diff --git "a/2024-10-01-12-00-49/splats/1148c086/transforms.json" "b/2024-10-01-12-00-49/splats/1148c086/transforms.json" new file mode 100644--- /dev/null +++ "b/2024-10-01-12-00-49/splats/1148c086/transforms.json" @@ -0,0 +1,17016 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_02462.png", + "transform_matrix": [ + [ + 0.12309769541025162, + -0.019029654562473297, + 0.9922121167182922, + 14.599164009094238 + ], + [ + -0.9923885464668274, + -0.0058383154682815075, + 0.123007632791996, + 31.950292587280273 + ], + [ + 0.0034520551562309265, + -0.9998018741607666, + -0.019603492692112923, + 0.4533671438694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2462, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777101_711732864", + "mask_path": "../../mask/hdr_front_02462.png" + }, + { + "file_path": "../../rgb/hdr_front_02463.png", + "transform_matrix": [ + [ + 0.12646758556365967, + -0.017095590010285378, + 0.9918233752250671, + 14.524269104003906 + ], + [ + -0.9919583201408386, + 0.0028218780644237995, + 0.1265334188938141, + 31.92962074279785 + ], + [ + -0.004961968865245581, + -0.9998499155044556, + -0.016601236537098885, + 0.45537298917770386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2463, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777101_811732530", + "mask_path": "../../mask/hdr_front_02463.png" + }, + { + "file_path": "../../rgb/hdr_front_02464.png", + "transform_matrix": [ + [ + 0.13319550454616547, + -0.01506137941032648, + 0.9909753799438477, + 14.470759391784668 + ], + [ + -0.9910460114479065, + 0.007373334374278784, + 0.13331706821918488, + 31.915128707885742 + ], + [ + -0.009314730763435364, + -0.9998593926429749, + -0.013944425620138645, + 0.4503588080406189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2464, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777101_911734580", + "mask_path": "../../mask/hdr_front_02464.png" + }, + { + "file_path": "../../rgb/hdr_front_02466.png", + "transform_matrix": [ + [ + 0.1277749240398407, + -0.009452964179217815, + 0.9917581677436829, + 14.364524841308594 + ], + [ + -0.9917936325073242, + 0.003147960640490055, + 0.1278095245361328, + 31.90404510498047 + ], + [ + -0.004330194089561701, + -0.9999504089355469, + -0.008973159827291965, + 0.4474078416824341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2466, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_111734151", + "mask_path": "../../mask/hdr_front_02466.png" + }, + { + "file_path": "../../rgb/hdr_front_02467.png", + "transform_matrix": [ + [ + 0.11907009035348892, + -0.009496577084064484, + 0.9928404688835144, + 14.314517974853516 + ], + [ + -0.9928786158561707, + 0.002666826592758298, + 0.1191001757979393, + 31.903324127197266 + ], + [ + -0.0037787773180752993, + -0.9999513626098633, + -0.00911141000688076, + 0.4569408893585205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2467, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_211733579", + "mask_path": "../../mask/hdr_front_02467.png" + }, + { + "file_path": "../../rgb/hdr_front_02469.png", + "transform_matrix": [ + [ + 0.1066080704331398, + -0.018225209787487984, + 0.9941341280937195, + 14.210066795349121 + ], + [ + -0.9942914247512817, + 0.002456850605085492, + 0.10666999965906143, + 31.89615821838379 + ], + [ + -0.004386520944535732, + -0.9998309016227722, + -0.01785925030708313, + 0.4570816159248352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2469, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_411735296", + "mask_path": "../../mask/hdr_front_02469.png" + }, + { + "file_path": "../../rgb/hdr_front_02470.png", + "transform_matrix": [ + [ + 0.10986550897359848, + -0.01544461864978075, + 0.9938265085220337, + 14.137996673583984 + ], + [ + -0.9938814043998718, + 0.009740271605551243, + 0.11002294719219208, + 31.882896423339844 + ], + [ + -0.011379399336874485, + -0.999833345413208, + -0.014279997907578945, + 0.4572141170501709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2470, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_511733531", + "mask_path": "../../mask/hdr_front_02470.png" + }, + { + "file_path": "../../rgb/hdr_front_02471.png", + "transform_matrix": [ + [ + 0.11483509838581085, + -0.013617702759802341, + 0.9932911992073059, + 14.081944465637207 + ], + [ + -0.9932374358177185, + 0.01563704013824463, + 0.1150432601571083, + 31.87061309814453 + ], + [ + -0.01709875650703907, + -0.9997850060462952, + -0.011729929596185684, + 0.45410317182540894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2471, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_611733436", + "mask_path": "../../mask/hdr_front_02471.png" + }, + { + "file_path": "../../rgb/hdr_front_02473.png", + "transform_matrix": [ + [ + 0.10909216850996017, + -0.010395478457212448, + 0.9939772486686707, + 13.978264808654785 + ], + [ + -0.9939814805984497, + 0.008909681811928749, + 0.10918579995632172, + 31.870712280273438 + ], + [ + -0.009991059079766273, + -0.9999063611030579, + -0.009360935539007187, + 0.4575590491294861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2473, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_811733722", + "mask_path": "../../mask/hdr_front_02473.png" + }, + { + "file_path": "../../rgb/hdr_front_02474.png", + "transform_matrix": [ + [ + 0.09861508756875992, + -0.013569426722824574, + 0.9950331449508667, + 13.927191734313965 + ], + [ + -0.995049238204956, + 0.011046864092350006, + 0.09876732528209686, + 31.874834060668945 + ], + [ + -0.012332212179899216, + -0.999846875667572, + -0.012412859126925468, + 0.4629431962966919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2474, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_911734104", + "mask_path": "../../mask/hdr_front_02474.png" + }, + { + "file_path": "../../rgb/hdr_front_02476.png", + "transform_matrix": [ + [ + 0.08958689868450165, + -0.02215762250125408, + 0.9957326054573059, + 13.818467140197754 + ], + [ + -0.9958620071411133, + 0.013332653790712357, + 0.08989523351192474, + 31.86181640625 + ], + [ + -0.015267619863152504, + -0.9996655583381653, + -0.020871499553322792, + 0.4655924141407013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2476, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_111734628", + "mask_path": "../../mask/hdr_front_02476.png" + }, + { + "file_path": "../../rgb/hdr_front_02477.png", + "transform_matrix": [ + [ + 0.09516014903783798, + -0.01603819616138935, + 0.9953328371047974, + 13.758868217468262 + ], + [ + -0.9952018857002258, + 0.021320849657058716, + 0.0954911857843399, + 31.847867965698242 + ], + [ + -0.022752845659852028, + -0.9996440410614014, + -0.013932348228991032, + 0.467793345451355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2477, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_211734294", + "mask_path": "../../mask/hdr_front_02477.png" + }, + { + "file_path": "../../rgb/hdr_front_02479.png", + "transform_matrix": [ + [ + 0.0953560546040535, + -0.011025652289390564, + 0.9953821897506714, + 13.669103622436523 + ], + [ + -0.9952462315559387, + 0.0188369732350111, + 0.09555169194936752, + 31.841766357421875 + ], + [ + -0.019803501665592194, + -0.9997617602348328, + -0.009177018888294697, + 0.46071115136146545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2479, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_411733627", + "mask_path": "../../mask/hdr_front_02479.png" + }, + { + "file_path": "../../rgb/hdr_front_02480.png", + "transform_matrix": [ + [ + 0.08572299033403397, + -0.00811353325843811, + 0.9962859153747559, + 13.615063667297363 + ], + [ + -0.9961733222007751, + 0.016401438042521477, + 0.08584685623645782, + 31.841232299804688 + ], + [ + -0.0170370414853096, + -0.9998326301574707, + -0.0066765048541128635, + 0.4703226387500763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2480, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_511733531", + "mask_path": "../../mask/hdr_front_02480.png" + }, + { + "file_path": "../../rgb/hdr_front_02482.png", + "transform_matrix": [ + [ + 0.07180006802082062, + -0.017017487436532974, + 0.9972739219665527, + 13.5157470703125 + ], + [ + -0.9972794651985168, + 0.015500199049711227, + 0.07206497341394424, + 31.831775665283203 + ], + [ + -0.016684308648109436, + -0.9997350573539734, + -0.015858275815844536, + 0.47371962666511536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2482, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_711733579", + "mask_path": "../../mask/hdr_front_02482.png" + }, + { + "file_path": "../../rgb/hdr_front_02483.png", + "transform_matrix": [ + [ + 0.07552466541528702, + -0.012471750378608704, + 0.9970659613609314, + 13.450345993041992 + ], + [ + -0.9968438744544983, + 0.023583563044667244, + 0.07580284029245377, + 31.818880081176758 + ], + [ + -0.024459760636091232, + -0.9996440410614014, + -0.010651245713233948, + 0.47375279664993286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2483, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_811733245", + "mask_path": "../../mask/hdr_front_02483.png" + }, + { + "file_path": "../../rgb/hdr_front_02486.png", + "transform_matrix": [ + [ + 0.07320629060268402, + -0.009308521635830402, + 0.9972733855247498, + 13.298279762268066 + ], + [ + -0.9970968961715698, + 0.0203110221773386, + 0.07338293641805649, + 31.814186096191406 + ], + [ + -0.020938726142048836, + -0.9997503757476807, + -0.007794605102390051, + 