668395996 + ], + [ + 0.9932504892349243, + 0.01237174216657877, + -0.11532760411500931, + 27.606470108032227 + ], + [ + 0.014423185959458351, + -0.9997519850730896, + 0.016970451921224594, + -0.22719570994377136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4531, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_518017768", + "mask_path": "../../mask/hdr_right_04531.png" + }, + { + "file_path": "../../rgb/hdr_right_04532.png", + "transform_matrix": [ + [ + -0.1199449673295021, + -0.011165788397192955, + -0.9927177429199219, + 4.467928886413574 + ], + [ + 0.9927574992179871, + 0.00546321040019393, + -0.12001120299100876, + 27.538471221923828 + ], + [ + 0.006763447541743517, + -0.9999227523803711, + 0.01042963657528162, + -0.21565058827400208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4532, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_618017196", + "mask_path": "../../mask/hdr_right_04532.png" + }, + { + "file_path": "../../rgb/hdr_right_04533.png", + "transform_matrix": [ + [ + -0.12771105766296387, + -0.009121452458202839, + -0.9917694330215454, + 4.476643085479736 + ], + [ + 0.9918047189712524, + 0.002497671637684107, + -0.1277385652065277, + 27.46728515625 + ], + [ + 0.0036422754637897015, + -0.9999552965164185, + 0.008727719075977802, + -0.2148379683494568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4533, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_718018293", + "mask_path": "../../mask/hdr_right_04533.png" + }, + { + "file_path": "../../rgb/hdr_right_04534.png", + "transform_matrix": [ + [ + -0.143090158700943, + -0.01695510558784008, + -0.9895644783973694, + 4.483502388000488 + ], + [ + 0.9896911978721619, + 0.0036616406869143248, + -0.14317122101783752, + 27.397647857666016 + ], + [ + 0.0060509126633405685, + -0.9998495578765869, + 0.01625637337565422, + -0.22579382359981537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4534, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_818017244", + "mask_path": "../../mask/hdr_right_04534.png" + }, + { + "file_path": "../../rgb/hdr_right_04535.png", + "transform_matrix": [ + [ + -0.1620282232761383, + -0.016074834391474724, + -0.9866551756858826, + 4.489989280700684 + ], + [ + 0.9867419004440308, + 0.006824708078056574, + -0.16215364634990692, + 27.329647064208984 + ], + [ + 0.009340225718915462, + -0.9998475313186646, + 0.0147559167817235, + -0.2379758358001709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4535, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228596_918018102", + "mask_path": "../../mask/hdr_right_04535.png" + }, + { + "file_path": "../../rgb/hdr_right_04536.png", + "transform_matrix": [ + [ + -0.1737334430217743, + -0.01096301432698965, + -0.9847317337989807, + 4.490789890289307 + ], + [ + 0.9847497344017029, + 0.0074104866944253445, + -0.17381910979747772, + 27.25049591064453 + ], + [ + 0.009202923625707626, + -0.999912440776825, + 0.009508376941084862, + -0.23853018879890442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4536, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_18017530", + "mask_path": "../../mask/hdr_right_04536.png" + }, + { + "file_path": "../../rgb/hdr_right_04537.png", + "transform_matrix": [ + [ + -0.1746855080127716, + -0.009824471548199654, + -0.9845752716064453, + 4.486589431762695 + ], + [ + 0.9845799803733826, + 0.0077500357292592525, + -0.17476366460323334, + 27.18013572692871 + ], + [ + 0.009347454644739628, + -0.9999216794967651, + 0.008319157175719738, + -0.22406041622161865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4537, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_118018627", + "mask_path": "../../mask/hdr_right_04537.png" + }, + { + "file_path": "../../rgb/hdr_right_04538.png", + "transform_matrix": [ + [ + -0.17162415385246277, + -0.005366605240851641, + -0.9851479530334473, + 4.488925457000732 + ], + [ + 0.9851502180099487, + 0.0040604290552437305, + -0.17164666950702667, + 27.12242889404297 + ], + [ + 0.004921283572912216, + -0.9999773502349854, + 0.004590044263750315, + -0.21680085361003876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4538, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_218018054", + "mask_path": "../../mask/hdr_right_04538.png" + }, + { + "file_path": "../../rgb/hdr_right_04539.png", + "transform_matrix": [ + [ + -0.1717337965965271, + -0.005900583229959011, + -0.9851257801055908, + 4.49566650390625 + ], + [ + 0.985130250453949, + 0.004128378350287676, + -0.17175929248332977, + 27.051454544067383 + ], + [ + 0.005080451723188162, + -0.9999740123748779, + 0.005103860516101122, + -0.21802853047847748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4539, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_318017721", + "mask_path": "../../mask/hdr_right_04539.png" + }, + { + "file_path": "../../rgb/hdr_right_04540.png", + "transform_matrix": [ + [ + -0.17745357751846313, + -0.010651066899299622, + -0.9840715527534485, + 4.4996466636657715 + ], + [ + 0.984073281288147, + 0.008731980808079243, + -0.17754840850830078, + 26.97435188293457 + ], + [ + 0.010483973659574986, + -0.9999052286148071, + 0.008931909687817097, + -0.22821052372455597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4540, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_418017148", + "mask_path": "../../mask/hdr_right_04540.png" + }, + { + "file_path": "../../rgb/hdr_right_04541.png", + "transform_matrix": [ + [ + -0.18306903541088104, + -0.008567418903112411, + -0.983062744140625, + 4.501694679260254 + ], + [ + 0.9830427765846252, + 0.00920067634433508, + -0.18314549326896667, + 26.904441833496094 + ], + [ + 0.010613925755023956, + -0.9999209642410278, + 0.006737780291587114, + -0.2423582673072815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4541, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_518018245", + "mask_path": "../../mask/hdr_right_04541.png" + }, + { + "file_path": "../../rgb/hdr_right_04542.png", + "transform_matrix": [ + [ + -0.18298956751823425, + -0.009742539376020432, + -0.9830666184425354, + 4.497725963592529 + ], + [ + 0.9830717444419861, + 0.0075505259446799755, + -0.18306535482406616, + 26.825668334960938 + ], + [ + 0.009206190705299377, + -0.9999240636825562, + 0.008195948787033558, + -0.24604612588882446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4542, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_618017196", + "mask_path": "../../mask/hdr_right_04542.png" + }, + { + "file_path": "../../rgb/hdr_right_04543.png", + "transform_matrix": [ + [ + -0.17458942532539368, + -0.01332185696810484, + -0.984551191329956, + 4.4889631271362305 + ], + [ + 0.9846171140670776, + 0.004648235160857439, + -0.1746639907360077, + 26.748210906982422 + ], + [ + 0.00690327538177371, + -0.9999004602432251, + 0.012305395677685738, + -0.23482397198677063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4543, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_718017816", + "mask_path": "../../mask/hdr_right_04543.png" + }, + { + "file_path": "../../rgb/hdr_right_04544.png", + "transform_matrix": [ + [ + -0.1605147272348404, + -0.013334759511053562, + -0.9869433641433716, + 4.484075546264648 + ], + [ + 0.9870319962501526, + -0.0004361576575320214, + -0.16052323579788208, + 26.685298919677734 + ], + [ + 0.0017100763507187366, + -0.9999109506607056, + 0.013231845572590828, + -0.2312958538532257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4544, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_818017482", + "mask_path": "../../mask/hdr_right_04544.png" + }, + { + "file_path": "../../rgb/hdr_right_04545.png", + "transform_matrix": [ + [ + -0.15203014016151428, + -0.012529446743428707, + -0.988296389579773, + 4.4864091873168945 + ], + [ + 0.9883741140365601, + -0.0037645509000867605, + -0.15199436247348785, + 26.61064338684082 + ], + [ + -0.0018160870531573892, + -0.9999144077301025, + 0.0129561061039567, + -0.23253779113292694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4545, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228597_918017148", + "mask_path": "../../mask/hdr_right_04545.png" + }, + { + "file_path": "../../rgb/hdr_right_04546.png", + "transform_matrix": [ + [ + -0.15625222027301788, + -0.015337389893829823, + -0.9875981211662292, + 4.496278285980225 + ], + [ + 0.9877137541770935, + -0.005078471731394529, + -0.1561916470527649, + 