0.4794479310512543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2486, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_111733675", + "mask_path": "../../mask/hdr_front_02486.png" + }, + { + "file_path": "../../rgb/hdr_front_02488.png", + "transform_matrix": [ + [ + 0.06272871792316437, + -0.019312608987092972, + 0.9978437423706055, + 13.193325996398926 + ], + [ + -0.9979274272918701, + 0.013157314620912075, + 0.06298863887786865, + 31.807270050048828 + ], + [ + -0.014345420524477959, + -0.9997270107269287, + -0.01844724267721176, + 0.4799019992351532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2488, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_311733722", + "mask_path": "../../mask/hdr_front_02488.png" + }, + { + "file_path": "../../rgb/hdr_front_02489.png", + "transform_matrix": [ + [ + 0.06781243532896042, + -0.01729113981127739, + 0.9975482821464539, + 13.129537582397461 + ], + [ + -0.9975204467773438, + 0.017693039029836655, + 0.06811723113059998, + 31.79335594177246 + ], + [ + -0.01882748492062092, + -0.9996940493583679, + -0.016048457473516464, + 0.48168933391571045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2489, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_411735296", + "mask_path": "../../mask/hdr_front_02489.png" + }, + { + "file_path": "../../rgb/hdr_front_02490.png", + "transform_matrix": [ + [ + 0.07945246249437332, + -0.015111091546714306, + 0.9967241287231445, + 13.078664779663086 + ], + [ + -0.9965723156929016, + 0.021908162161707878, + 0.07977250963449478, + 31.7833194732666 + ], + [ + -0.02304184064269066, + -0.9996457695960999, + -0.013318640179932117, + 0.47797590494155884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2490, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_511734247", + "mask_path": "../../mask/hdr_front_02490.png" + }, + { + "file_path": "../../rgb/hdr_front_02492.png", + "transform_matrix": [ + [ + 0.10517065227031708, + -0.013202645815908909, + 0.9943665266036987, + 12.97125244140625 + ], + [ + -0.9943923354148865, + 0.00976358912885189, + 0.10530300438404083, + 31.768693923950195 + ], + [ + -0.011098863556981087, + -0.9998651742935181, + -0.012101765722036362, + 0.48020219802856445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2492, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_711735248", + "mask_path": "../../mask/hdr_front_02492.png" + }, + { + "file_path": "../../rgb/hdr_front_02493.png", + "transform_matrix": [ + [ + 0.1030341312289238, + -0.014447006396949291, + 0.9945729374885559, + 12.919851303100586 + ], + [ + -0.9946234822273254, + 0.008952111937105656, + 0.10316941142082214, + 31.76752471923828 + ], + [ + -0.010394016280770302, + -0.9998555779457092, + -0.013446959666907787, + 0.4872382879257202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2493, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_811735153", + "mask_path": "../../mask/hdr_front_02493.png" + }, + { + "file_path": "../../rgb/hdr_front_02495.png", + "transform_matrix": [ + [ + 0.09651295095682144, + -0.02311604656279087, + 0.995063304901123, + 12.810576438903809 + ], + [ + -0.9953000545501709, + 0.005725140683352947, + 0.09666892141103745, + 31.75780487060547 + ], + [ + -0.007931480184197426, + -0.9997164011001587, + -0.02245485410094261, + 0.4912499487400055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2495, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_11735200", + "mask_path": "../../mask/hdr_front_02495.png" + }, + { + "file_path": "../../rgb/hdr_front_02496.png", + "transform_matrix": [ + [ + 0.10392194241285324, + -0.019583886489272118, + 0.9943926930427551, + 12.7468843460083 + ], + [ + -0.9944629073143005, + 0.013645807281136513, + 0.10419803112745285, + 31.746675491333008 + ], + [ + -0.015609891153872013, + -0.9997151494026184, + -0.01805735006928444, + 0.489849328994751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2496, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_111734867", + "mask_path": "../../mask/hdr_front_02496.png" + }, + { + "file_path": "../../rgb/hdr_front_02498.png", + "transform_matrix": [ + [ + 0.11037731915712357, + -0.013614672236144543, + 0.9937965273857117, + 12.651777267456055 + ], + [ + -0.9937958121299744, + 0.012230879627168179, + 0.1105448305606842, + 31.7255802154541 + ], + [ + -0.013660037890076637, + -0.9998325109481812, + -0.012180192396044731, + 0.47934937477111816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2498, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_311734199", + "mask_path": "../../mask/hdr_front_02498.png" + }, + { + "file_path": "../../rgb/hdr_front_02499.png", + "transform_matrix": [ + [ + 0.10185389965772629, + -0.009870528243482113, + 0.994750440120697, + 12.595765113830566 + ], + [ + -0.9947473406791687, + 0.009216845966875553, + 0.10194503515958786, + 31.718671798706055 + ], + [ + -0.010174712166190147, + -0.9999088048934937, + -0.008879909291863441, + 0.48347383737564087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2499, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_411735534", + "mask_path": "../../mask/hdr_front_02499.png" + }, + { + "file_path": "../../rgb/hdr_front_02500.png", + "transform_matrix": [ + [ + 0.08823846280574799, + -0.01342158205807209, + 0.9960089921951294, + 12.538410186767578 + ], + [ + -0.9960726499557495, + 0.0061314781196415424, + 0.08832675218582153, + 31.71592903137207 + ], + [ + -0.007292490452528, + -0.9998911023139954, + -0.012827836908400059, + 0.492477148771286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2500, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_511734962", + "mask_path": "../../mask/hdr_front_02500.png" + }, + { + "file_path": "../../rgb/hdr_front_02501.png", + "transform_matrix": [ + [ + 0.07815220206975937, + -0.01737152226269245, + 0.9967900514602661, + 12.477269172668457 + ], + [ + -0.9969179630279541, + 0.005497974809259176, + 0.07825803756713867, + 31.714384078979492 + ], + [ + -0.006839788518846035, + -0.9998339414596558, + -0.01688830740749836, + 0.4917649030685425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2501, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_611734151", + "mask_path": "../../mask/hdr_front_02501.png" + }, + { + "file_path": "../../rgb/hdr_front_02502.png", + "transform_matrix": [ + [ + 0.0757870227098465, + -0.015183499082922935, + 0.9970084428787231, + 12.398614883422852 + ], + [ + -0.9970653653144836, + 0.009687434881925583, + 0.0759388878941536, + 31.705429077148438 + ], + [ + -0.010811470448970795, + -0.9998378157615662, + -0.014404759742319584, + 0.48743027448654175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2502, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_711735010", + "mask_path": "../../mask/hdr_front_02502.png" + }, + { + "file_path": "../../rgb/hdr_front_02503.png", + "transform_matrix": [ + [ + 0.07973538339138031, + -0.012819228693842888, + 0.9967336654663086, + 12.330907821655273 + ], + [ + -0.9967209100723267, + 0.012792149558663368, + 0.0798988938331604, + 31.693248748779297 + ], + [ + -0.013774607330560684, + -0.9998360276222229, + -0.011757205240428448, + 0.48318538069725037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2503, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_811735391", + "mask_path": "../../mask/hdr_front_02503.png" + }, + { + "file_path": "../../rgb/hdr_front_02505.png", + "transform_matrix": [ + [ + 0.07330888509750366, + -0.013353941030800343, + 0.9972199201583862, + 12.216414451599121 + ], + [ + -0.9972965121269226, + 0.0040863980539143085, + 0.07336924225091934, + 31.68779182434082 + ], + [ + -0.005054804030805826, + -0.9999025464057922, + -0.013018269091844559, + 0.4909325838088989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2505, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_11734247", + "mask_path": "../../mask/hdr_front_02505.png" + }, + { + "file_path": "../../rgb/hdr_front_02506.png", + "transform_matrix": [ + [ + 0.06404664367437363, + -0.015668319538235664, + 0.99782395362854, + 12.151549339294434 + ], + [ + -0.9979384541511536, + 0.003111940575763583, + 0.06410285085439682, + 31.69204330444336 + ], + [ + -0.004109551664441824, + -0.9998724460601807, + -0.015436709858477116, + 0.4987220764160156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2506, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_111733675", + "mask_path": "../../mask/hdr_front_02506.png" + }, + { + "file_path": "../../rgb/hdr_front_02507.png", + "transform_matrix": [ + [ + 0.05652187019586563, + -0.02374451421201229, + 0.9981189966201782, + 12.095772743225098 + ], + [ + -0.9984009265899658, + -0.0005035926005803049, + 0.05652586370706558, + 31.690000534057617 + ], + [ + -0.0008395335753448308, + -0.9997179508209229, + -0.023735010996460915, + 0.5012482404708862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2507, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_211734771", + "mask_path": "../../mask/hdr_front_02507.png" + }, + { + "file_path": "../../rgb/hdr_front_02508.png", + "transform_matrix": [ + [ + 0.05320809781551361, + -0.026154829189181328, + 0.9982409477233887, + 12.017370223999023 + ], + [ + -0.9985759854316711, + 0.0024645905941724777, + 0.053290531039237976, + 31.682205200195312 + ], + [ + -0.0038540579844266176, + -0.9996548891067505, + -0.0259864442050457, + 0.5008323192596436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2508, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_311734914", + "mask_path": "../../mask/hdr_front_02508.png" + }, + { + "file_path": "../../rgb/hdr_front_02509.png", + "transform_matrix": [ + [ + 0.05320829153060913, + -0.019801663234829903, + 0.9983871579170227, + 11.942428588867188 + ], + [ + -0.9985091090202332, + 0.01114080660045147, + 0.053435761481523514, + 31.67279815673828 + ], + [ + -0.012180952355265617, + -0.9997418522834778, + -0.01917935721576214, + 0.4982702434062958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2509, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_411732673", + "mask_path": "../../mask/hdr_front_02509.png" + }, + { + "file_path": "../../rgb/hdr_front_02511.png", + "transform_matrix": [ + [ + 0.03316264972090721, + -0.014404983259737492, + 0.9993461966514587, + 11.843159675598145 + ], + [ + -0.9994497895240784, + 0.00014530985208693892, + 0.033168185502290726, + 31.66689682006836 + ], + [ + -0.0006230015424080193, + -0.9998962879180908, + -0.014392239041626453, + 0.4902360737323761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2511, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_611734628", + "mask_path": "../../mask/hdr_front_02511.png" + }, + { + "file_path": "../../rgb/hdr_front_02512.png", + "transform_matrix": [ + [ + 0.008025633171200752, + -0.013743683695793152, + 0.9998733401298523, + 11.781546592712402 + ], + [ + -0.9999627470970154, + -0.0032930271700024605, + 0.00798108708113432, + 31.673357009887695 + ], + [ + 0.00318291992880404, + -0.9999001622200012, + -0.013769599609076977, + 0.49502846598625183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2512, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_711735963", + "mask_path": "../../mask/hdr_front_02512.png" + }, + { + "file_path": "../../rgb/hdr_front_02513.png", + "transform_matrix": [ + [ + -0.026082249358296394, + -0.016964638605713844, + 0.9995157718658447, + 11.72410774230957 + ], + [ + -0.9996582865715027, + -0.0013246848247945309, + -0.02610844559967518, + 31.68972396850586 + ], + [ + 0.001766964327543974, + -0.9998552203178406, + -0.016924289986491203, + 0.5019779205322266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2513, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_811734437", + "mask_path": "../../mask/hdr_front_02513.png" + }, + { + "file_path": "../../rgb/hdr_front_02514.png", + "transform_matrix": [ + [ + -0.056975867599248886, + -0.021438945084810257, + 0.9981454014778137, + 11.663589477539062 + ], + [ + -0.9983725547790527, + 0.0036944514140486717, + -0.05690948665142059, + 31.697677612304688 + ], + [ + -0.002467519138008356, + -0.9997634291648865, + -0.021614547818899155, + 0.5069965720176697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2514, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_911734580", + "mask_path": "../../mask/hdr_front_02514.png" + }, + { + "file_path": "../../rgb/hdr_front_02515.png", + "transform_matrix": [ + [ + -0.07774735987186432, + -0.020468149334192276, + 0.9967629909515381, + 11.583237648010254 + ], + [ + -0.9969313144683838, + 0.010742831975221634, + -0.07753990590572357, + 31.701026916503906 + ], + [ + -0.009120958857238293, + -0.9997328519821167, + -0.021240567788481712, + 0.5080751776695251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2515, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_11734247", + "mask_path": "../../mask/hdr_front_02515.png" + }, + { + "file_path": "../../rgb/hdr_front_02516.png", + "transform_matrix": [ + [ + -0.08977632969617844, + -0.017867373302578926, + 0.9958016276359558, + 11.517675399780273 + ], + [ + -0.9959171414375305, + 0.011095554567873478, + -0.08958765864372253, + 31.701807022094727 + ], + [ + -0.009448273107409477, + -0.9997788071632385, + -0.01879054121673107, + 0.5027735233306885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2516, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_111733913", + "mask_path": "../../mask/hdr_front_02516.png" + }, + { + "file_path": "../../rgb/hdr_front_02518.png", + "transform_matrix": [ + [ + -0.1328507661819458, + -0.018296562135219574, + 0.9909671545028687, + 11.423710823059082 + ], + [ + -0.9911296367645264, + 0.006074397824704647, + -0.13276037573814392, + 31.726404190063477 + ], + [ + -0.003590469714254141, + -0.9998141527175903, + -0.018941251561045647, + 0.5054758191108704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2518, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_311734914", + "mask_path": "../../mask/hdr_front_02518.png" + }, + { + "file_path": "../../rgb/hdr_front_02519.png", + "transform_matrix": [ + [ + -0.15468238294124603, + -0.01807071454823017, + 0.9877990484237671, + 11.366124153137207 + ], + [ + -0.987963855266571, + 0.0036487444303929806, + -0.15464144945144653, + 31.74795913696289 + ], + [ + -0.0008097447571344674, + -0.9998301267623901, + -0.018417611718177795, + 0.5149368643760681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2519, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_411736726", + "mask_path": "../../mask/hdr_front_02519.png" + }, + { + "file_path": "../../rgb/hdr_front_02521.png", + "transform_matrix": [ + [ + -0.1771976202726364, + -0.02500399760901928, + 0.9838576316833496, + 11.261178016662598 + ], + [ + -0.9841681718826294, + 0.008316325023770332, + -0.1770421862602234, + 31.777385711669922 + ], + [ + -0.0037553173024207354, + -0.9996528029441833, + -0.02608177252113819, + 0.5172025561332703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2521, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_611735105", + "mask_path": "../../mask/hdr_front_02521.png" + }, + { + "file_path": "../../rgb/hdr_front_02522.png", + "transform_matrix": [ + [ + -0.17453189194202423, + -0.018504438921809196, + 0.9844775795936584, + 11.189925193786621 + ], + [ + -0.9845817685127258, + 0.015176576562225819, + -0.17426513135433197, + 31.784337997436523 + ], + [ + -0.011716322973370552, + -0.9997135996818542, + -0.020867930725216866, + 0.5194352269172668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2522, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_711734771", + "mask_path": "../../mask/hdr_front_02522.png" + }, + { + "file_path": "../../rgb/hdr_front_02523.png", + "transform_matrix": [ + [ + -0.1693437397480011, + -0.01572868414223194, + 0.9854315519332886, + 11.13304615020752 + ], + [ + -0.9854345321655273, + 0.018471239134669304, + -0.1690494269132614, + 31.790557861328125 + ], + [ + -0.015543216839432716, + -0.9997056722640991, + -0.018627576529979706, + 0.517954409122467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2523, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_811734437", + "mask_path": "../../mask/hdr_front_02523.png" + }, + { + "file_path": "../../rgb/hdr_front_02524.png", + "transform_matrix": [ + [ + -0.17104938626289368, + -0.013410566374659538, + 0.9851711988449097, + 11.080144882202148 + ], + [ + -0.9852201342582703, + 0.01159606222063303, + -0.17090001702308655, + 31.808704376220703 + ], + [ + -0.00913223810493946, + -0.9998428821563721, + -0.015195858664810658, + 0.5129266977310181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2524, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_911734580", + "mask_path": "../../mask/hdr_front_02524.png" + }, + { + "file_path": "../../rgb/hdr_front_02525.png", + "transform_matrix": [ + [ + -0.17573630809783936, + -0.012137393467128277, + 0.9843625426292419, + 11.016613006591797 + ], + [ + -0.9844368100166321, + 0.0031770714558660984, + -0.17571040987968445, + 31.83111000061035 + ], + [ + -0.0009947235230356455, + -0.9999212622642517, + -0.012506822124123573, + 0.5189306139945984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2525, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_11735439", + "mask_path": "../../mask/hdr_front_02525.png" + }, + { + "file_path": "../../rgb/hdr_front_02526.png", + "transform_matrix": [ + [ + -0.17496484518051147, + -0.014466403983533382, + 0.984468400478363, + 10.961280822753906 + ], + [ + -0.9845746755599976, + 0.002454216592013836, + -0.17494766414165497, + 31.841564178466797 + ], + [ + 0.00011476647341623902, + -0.9998922944068909, + -0.014672656543552876, + 0.523277759552002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2526, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_111734867", + "mask_path": "../../mask/hdr_front_02526.png" + }, + { + "file_path": "../../rgb/hdr_front_02528.png", + "transform_matrix": [ + [ + -0.15449589490890503, + -0.02153073437511921, + 0.9877587556838989, + 10.842338562011719 + ], + [ + -0.9879933595657349, + 0.0036211407277733088, + -0.15445367991924286, + 31.84770965576172 + ], + [ + -0.00025131276925094426, + -0.999761700630188, + -0.02183167263865471, + 0.5233426690101624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2528, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_311734676", + "mask_path": "../../mask/hdr_front_02528.png" + }, + { + "file_path": "../../rgb/hdr_front_02529.png", + "transform_matrix": [ + [ + -0.13544394075870514, + -0.015789590775966644, + 0.9906592965126038, + 10.770621299743652 + ], + [ + -0.9907735586166382, + 0.006970640271902084, + -0.13534845411777496, + 31.843524932861328 + ], + [ + -0.004768431652337313, + -0.9998510479927063, + -0.016588039696216583, + 0.5237031579017639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2529, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_411734580", + "mask_path": "../../mask/hdr_front_02529.png" + }, + { + "file_path": "../../rgb/hdr_front_02531.png", + "transform_matrix": [ + [ + -0.1102919951081276, + -0.014711330644786358, + 0.993790328502655, + 10.677576065063477 + ], + [ + -0.9938931465148926, + -0.001855230308137834, + -0.11033087968826294, + 31.840688705444336 + ], + [ + 