26.523653030395508 + ], + [ + -0.002619916805997491, + -0.9998694658279419, + 0.015942472964525223, + -0.2342892587184906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4546, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_18016576", + "mask_path": "../../mask/hdr_right_04546.png" + }, + { + "file_path": "../../rgb/hdr_right_04547.png", + "transform_matrix": [ + [ + -0.16473059356212616, + -0.016823092475533485, + -0.9861951470375061, + 4.509313106536865 + ], + [ + 0.9863187670707703, + -0.009149127639830112, + -0.16459517180919647, + 26.44515609741211 + ], + [ + -0.006253826431930065, + -0.9998165965080261, + 0.01810006983578205, + -0.2401832491159439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4547, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_118017196", + "mask_path": "../../mask/hdr_right_04547.png" + }, + { + "file_path": "../../rgb/hdr_right_04548.png", + "transform_matrix": [ + [ + -0.16669662296772003, + -0.016169900074601173, + -0.9858757257461548, + 4.516104221343994 + ], + [ + 0.9859956502914429, + -0.0077919382601976395, + -0.16658909618854523, + 26.368091583251953 + ], + [ + -0.004988153465092182, + -0.9998388886451721, + 0.01724233850836754, + -0.24370235204696655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4548, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_218013286", + "mask_path": "../../mask/hdr_right_04548.png" + }, + { + "file_path": "../../rgb/hdr_right_04549.png", + "transform_matrix": [ + [ + -0.1618783324956894, + -0.018135983496904373, + -0.9866441488265991, + 4.515506744384766 + ], + [ + 0.9868098497390747, + -0.004320621024817228, + -0.16182607412338257, + 26.291288375854492 + ], + [ + -0.0013280402636155486, + -0.999826192855835, + 0.01859617978334427, + -0.23714646697044373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4549, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_318016290", + "mask_path": "../../mask/hdr_right_04549.png" + }, + { + "file_path": "../../rgb/hdr_right_04550.png", + "transform_matrix": [ + [ + -0.15336760878562927, + -0.01867312751710415, + -0.9879928231239319, + 4.51283073425293 + ], + [ + 0.9881531000137329, + -0.008617183193564415, + -0.15322959423065186, + 26.220449447631836 + ], + [ + -0.005652438383549452, + -0.9997885227203369, + 0.01977350376546383, + -0.22988112270832062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4550, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_418016195", + "mask_path": "../../mask/hdr_right_04550.png" + }, + { + "file_path": "../../rgb/hdr_right_04551.png", + "transform_matrix": [ + [ + -0.1474391371011734, + -0.01686914823949337, + -0.9889272451400757, + 4.514183521270752 + ], + [ + 0.9890367984771729, + -0.010850492864847183, + -0.14727036654949188, + 26.141498565673828 + ], + [ + -0.008246023207902908, + -0.9997988939285278, + 0.018283994868397713, + -0.23058761656284332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4551, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_518015623", + "mask_path": "../../mask/hdr_right_04551.png" + }, + { + "file_path": "../../rgb/hdr_right_04552.png", + "transform_matrix": [ + [ + -0.14942128956317902, + -0.01862727850675583, + -0.9885981678962708, + 4.52034854888916 + ], + [ + 0.988749086856842, + -0.009861813858151436, + -0.14925827085971832, + 26.049732208251953 + ], + [ + -0.006969095207750797, + -0.9997778534889221, + 0.019891267642378807, + -0.23874974250793457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4552, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_618015289", + "mask_path": "../../mask/hdr_right_04552.png" + }, + { + "file_path": "../../rgb/hdr_right_04553.png", + "transform_matrix": [ + [ + -0.1553412675857544, + -0.023261399939656258, + -0.9875869750976562, + 4.5264363288879395 + ], + [ + 0.9878347516059875, + -0.01093868725001812, + -0.15512259304523468, + 25.965248107910156 + ], + [ + -0.007194536738097668, + -0.9996695518493652, + 0.024677645415067673, + -0.24835902452468872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4553, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_718016862", + "mask_path": "../../mask/hdr_right_04553.png" + }, + { + "file_path": "../../rgb/hdr_right_04554.png", + "transform_matrix": [ + [ + -0.15552270412445068, + -0.022947993129491806, + -0.9875657558441162, + 4.525158882141113 + ], + [ + 0.9878031611442566, + -0.011305853724479675, + -0.15529736876487732, + 25.875699996948242 + ], + [ + -0.007601510733366013, + -0.9996727108955383, + 0.02442641369998455, + -0.25058513879776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4554, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_818017244", + "mask_path": "../../mask/hdr_right_04554.png" + }, + { + "file_path": "../../rgb/hdr_right_04555.png", + "transform_matrix": [ + [ + -0.14432694017887115, + -0.025161229074001312, + -0.9892101883888245, + 4.518922805786133 + ], + [ + 0.9894841909408569, + -0.013295828364789486, + -0.1440287083387375, + 25.784774780273438 + ], + [ + -0.009528428316116333, + -0.999595046043396, + 0.026815585792064667, + -0.2342776656150818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4555, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228598_918017625", + "mask_path": "../../mask/hdr_right_04555.png" + }, + { + "file_path": "../../rgb/hdr_right_04556.png", + "transform_matrix": [ + [ + -0.12449244409799576, + -0.02930927835404873, + -0.9917876720428467, + 4.510349750518799 + ], + [ + 0.9920629262924194, + -0.02149290032684803, + -0.12389182299375534, + 25.71355628967285 + ], + [ + -0.017685212194919586, + -0.9993393421173096, + 0.03175235539674759, + -0.20705386996269226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4556, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_18017292", + "mask_path": "../../mask/hdr_right_04556.png" + }, + { + "file_path": "../../rgb/hdr_right_04557.png", + "transform_matrix": [ + [ + -0.11118659377098083, + -0.028032265603542328, + -0.9934041500091553, + 4.50147008895874 + ], + [ + 0.9936168789863586, + -0.02230011112987995, + -0.11058112978935242, + 25.63603401184082 + ], + [ + -0.019053183495998383, + -0.9993581771850586, + 0.030332809314131737, + -0.20136961340904236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4557, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_118017673", + "mask_path": "../../mask/hdr_right_04557.png" + }, + { + "file_path": "../../rgb/hdr_right_04558.png", + "transform_matrix": [ + [ + -0.11259754002094269, + -0.029217317700386047, + -0.9932110905647278, + 4.5020647048950195 + ], + [ + 0.9935122132301331, + -0.01938079670071602, + -0.11206153780221939, + 25.547361373901367 + ], + [ + -0.01597508229315281, + -0.9993851780891418, + 0.03120999038219452, + -0.20928925275802612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4558, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_218017816", + "mask_path": "../../mask/hdr_right_04558.png" + }, + { + "file_path": "../../rgb/hdr_right_04559.png", + "transform_matrix": [ + [ + -0.12171176075935364, + -0.026788704097270966, + -0.992203950881958, + 4.503046989440918 + ], + [ + 0.992378294467926, + -0.022694813087582588, + -0.1211204081773758, + 25.466642379760742 + ], + [ + -0.019273221492767334, + -0.9993834495544434, + 0.029346754774451256, + -0.21667152643203735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4559, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_318017959", + "mask_path": "../../mask/hdr_right_04559.png" + }, + { + "file_path": "../../rgb/hdr_right_04560.png", + "transform_matrix": [ + [ + -0.1188565045595169, + -0.023685386404395103, + -0.9926288723945618, + 4.497982978820801 + ], + [ + 0.9927657842636108, + -0.019961552694439888, + -0.1183965653181076, + 25.393619537353516 + ], + [ + -0.017010144889354706, + -0.9995201826095581, + 0.025886600837111473, + -0.2162303328514099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4560, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_418016910", + "mask_path": "../../mask/hdr_right_04560.png" + }, + { + "file_path": "../../rgb/hdr_right_04561.png", + "transform_matrix": [ + [ + -0.10536102950572968, + -0.021980440244078636, + -0.9941911101341248, + 4.488352298736572 + ], + [ + 0.9943748712539673, + -0.013232437893748283, + -0.10508795082569122, + 25.326683044433594 + ], + [ + -0.010845692828297615, + -0.9996709227561951, + 0.02325098030269146, + -0.2086392641067505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4561, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_518017292", + "mask_path": "../../mask/hdr_right_04561.png" + }, + { + "file_path": "../../rgb/hdr_right_04562.png", + "transform_matrix": [ + [ + -0.09593132138252258, + -0.01921466737985611, + -0.9952024817466736, + 4.485111236572266 + ], + [ + 0.9953378438949585, + -0.011886471882462502, + -0.09571484476327896, + 25.25629234313965 + ], + [ + -0.00999031774699688, + -0.999744713306427, + 0.02026536874473095, + -0.2028837352991104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4562, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_618017196", + "mask_path": "../../mask/hdr_right_04562.png" + }, + { + "file_path": "../../rgb/hdr_right_04563.png", + "transform_matrix": [ + [ + -0.09783907234668732, + -0.012675672769546509, + -0.9951215982437134, + 4.492945671081543 + ], + [ + 0.9951657652854919, + -0.009807211346924305, + -0.0977184846997261, + 25.173471450805664 + ], + [ + -0.008520719595253468, + -0.9998716115951538, + 0.013573925010859966, + -0.2106723189353943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4563, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_718016862", + "mask_path": "../../mask/hdr_right_04563.png" + }, + { + "file_path": "../../rgb/hdr_right_04564.png", + "transform_matrix": [ + [ + -0.1092056855559349, + -0.007046140730381012, + -0.9939942359924316, + 4.504368305206299 + ], + [ + 0.9939736723899841, + -0.010335863567888737, + -0.10913015902042389, + 25.087207794189453 + ], + [ + -0.009504841640591621, + -0.9999217391014099, + 0.00813241209834814, + -0.21758560836315155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4564, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_818016290", + "mask_path": "../../mask/hdr_right_04564.png" + }, + { + "file_path": "../../rgb/hdr_right_04565.png", + "transform_matrix": [ + [ + -0.11802583187818527, + -0.002595595782622695, + -0.9930071830749512, + 4.5164794921875 + ], + [ + 0.9929720163345337, + -0.0091094346717, + -0.11799784004688263, + 25.008007049560547 + ], + [ + -0.008739459328353405, + -0.9999551177024841, + 0.0036525011528283358, + -0.22017431259155273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4565, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228599_918016910", + "mask_path": "../../mask/hdr_right_04565.png" + }, + { + "file_path": "../../rgb/hdr_right_04566.png", + "transform_matrix": [ + [ + -0.11210250854492188, + 0.00252900249324739, + -0.9936935305595398, + 4.519490718841553 + ], + [ + 0.9936877489089966, + -0.003957774024456739, + -0.112111896276474, + 24.931640625 + ], + [ + -0.004216345958411694, + -0.9999890327453613, + -0.0020693636033684015, + -0.2188102900981903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4566, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228600_18016338", + "mask_path": "../../mask/hdr_right_04566.png" + }, + { + "file_path": "../../rgb/hdr_right_04567.png", + "transform_matrix": [ + [ + -0.09247063100337982, + 0.001212933799251914, + -0.9957146644592285, + 4.50998067855835 + ], + [ + 0.9956871867179871, + -0.00742000387981534, + -0.09247709810733795, + 24.85926628112793 + ], + [ + -0.007500375621020794, + -0.9999717473983765, + -0.0005215721903368831, + -0.19957903027534485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4567, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228600_118018865", + "mask_path": "../../mask/hdr_right_04567.png" + }, + { + "file_path": "../../rgb/hdr_right_04568.png", + "transform_matrix": [ + [ + -0.07505278289318085, + -0.0007957816706039011, + -0.9971792697906494, + 4.5001540184021 + ], + [ + 0.997072160243988, + -0.014734703116118908, + -0.07503294944763184, + 24.782405853271484 + ], + [ + -0.01463343109935522, + -0.9998911619186401, + 0.0018993299454450607, + -0.19021692872047424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 4568, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1733228600_218016862", + "mask_path": "../../mask/hdr_right_04568.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file