0.0034668247681111097, + -0.9998900294303894, + -0.014416872523725033, + 0.5184698104858398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2531, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_611733913", + "mask_path": "../../mask/hdr_front_02531.png" + }, + { + "file_path": "../../rgb/hdr_front_02532.png", + "transform_matrix": [ + [ + -0.10312359035015106, + -0.012998632155358791, + 0.9945836663246155, + 10.619329452514648 + ], + [ + -0.994608998298645, + -0.009587408043444157, + -0.10325153917074203, + 31.839380264282227 + ], + [ + 0.010877607390284538, + -0.9998695254325867, + -0.01193986926227808, + 0.5217820405960083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2532, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_711734294", + "mask_path": "../../mask/hdr_front_02532.png" + }, + { + "file_path": "../../rgb/hdr_front_02533.png", + "transform_matrix": [ + [ + -0.09890333563089371, + -0.017258325591683388, + 0.9949474334716797, + 10.5646390914917 + ], + [ + -0.9949990510940552, + -0.012318608351051807, + -0.09912215173244476, + 31.840978622436523 + ], + [ + 0.013967050239443779, + -0.999775230884552, + -0.01595366559922695, + 0.5314162969589233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2533, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_811735153", + "mask_path": "../../mask/hdr_front_02533.png" + }, + { + "file_path": "../../rgb/hdr_front_02534.png", + "transform_matrix": [ + [ + -0.0906725749373436, + -0.025535117834806442, + 0.9955533742904663, + 10.509991645812988 + ], + [ + -0.9957801699638367, + -0.011884761042892933, + -0.09099806845188141, + 31.841609954833984 + ], + [ + 0.014155562035739422, + -0.9996033310890198, + -0.024349741637706757, + 0.5351653099060059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2534, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_911735057", + "mask_path": "../../mask/hdr_front_02534.png" + }, + { + "file_path": "../../rgb/hdr_front_02535.png", + "transform_matrix": [ + [ + -0.07360062003135681, + -0.02592191845178604, + 0.9969508647918701, + 10.439474105834961 + ], + [ + -0.9972418546676636, + -0.007681051269173622, + -0.07382183521986008, + 31.83441734313965 + ], + [ + 0.009571234695613384, + -0.9996345043182373, + -0.025285091251134872, + 0.5348198413848877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2535, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777109_11734247", + "mask_path": "../../mask/hdr_front_02535.png" + }, + { + "file_path": "../../rgb/hdr_front_02536.png", + "transform_matrix": [ + [ + -0.048922717571258545, + -0.01875646598637104, + 0.9986264705657959, + 10.37995719909668 + ], + [ + -0.9988018870353699, + -0.00025906984228640795, + -0.048936184495687485, + 31.818605422973633 + ], + [ + 0.0011765850940719247, + -0.999824047088623, + -0.0187213197350502, + 0.531889796257019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2536, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777109_111734628", + "mask_path": "../../mask/hdr_front_02536.png" + }, + { + "file_path": "../../rgb/hdr_front_02538.png", + "transform_matrix": [ + [ + -0.017438314855098724, + -0.012828320264816284, + 0.9997656941413879, + 10.282471656799316 + ], + [ + -0.9998152852058411, + -0.00785150658339262, + -0.01753992773592472, + 31.809829711914062 + ], + [ + 0.008074674755334854, + -0.9998868703842163, + -0.012689032591879368, + 0.531714916229248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2538, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777109_311734676", + "mask_path": "../../mask/hdr_front_02538.png" + }, + { + "file_path": "../../rgb/hdr_front_02539.png", + "transform_matrix": [ + [ + -0.012489610351622105, + -0.015752507373690605, + 0.9997979402542114, + 10.226943016052246 + ], + [ + -0.9999114871025085, + -0.004400278907269239, + -0.012560357339680195, + 31.8087100982666 + ], + [ + 0.004597247112542391, + -0.999866247177124, + -0.015696154907345772, + 0.5352754592895508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2539, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777109_411735057", + "mask_path": "../../mask/hdr_front_02539.png" + }, + { + "file_path": "../../rgb/hdr_front_02541.png", + "transform_matrix": [ + [ + -0.0047074612230062485, + -0.018585190176963806, + 0.9998161792755127, + 10.133185386657715 + ], + [ + -0.9999879598617554, + -0.00131960806902498, + -0.004732800647616386, + 31.79288673400879 + ], + [ + 0.0014073265483602881, + -0.9998264312744141, + -0.018578751012682915, + 0.5395549535751343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2541, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777109_611734628", + "mask_path": "../../mask/hdr_front_02541.png" + }, + { + "file_path": "../../rgb/hdr_front_02546.png", + "transform_matrix": [ + [ + 0.004898784216493368, + -0.01319500058889389, + 0.9999009966850281, + 10.012115478515625 + ], + [ + -0.999975860118866, + -0.0049798088148236275, + 0.004833436105400324, + 31.7896728515625 + ], + [ + 0.004915538243949413, + -0.9999005794525146, + -0.013219079002737999, + 0.5410990118980408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2546, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_111734151", + "mask_path": "../../mask/hdr_front_02546.png" + }, + { + "file_path": "../../rgb/hdr_front_02548.png", + "transform_matrix": [ + [ + 0.03179532289505005, + -0.01635311357676983, + 0.9993606805801392, + 9.912596702575684 + ], + [ + -0.9994899034500122, + 0.0024960085283964872, + 0.03184027597308159, + 31.773645401000977 + ], + [ + -0.00301510002464056, + -0.9998631477355957, + -0.01626541092991829, + 0.5448691248893738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2548, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_311734199", + "mask_path": "../../mask/hdr_front_02548.png" + }, + { + "file_path": "../../rgb/hdr_front_02550.png", + "transform_matrix": [ + [ + 0.04438239708542824, + -0.014894986525177956, + 0.9989035129547119, + 9.829645156860352 + ], + [ + -0.9990130662918091, + 0.0010937460465356708, + 0.044403575360774994, + 31.770599365234375 + ], + [ + -0.0017539371037855744, + -0.99988853931427, + -0.014831742271780968, + 0.5360254049301147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2550, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_511734247", + "mask_path": "../../mask/hdr_front_02550.png" + }, + { + "file_path": "../../rgb/hdr_front_02551.png", + "transform_matrix": [ + [ + 0.04516277834773064, + -0.0123099684715271, + 0.998903751373291, + 9.774247169494629 + ], + [ + -0.9989751577377319, + -0.0035390646662563086, + 0.04512239247560501, + 31.771446228027344 + ], + [ + 0.002979729790240526, + -0.9999179840087891, + -0.012457186356186867, + 0.5404821038246155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2551, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_611733436", + "mask_path": "../../mask/hdr_front_02551.png" + }, + { + "file_path": "../../rgb/hdr_front_02552.png", + "transform_matrix": [ + [ + 0.047832705080509186, + -0.013915755786001682, + 0.9987584352493286, + 9.722810745239258 + ], + [ + -0.9988340139389038, + -0.007198145147413015, + 0.0477360337972641, + 31.7643985748291 + ], + [ + 0.006524925585836172, + -0.9998773336410522, + -0.0142438393086195, + 0.5449502468109131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2552, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_711733579", + "mask_path": "../../mask/hdr_front_02552.png" + }, + { + "file_path": "../../rgb/hdr_front_02554.png", + "transform_matrix": [ + [ + 0.07330941408872604, + -0.025636151432991028, + 0.9969797134399414, + 9.600292205810547 + ], + [ + -0.9972944855690002, + -0.007334437221288681, + 0.07314395904541016, + 31.73698616027832 + ], + [ + 0.005437156185507774, + -0.9996444582939148, + -0.02610447257757187, + 0.5412608981132507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2554, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_911733865", + "mask_path": "../../mask/hdr_front_02554.png" + }, + { + "file_path": "../../rgb/hdr_front_02555.png", + "transform_matrix": [ + [ + 0.09913687407970428, + -0.020230494439601898, + 0.9948681592941284, + 9.534239768981934 + ], + [ + -0.9950733184814453, + -0.0010687910253182054, + 0.09913559257984161, + 31.70697784423828 + ], + [ + -0.0009422547882422805, + -0.9997948408126831, + -0.02023678459227085, + 0.5422387719154358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2555, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777111_11734008", + "mask_path": "../../mask/hdr_front_02555.png" + }, + { + "file_path": "../../rgb/hdr_front_02557.png", + "transform_matrix": [ + [ + 0.1346483677625656, + -0.013272726908326149, + 0.9908045530319214, + 9.460135459899902 + ], + [ + -0.9908692836761475, + -0.008787301369011402, + 0.13453945517539978, + 31.686498641967773 + ], + [ + 0.006920791696757078, + -0.9998733401298523, + -0.014334732666611671, + 0.5345351099967957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2557, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777111_211734294", + "mask_path": "../../mask/hdr_front_02557.png" + }, + { + "file_path": "../../rgb/hdr_front_02561.png", + "transform_matrix": [ + [ + 0.16085268557071686, + -0.01743779145181179, + 0.9868242740631104, + 9.26782512664795 + ], + [ + -0.9869782328605652, + -0.002265573712065816, + 0.16083773970603943, + 31.64474868774414 + ], + [ + -0.0005689300014637411, + -0.9998454451560974, + -0.01757514290511608, + 0.5469855070114136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2561, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777111_611734151", + "mask_path": "../../mask/hdr_front_02561.png" + }, + { + "file_path": "../../rgb/hdr_front_02563.png", + "transform_matrix": [ + [ + 0.17722992599010468, + -0.010324807837605476, + 0.9841153621673584, + 9.210010528564453 + ], + [ + -0.9841127991676331, + 0.008872627280652523, + 0.17732256650924683, + 31.62901496887207 + ], + [ + -0.010562509298324585, + -0.9999074339866638, + -0.008588281460106373, + 0.5356999039649963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2563, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777111_811735153", + "mask_path": "../../mask/hdr_front_02563.png" + }, + { + "file_path": "../../rgb/hdr_front_02565.png", + "transform_matrix": [ + [ + 0.15873627364635468, + -0.0011811696458607912, + 0.9873204231262207, + 9.147994995117188 + ], + [ + -0.9873114228248596, + 0.0042211273685097694, + 0.1587398797273636, + 31.64320182800293 + ], + [ + -0.0043551004491746426, + -0.9999904632568359, + -0.0004961364320479333, + 0.5485827326774597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2565, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777112_11735200", + "mask_path": "../../mask/hdr_front_02565.png" + }, + { + "file_path": "../../rgb/hdr_front_02567.png", + "transform_matrix": [ + [ + 0.14036990702152252, + -0.00569511204957962, + 0.9900828003883362, + 9.088144302368164 + ], + [ + -0.9900873899459839, + 0.004059864208102226, + 0.140393927693367, + 31.646461486816406 + ], + [ + -0.0048191603273153305, + -0.9999755620956421, + -0.005068775732070208, + 0.5483301281929016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2567, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777112_211735725", + "mask_path": "../../mask/hdr_front_02567.png" + }, + { + "file_path": "../../rgb/hdr_front_02570.png", + "transform_matrix": [ + [ + 0.1434565782546997, + -0.008119591511785984, + 0.9896232485771179, + 9.0299711227417 + ], + [ + -0.9895433187484741, + 0.01394998375326395, + 0.14355945587158203, + 31.64068031311035 + ], + [ + -0.014970872551202774, + -0.9998697638511658, + -0.006033471319824457, + 0.5466915369033813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2570, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777112_511734724", + "mask_path": "../../mask/hdr_front_02570.png" + }, + { + "file_path": "../../rgb/hdr_front_02576.png", + "transform_matrix": [ + [ + 0.109876349568367, + -0.020941533148288727, + 0.9937246441841125, + 8.939779281616211 + ], + [ + -0.9937586188316345, + 0.0170584749430418, + 0.11023959517478943, + 31.66063117980957 + ], + [ + -0.019260011613368988, + -0.9996351599693298, + -0.018936507403850555, + 0.5524600744247437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2576, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_111733913", + "mask_path": "../../mask/hdr_front_02576.png" + }, + { + "file_path": "../../rgb/hdr_front_02578.png", + "transform_matrix": [ + [ + 0.10644502192735672, + -0.027023058384656906, + 0.9939513206481934, + 8.82981014251709 + ], + [ + -0.9938620328903198, + 0.027398431673645973, + 0.10718035697937012, + 31.660791397094727 + ], + [ + -0.030129041522741318, + -0.9992592930793762, + -0.023940766230225563, + 0.5503525733947754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2578, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_311736106", + "mask_path": "../../mask/hdr_front_02578.png" + }, + { + "file_path": "../../rgb/hdr_front_02579.png", + "transform_matrix": [ + [ + 0.1138772964477539, + -0.024077054113149643, + 0.9932031035423279, + 8.769331932067871 + ], + [ + -0.9928536415100098, + 0.03315303847193718, + 0.11464093625545502, + 31.649805068969727 + ], + [ + -0.03568791225552559, + -0.9991602301597595, + -0.02012961357831955, + 0.5513512492179871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2579, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_411734104", + "mask_path": "../../mask/hdr_front_02579.png" + }, + { + "file_path": "../../rgb/hdr_front_02581.png", + "transform_matrix": [ + [ + 0.11339071393013, + -0.021657302975654602, + 0.9933145046234131, + 8.667319297790527 + ], + [ + -0.9931517839431763, + 0.0258496031165123, + 0.11393576115369797, + 31.643871307373047 + ], + [ + -0.028144322335720062, + -0.9994311928749084, + -0.018577881157398224, + 0.5426225066184998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2581, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_611734390", + "mask_path": "../../mask/hdr_front_02581.png" + }, + { + "file_path": "../../rgb/hdr_front_02582.png", + "transform_matrix": [ + [ + 0.10219526290893555, + -0.019912565127015114, + 0.9945650696754456, + 8.593005180358887 + ], + [ + -0.9945471882820129, + 0.018845343962311745, + 0.10257073491811752, + 31.649965286254883 + ], + [ + -0.020785365253686905, + -0.9996241331100464, + -0.017878081649541855, + 0.5500643253326416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2582, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_711734056", + "mask_path": "../../mask/hdr_front_02582.png" + }, + { + "file_path": "../../rgb/hdr_front_02583.png", + "transform_matrix": [ + [ + 0.08866489678621292, + -0.021402684971690178, + 0.9958316087722778, + 8.535040855407715 + ], + [ + -0.9959439039230347, + 0.013462184928357601, + 0.08896422386169434, + 31.652542114257812 + ], + [ + -0.015310139395296574, + -0.9996803402900696, + -0.02012225054204464, + 0.5581870079040527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2583, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_811734199", + "mask_path": "../../mask/hdr_front_02583.png" + }, + { + "file_path": "../../rgb/hdr_front_02585.png", + "transform_matrix": [ + [ + 0.07886455953121185, + -0.02703830599784851, + 0.996518611907959, + 8.414128303527832 + ], + [ + -0.9966982007026672, + 0.017230167984962463, + 0.07934627681970596, + 31.631465911865234 + ], + [ + -0.01931557059288025, + -0.9994859099388123, + -0.02559017576277256, + 0.5522897839546204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2585, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_11734724", + "mask_path": "../../mask/hdr_front_02585.png" + }, + { + "file_path": "../../rgb/hdr_front_02586.png", + "transform_matrix": [ + [ + 0.08610221743583679, + -0.021998967975378036, + 0.9960434436798096, + 8.35092830657959 + ], + [ + -0.995960533618927, + 0.023665085434913635, + 0.08661773055791855, + 31.616233825683594 + ], + [ + -0.025476953014731407, + -0.9994778633117676, + -0.01987248845398426, + 0.5514359474182129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2586, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_111734151", + "mask_path": "../../mask/hdr_front_02586.png" + }, + { + "file_path": "../../rgb/hdr_front_02588.png", + "transform_matrix": [ + [ + 0.08774064481258392, + -0.016054188832640648, + 0.9960140585899353, + 8.261039733886719 + ], + [ + -0.9960497617721558, + 0.012288789264857769, + 0.08794188499450684, + 31.590587615966797 + ], + [ + -0.013651642948389053, + -0.99979567527771, + -0.01491254661232233, + 0.5474548935890198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2588, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_311734437", + "mask_path": "../../mask/hdr_front_02588.png" + }, + { + "file_path": "../../rgb/hdr_front_02589.png", + "transform_matrix": [ + [ + 0.08639080822467804, + -0.0130661865696311, + 0.9961756467819214, + 8.205885887145996 + ], + [ + -0.9962141513824463, + 0.008598661050200462, + 0.0865069255232811, + 31.577171325683594 + ], + [ + -0.009696091525256634, + -0.9998776912689209, + -0.012273874133825302, + 0.5513207912445068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2589, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_411734580", + "mask_path": "../../mask/hdr_front_02589.png" + }, + { + "file_path": "../../rgb/hdr_front_02590.png", + "transform_matrix": [ + [ + 0.08379556983709335, + -0.01475006528198719, + 0.9963738322257996, + 8.151021957397461 + ], + [ + -0.9963957071304321, + 0.011996522545814514, + 0.08397500962018967, + 31.573266983032227 + ], + [ + -0.013191656209528446, + -0.999819278717041, + -0.013691644184291363, + 0.5597593188285828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2590, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_511735439", + "mask_path": "../../mask/hdr_front_02590.png" + }, + { + "file_path": "../../rgb/hdr_front_02591.png", + "transform_matrix": [ + [ + 0.0820445790886879, + -0.020967714488506317, + 0.9964080452919006, + 8.095197677612305 + ], + [ + -0.9965443015098572, + 0.011284991167485714, + 0.08229327201843262, + 31.572418212890625 + ], + [ + -0.01296995673328638, + -0.9997164607048035, + -0.019969383254647255, + 0.5595939755439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2591, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_611734151", + "mask_path": "../../mask/hdr_front_02591.png" + }, + { + "file_path": "../../rgb/hdr_front_02592.png", + "transform_matrix": [ + [ + 0.08305857330560684, + -0.023958727717399597, + 0.9962566494941711, + 8.026196479797363 + ], + [ + -0.9964295029640198, + 0.013198388740420341, + 0.08339038491249084, + 31.566261291503906 + ], + [ + -0.015146907418966293, + -0.9996259212493896, + -0.02277694270014763, + 0.5567906498908997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2592, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_711735248", + "mask_path": "../../mask/hdr_front_02592.png" + }, + { + "file_path": "../../rgb/hdr_front_02593.png", + "transform_matrix": [ + [ + 0.09110234677791595, + -0.020768867805600166, + 0.9956249594688416, + 7.947996616363525 + ], + [ + -0.9955219030380249, + 0.02343076467514038, + 0.09158169478178024, + 31.554738998413086 + ], + [ + -0.025230299681425095, + -0.9995096921920776, + -0.01854126714169979, + 0.5579120516777039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2593, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_811734676", + "mask_path": "../../mask/hdr_front_02593.png" + }, + { + "file_path": "../../rgb/hdr_front_02594.png", + "transform_matrix": [ + [ + 0.10203414410352707, + -0.01964484713971615, + 0.9945869445800781, + 7.883516311645508 + ], + [ + -0.994185745716095, + 0.032563913613557816, + 0.1026361882686615, + 31.548051834106445 + ], + [ + -0.03440391272306442, + -0.9992765784263611, + -0.016207996755838394, + 0.5563904047012329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2594, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_911736011", + "mask_path": "../../mask/hdr_front_02594.png" + }, + { + "file_path": "../../rgb/hdr_front_02595.png", + "transform_matrix": [ + [ + 0.10813025385141373, + -0.018750928342342377, + 0.993959903717041, + 7.824097156524658 + ], + [ + -0.993638277053833, + 0.029616549611091614, + 0.10865399241447449, + 31.5477294921875 + ], + [ + -0.03147502243518829, + -0.9993855357170105, + -0.015429195947945118, + 0.5524641871452332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2595, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_11734962", + "mask_path": "../../mask/hdr_front_02595.png" + }, + { + "file_path": "../../rgb/hdr_front_02596.png", + "transform_matrix": [ + [ + 0.10636506974697113, + -0.01918751932680607, + 0.9941419959068298, + 7.748180866241455 + ], + [ + -0.9939734935760498, + 0.024614380672574043, + 0.10682211071252823, + 31.555522918701172 + ], + [ + -0.026519836857914925, + -0.9995129108428955, + -0.016453778371214867, + 0.5572521090507507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2596, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_111734390", + "mask_path": "../../mask/hdr_front_02596.png" + }, + { + "file_path": "../../rgb/hdr_front_02597.png", + "transform_matrix": [ + [ + 0.1000201627612114, + -0.022487245500087738, + 0.9947313070297241, + 7.685712814331055 + ], + [ + -0.9945867657661438, + 0.026036707684397697, + 0.10059422254562378, + 31.55953025817871 + ], + [ + -0.028161615133285522, + -0.9994080662727356, + -0.019761323928833008, + 0.5662244558334351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2597, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_211735010", + "mask_path": "../../mask/hdr_front_02597.png" + }, + { + "file_path": "../../rgb/hdr_front_02599.png", + "transform_matrix": [ + [ + 0.10101673752069473, + -0.02932935580611229, + 0.9944523572921753, + 7.5876007080078125 + ], + [ + -0.9945070743560791, + 0.024562958627939224, + 0.10174673795700073, + 31.536893844604492 + ], + [ + -0.027410849928855896, + -0.9992679953575134, + -0.026686981320381165, + 0.5707700252532959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2599, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_411735057", + "mask_path": "../../mask/hdr_front_02599.png" + }, + { + "file_path": "../../rgb/hdr_front_02600.png", + "transform_matrix": [ + [ + 0.10709583759307861, + -0.026484031230211258, + 0.9938958883285522, + 7.524769306182861 + ], + [ + -0.9936773180961609, + 0.031031938269734383, + 0.10789919644594193, + 31.530902862548828 + ], + [ + -0.0337001197040081, + -0.9991675019264221, + -0.022993192076683044, + 0.5689107179641724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2600, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_511734008", + "mask_path": "../../mask/hdr_front_02600.png" + }, + { + "file_path": "../../rgb/hdr_front_02602.png", + "transform_matrix": [ + [ + 0.12288809567689896, + -0.019533419981598854, + 0.9922283291816711, + 7.4683637619018555 + ], + [ + -0.9918450713157654, + 0.03162570670247078, + 0.1234632357954979, + 31.523883819580078 + ], + [ + -0.03379158303141594, + -0.9993089437484741, + -0.015487704426050186, + 0.5606955289840698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2602, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_711735010", + "mask_path": "../../mask/hdr_front_02602.png" + }, + { + "file_path": "../../rgb/hdr_front_02604.png", + "transform_matrix": [ + [ + 0.12541472911834717, + -0.019768238067626953, + 0.9919073581695557, + 7.390291213989258 + ], + [ + -0.9917789101600647, + 0.02310899831354618, + 0.12585905194282532, + 31.53255271911621 + ], + [ + -0.025409996509552002, + -0.9995375275611877, + -0.016707513481378555, + 0.577057957649231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2604, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_911734342", + "mask_path": "../../mask/hdr_front_02604.png" + }, + { + "file_path": "../../rgb/hdr_front_02605.png", + "transform_matrix": [ + [ + 0.12265286594629288, + -0.026155313476920128, + 0.9921049475669861, + 7.337586879730225 + ], + [ + -0.992145299911499, + 0.02152305468916893, + 0.12322527915239334, + 31.544525146484375 + ], + [ + -0.02457612380385399, + -0.9994261860847473, + -0.02331000752747059, + 0.5818182229995728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2605, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_11735439", + "mask_path": "../../mask/hdr_front_02605.png" + }, + { + "file_path": "../../rgb/hdr_front_02606.png", + "transform_matrix": [ + [ + 0.12480268627405167, + -0.025503629818558693, + 0.9918537139892578, + 7.2734456062316895 + ], + [ + -0.9917246699333191, + 0.027127696201205254, + 0.12548400461673737, + 31.561260223388672 + ], + [ + -0.030107000842690468, + -0.9993065595626831, + -0.02190696820616722, + 0.58046555519104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2606, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_111734867", + "mask_path": "../../mask/hdr_front_02606.png" + }, + { + "file_path": "../../rgb/hdr_front_02607.png", + "transform_matrix": [ + [ + 0.13121691346168518, + -0.020757926627993584, + 0.9911364316940308, + 7.219882488250732 + ], + [ + -0.9907516837120056, + 0.032092202454805374, + 0.1318381279706955, + 31.577163696289062 + ], + [ + -0.034544430673122406, + -0.9992693662643433, + -0.016354911029338837, + 0.5737334489822388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2607, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_211735725", + "mask_path": "../../mask/hdr_front_02607.png" + }, + { + "file_path": "../../rgb/hdr_front_02609.png", + "transform_matrix": [ + [ + 0.1271703988313675, + -0.014378845691680908, + 0.991776704788208, + 7.105013847351074 + ], + [ + -0.9916763305664062, + 0.018462376669049263, + 0.1274252086877823, + 31.606689453125 + ], + [ + -0.020142778754234314, + -0.9997261762619019, + -0.011911292560398579, + 0.5755454301834106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2609, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_411735534", + "mask_path": "../../mask/hdr_front_02609.png" + }, + { + "file_path": "../../rgb/hdr_front_02610.png", + "transform_matrix": [ + [ + 0.11717139929533005, + -0.011862555518746376, + 0.993040919303894, + 7.035085678100586 + ], + [ + -0.9928990006446838, + 0.01929456926882267, + 0.11738515645265579, + 31.630783081054688 + ], + [ + -0.020552782341837883, + -0.9997435212135315, + -0.0095175476744771, + 0.5812718272209167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2610, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_511735200", + "mask_path": "../../mask/hdr_front_02610.png" + }, + { + "file_path": "../../rgb/hdr_front_02611.png", + "transform_matrix": [ + [ + 0.10661450028419495, + -0.016506565734744072, + 0.9941633939743042, + 6.981297492980957 + ], + [ + -0.9940636157989502, + 0.02005397155880928, + 0.10693676024675369, + 31.646183013916016 + ], + [ + -0.021702082827687263, + -0.9996626973152161, + -0.014270530082285404, + 0.5826659202575684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2611, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_611734151", + "mask_path": "../../mask/hdr_front_02611.png" + }, + { + "file_path": "../../rgb/hdr_front_02612.png", + "transform_matrix": [ + [ + 0.09677676856517792, + -0.018899675458669662, + 0.9951266646385193, + 6.911708831787109 + ], + [ + -0.9950218796730042, + 0.02205582708120346, + 0.09718547016382217, + 31.661951065063477 + ], + [ + -0.023785116150975227, + -0.9995781183242798, + -0.01667109504342079, + 0.5819331407546997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2612, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_711734056", + "mask_path": "../../mask/hdr_front_02612.png" + }, + { + "file_path": "../../rgb/hdr_front_02613.png", + "transform_matrix": [ + [ + 0.08819204568862915, + -0.01609174907207489, + 0.995973527431488, + 6.836772441864014 + ], + [ + -0.9957053661346436, + 0.026844540610909462, + 0.08860201388597488, + 31.6815185546875 + ], + [ + -0.028162213042378426, + -0.9995101690292358, + -0.013655165210366249, + 0.5806364417076111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2613, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_811734676", + "mask_path": "../../mask/hdr_front_02613.png" + }, + { + "file_path": "../../rgb/hdr_front_02614.png", + "transform_matrix": [ + [ + 0.08138243854045868, + -0.014522863551974297, + 0.9965771436691284, + 6.773651123046875 + ], + [ + -0.9961950182914734, + 0.03009895235300064, + 0.08178986608982086, + 31.694276809692383 + ], + [ + -0.031183749437332153, + -0.9994414448738098, + -0.012018077075481415, + 0.5754716992378235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2614, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_911733627", + "mask_path": "../../mask/hdr_front_02614.png" + }, + { + "file_path": "../../rgb/hdr_front_02615.png", + "transform_matrix": [ + [ + 0.06302010267972946, + -0.014697137288749218, + 0.9979040622711182, + 6.71223258972168 + ], + [ + -0.9978125095367432, + 0.0190752986818552, + 0.06329526752233505, + 31.705514907836914 + ], + [ + -0.019965576007962227, + -0.9997100234031677, + -0.013462859205901623, + 0.5740390419960022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2615, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_11734247", + "mask_path": "../../mask/hdr_front_02615.png" + }, + { + "file_path": "../../rgb/hdr_front_02616.png", + "transform_matrix": [ + [ + 0.026575496420264244, + -0.010094149969518185, + 0.9995958805084229, + 6.638023853302002 + ], + [ + -0.9996219277381897, + 0.006787253078073263, + 0.02664472907781601, + 31.735515594482422 + ], + [ + -0.007053465116769075, + -0.9999260306358337, + -0.009909958578646183, + 0.5776188373565674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2616, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_111733675", + "mask_path": "../../mask/hdr_front_02616.png" + }, + { + "file_path": "../../rgb/hdr_front_02617.png", + "transform_matrix": [ + [ + -0.0199777539819479, + -0.009145138785243034, + 0.9997586011886597, + 6.579525470733643 + ], + [ + -0.9997884035110474, + 0.0050828224048018456, + -0.0199318528175354, + 31.764781951904297 + ], + [ + -0.004899314139038324, + -0.9999452829360962, + -0.009244747459888458, + 0.5824054479598999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2617, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_211734056", + "mask_path": "../../mask/hdr_front_02617.png" + }, + { + "file_path": "../../rgb/hdr_front_02618.png", + "transform_matrix": [ + [ + -0.0642557293176651, + -0.010285097174346447, + 0.9978804588317871, + 6.5265960693359375 + ], + [ + -0.9979147911071777, + 0.006777530536055565, + -0.06418808549642563, + 31.776643753051758 + ], + [ + -0.0061029838398098946, + -0.9999242424964905, + -0.010699146427214146, + 0.581684947013855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2618, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_311734199", + "mask_path": "../../mask/hdr_front_02618.png" + }, + { + "file_path": "../../rgb/hdr_front_02619.png", + "transform_matrix": [ + [ + -0.09790419787168503, + -0.009752088226377964, + 0.9951480031013489, + 6.448523044586182 + ], + [ + -0.9951300621032715, + 0.012454735115170479, + -0.09778038412332535, + 31.78386878967285 + ], + [ + -0.011440742760896683, + -0.9998748898506165, + -0.010923966765403748, + 0.5781988501548767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2619, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_411734342", + "mask_path": "../../mask/hdr_front_02619.png" + }, + { + "file_path": "../../rgb/hdr_front_02620.png", + "transform_matrix": [ + [ + -0.11929876357316971, + -0.007677718997001648, + 0.9928286671638489, + 6.3774919509887695 + ], + [ + -0.9927370548248291, + 0.016564801335334778, + -0.11915963888168335, + 31.794097900390625 + ], + [ + -0.015531135722994804, + -0.999833345413208, + -0.00959811545908451, + 0.5769078731536865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2620, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_511734247", + "mask_path": "../../mask/hdr_front_02620.png" + }, + { + "file_path": "../../rgb/hdr_front_02622.png", + "transform_matrix": [ + [ + -0.14285700023174286, + -0.009066593833267689, + 0.9897019267082214, + 6.272417068481445 + ], + [ + -0.9896321892738342, + 0.016289565712213516, + -0.14269773662090302, + 31.811843872070312 + ], + [ + -0.014828029088675976, + -0.9998262524604797, + -0.011299671605229378, + 0.573736846446991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2622, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_711733579", + "mask_path": "../../mask/hdr_front_02622.png" + }, + { + "file_path": "../../rgb/hdr_front_02623.png", + "transform_matrix": [ + [ + -0.1566823273897171, + -0.008124785497784615, + 0.9876155853271484, + 6.2074432373046875 + ], + [ + -0.9875755310058594, + 0.013487416319549084, + -0.15656499564647675, + 31.82644271850586 + ], + [ + -0.012048325501382351, + -0.999876081943512, + -0.01013707835227251, + 0.5835033059120178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2623, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_811732769", + "mask_path": "../../mask/hdr_front_02623.png" + }, + { + "file_path": "../../rgb/hdr_front_02624.png", + "transform_matrix": [ + [ + -0.1746332347393036, + -0.0067651160061359406, + 0.984610378742218, + 6.153604507446289 + ], + [ + -0.9845201969146729, + 0.016368672251701355, + -0.174504816532135, + 31.850990295410156 + ], + [ + -0.014936216175556183, + -0.9998431205749512, + -0.009518908336758614, + 0.5890608429908752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2624, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_911734104", + "mask_path": "../../mask/hdr_front_02624.png" + }, + { + "file_path": "../../rgb/hdr_front_02625.png", + "transform_matrix": [ + [ + -0.1910669505596161, + -0.00750140193849802, + 0.9815483689308167, + 6.105128765106201 + ], + [ + -0.9814254641532898, + 0.019030803814530373, + -0.190897598862648, + 31.87236976623535 + ], + [ + -0.017247650772333145, + -0.9997908473014832, + -0.010998224839568138, + 0.589259147644043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2625, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_11733293", + "mask_path": "../../mask/hdr_front_02625.png" + }, + { + "file_path": "../../rgb/hdr_front_02626.png", + "transform_matrix": [ + [ + -0.2052886188030243, + -0.005310146603733301, + 0.9786871671676636, + 6.045360565185547 + ], + [ + -0.9785143136978149, + 0.020665427669882774, + -0.20514027774333954, + 31.89459991455078 + ], + [ + -0.01913565956056118, + -0.9997723698616028, + -0.009438431821763515, + 0.5898057818412781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2626, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_111733675", + "mask_path": "../../mask/hdr_front_02626.png" + }, + { + "file_path": "../../rgb/hdr_front_02627.png", + "transform_matrix": [ + [ + -0.21608403325080872, + -0.0012899298453703523, + 0.9763739109039307, + 5.987836837768555 + ], + [ + -0.9760499596595764, + 0.026077978312969208, + -0.21597789227962494, + 31.9189395904541 + ], + [ + -0.025183262303471565, + -0.9996591806411743, + -0.006894070655107498, + 0.5887511968612671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2627, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_211734056", + "mask_path": "../../mask/hdr_front_02627.png" + }, + { + "file_path": "../../rgb/hdr_front_02628.png", + "transform_matrix": [ + [ + -0.22219251096248627, + -0.00010006936645368114, + 0.9750028252601624, + 5.9366455078125 + ], + [ + -0.9746541976928711, + 0.026761209592223167, + -0.222110316157341, + 31.930938720703125 + ], + [ + -0.02607002668082714, + -0.9996418952941895, + -0.006043673492968082, + 0.5850765705108643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2628, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_311733484", + "mask_path": "../../mask/hdr_front_02628.png" + }, + { + "file_path": "../../rgb/hdr_front_02629.png", + "transform_matrix": [ + [ + -0.23176074028015137, + -0.0003541359619703144, + 0.9727728366851807, + 5.881883144378662 + ], + [ + -0.9725541472434998, + 0.021285416558384895, + -0.23170091211795807, + 31.948467254638672 + ], + [ + -0.020623818039894104, + -0.999773383140564, + -0.005277540534734726, + 0.5783782005310059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2629, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_411733865", + "mask_path": "../../mask/hdr_front_02629.png" + }, + { + "file_path": "../../rgb/hdr_front_02630.png", + "transform_matrix": [ + [ + -0.24850334227085114, + -0.00436613941565156, + 0.9686212539672852, + 5.818962574005127 + ], + [ + -0.9685832262039185, + 0.011058622039854527, + -0.24844378232955933, + 31.97754669189453 + ], + [ + -0.009626874700188637, + -0.9999293684959412, + -0.006977073848247528, + 0.5846617817878723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2630, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_511734247", + "mask_path": "../../mask/hdr_front_02630.png" + }, + { + "file_path": "../../rgb/hdr_front_02631.png", + "transform_matrix": [ + [ + -0.2687351703643799, + -0.008455609902739525, + 0.9631770253181458, + 5.757683277130127 + ], + [ + -0.9632138013839722, + 0.0015238357009366155, + -0.26873210072517395, + 32.00031661987305 + ], + [ + 0.0008045698050409555, + -0.9999631643295288, + -0.008554068394005299, + 0.5981016159057617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2631, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_611734151", + "mask_path": "../../mask/hdr_front_02631.png" + }, + { + "file_path": "../../rgb/hdr_front_02633.png", + "transform_matrix": [ + [ + -0.3004210591316223, + -0.0062004076316952705, + 0.9537865519523621, + 5.6380414962768555 + ], + [ + -0.9538065195083618, + 0.0013491817517206073, + -0.3004186153411865, + 32.03972244262695 + ], + [ + 0.0005758865736424923, + -0.9999799728393555, + -0.0063193123787641525, + 0.5815229415893555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2633, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_811734676", + "mask_path": "../../mask/hdr_front_02633.png" + }, + { + "file_path": "../../rgb/hdr_front_02634.png", + "transform_matrix": [ + [ + -0.30496278405189514, + 0.006024572066962719, + 0.9523451924324036, + 5.5551371574401855 + ], + [ + -0.9522725343704224, + 0.011949358507990837, + -0.3050151467323303, + 32.061492919921875 + ], + [ + -0.013217498548328876, + -0.9999104738235474, + 0.0020929244346916676, + 0.577273964881897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2634, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_911734580", + "mask_path": "../../mask/hdr_front_02634.png" + }, + { + "file_path": "../../rgb/hdr_front_02635.png", + "transform_matrix": [ + [ + -0.30241718888282776, + 0.011684857308864594, + 0.9531040787696838, + 5.500494480133057 + ], + [ + -0.9530419111251831, + 0.013048217631876469, + -0.30255749821662903, + 32.07059860229492 + ], + [ + -0.015971647575497627, + -0.9998466372489929, + 0.007190152537077665, + 0.5772520899772644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2635, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_11734247", + "mask_path": "../../mask/hdr_front_02635.png" + }, + { + "file_path": "../../rgb/hdr_front_02636.png", + "transform_matrix": [ + [ + -0.30342552065849304, + 0.010717689990997314, + 0.9527949094772339, + 5.449753761291504 + ], + [ + -0.9527810215950012, + 0.009060218930244446, + -0.30352309346199036, + 32.08287048339844 + ], + [ + -0.011885593645274639, + -0.999901533126831, + 0.007462509907782078, + 0.5690993070602417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2636, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_111734628", + "mask_path": "../../mask/hdr_front_02636.png" + }, + { + "file_path": "../../rgb/hdr_front_02637.png", + "transform_matrix": [ + [ + -0.30704861879348755, + 0.00609221588820219, + 0.9516743421554565, + 5.384504795074463 + ], + [ + -0.9516792297363281, + 0.0035889840219169855, + -0.3070732057094574, + 32.108680725097656 + ], + [ + -0.0052863010205328465, + -0.9999750852584839, + 0.004695841111242771, + 0.5706554055213928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2637, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_211734533", + "mask_path": "../../mask/hdr_front_02637.png" + }, + { + "file_path": "../../rgb/hdr_front_02638.png", + "transform_matrix": [ + [ + -0.31061360239982605, + 0.0018289805157110095, + 0.9505345225334167, + 5.314316749572754 + ], + [ + -0.9505357146263123, + -0.001674160361289978, + -0.3106107711791992, + 32.14006423950195 + ], + [ + 0.0010232465574517846, + -0.9999969005584717, + 0.002258528023958206, + 0.5831975340843201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2638, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_311734199", + "mask_path": "../../mask/hdr_front_02638.png" + }, + { + "file_path": "../../rgb/hdr_front_02639.png", + "transform_matrix": [ + [ + -0.31464052200317383, + -0.0010567851131781936, + 0.9492104053497314, + 5.259843349456787 + ], + [ + -0.949195146560669, + -0.005412041209638119, + -0.31464147567749023, + 32.16774368286133 + ], + [ + 0.005469673313200474, + -0.999984860420227, + 0.00069975177757442, + 0.5922857522964478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2639, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_411735057", + "mask_path": "../../mask/hdr_front_02639.png" + }, + { + "file_path": "../../rgb/hdr_front_02640.png", + "transform_matrix": [ + [ + -0.31782180070877075, + -0.006077447906136513, + 0.9481310844421387, + 5.208136081695557 + ], + [ + -0.9481194019317627, + -0.006054754834622145, + -0.3178567588329315, + 32.18913269042969 + ], + [ + 0.007672459352761507, + -0.9999632835388184, + -0.0038378129247576, + 0.5919781923294067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2640, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_511734962", + "mask_path": "../../mask/hdr_front_02640.png" + }, + { + "file_path": "../../rgb/hdr_front_02641.png", + "transform_matrix": [ + [ + -0.31599846482276917, + -0.002638554899021983, + 0.9487561583518982, + 5.140266418457031 + ], + [ + -0.9487549662590027, + -0.0022818034049123526, + -0.3160044252872467, + 32.21664810180664 + ], + [ + 0.0029986705631017685, + -0.9999939203262329, + -0.0017822955269366503, + 0.5906110405921936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2641, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_611734151", + "mask_path": "../../mask/hdr_front_02641.png" + }, + { + "file_path": "../../rgb/hdr_front_02642.png", + "transform_matrix": [ + [ + -0.3086805045604706, + 0.005149590317159891, + 0.9511518478393555, + 5.075257301330566 + ], + [ + -0.9511396884918213, + 0.005729979369789362, + -0.308707594871521, + 32.24150466918945 + ], + [ + -0.007039797026664019, + -0.9999703168869019, + 0.0031292473431676626, + 0.586611807346344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2642, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_711733818", + "mask_path": "../../mask/hdr_front_02642.png" + }, + { + "file_path": "../../rgb/hdr_front_02643.png", + "transform_matrix": [ + [ + -0.30357417464256287, + 0.0022883545607328415, + 0.9528051018714905, + 5.025413513183594 + ], + [ + -0.9527961611747742, + 0.004203152377158403, + -0.30358144640922546, + 32.2532958984375 + ], + [ + -0.004699486307799816, + -0.9999885559082031, + 0.0009043667814694345, + 0.5818507671356201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2643, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_811734199", + "mask_path": "../../mask/hdr_front_02643.png" + }, + { + "file_path": "../../rgb/hdr_front_02644.png", + "transform_matrix": [ + [ + -0.30435433983802795, + 0.0007269446505233645, + 0.9525586366653442, + 4.970460891723633 + ], + [ + -0.952556312084198, + -0.0025617736391723156, + -0.3043516278266907, + 32.275821685791016 + ], + [ + 0.0022189936134964228, + -0.999996542930603, + 0.0014721429906785488, + 0.5806930065155029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2644, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_911733865", + "mask_path": "../../mask/hdr_front_02644.png" + }, + { + "file_path": "../../rgb/hdr_front_02645.png", + "transform_matrix": [ + [ + -0.3098880350589752, + -0.0014535433147102594, + 0.9507719874382019, + 4.912937164306641 + ], + [ + -0.9507468342781067, + -0.006954576820135117, + -0.3098905384540558, + 32.306392669677734 + ], + [ + 0.007062656804919243, + -0.99997478723526, + 0.0007731887162663043, + 0.5902485251426697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2645, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777120_11733770", + "mask_path": "../../mask/hdr_front_02645.png" + }, + { + "file_path": "../../rgb/hdr_front_02647.png", + "transform_matrix": [ + [ + -0.3163548409938812, + -0.009650598280131817, + 0.9485918879508972, + 4.81252908706665 + ], + [ + -0.9485135078430176, + -0.013170590624213219, + -0.3164627254009247, + 32.329872131347656 + ], + [ + 0.015547569841146469, + -0.999866783618927, + -0.004987142980098724, + 0.5939661264419556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2647, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777120_211738109", + "mask_path": "../../mask/hdr_front_02647.png" + }, + { + "file_path": "../../rgb/hdr_front_02648.png", + "transform_matrix": [ + [ + -0.31666916608810425, + -0.007305935490876436, + 0.9485079646110535, + 4.74419641494751 + ], + [ + -0.9484741687774658, + -0.008978121913969517, + -0.3167271018028259, + 32.34699630737305 + ], + [ + 0.010829806327819824, + -0.9999330639839172, + -0.004086396656930447, + 0.5928724408149719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2648, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777120_311733245", + "mask_path": "../../mask/hdr_front_02648.png" + }, + { + "file_path": "../../rgb/hdr_left_02472.png", + "transform_matrix": [ + [ + -0.9981657862663269, + -0.016055360436439514, + -0.05837078392505646, + 14.664923667907715 + ], + [ + 0.05866880714893341, + -0.018762920051813126, + -0.9981012344360352, + 32.061824798583984 + ], + [ + 0.014929665252566338, + -0.9996950626373291, + 0.019670454785227776, + 0.450336754322052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2472, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777101_711732864", + "mask_path": "../../mask/hdr_left_02472.png" + }, + { + "file_path": "../../rgb/hdr_left_02473.png", + "transform_matrix": [ + [ + -0.9983865022659302, + -0.014077534899115562, + -0.05501110851764679, + 14.589653968811035 + ], + [ + 0.0551556721329689, + -0.010093020275235176, + -0.9984267950057983, + 32.04139709472656 + ], + [ + 0.013500157743692398, + -0.9998500347137451, + 0.010853190906345844, + 0.4534430503845215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2473, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777101_811732530", + "mask_path": "../../mask/hdr_left_02473.png" + }, + { + "file_path": "../../rgb/hdr_left_02474.png", + "transform_matrix": [ + [ + -0.998762845993042, + -0.011955896392464638, + -0.04826730862259865, + 14.53538990020752 + ], + [ + 0.0483359768986702, + -0.0055207074619829655, + -0.9988158345222473, + 32.02735137939453 + ], + [ + 0.011675268411636353, + -0.9999133348464966, + 0.006091779097914696, + 0.44908541440963745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2474, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777101_911734580", + "mask_path": "../../mask/hdr_left_02474.png" + }, + { + "file_path": "../../rgb/hdr_left_02476.png", + "transform_matrix": [ + [ + -0.9985305070877075, + -0.006418422795832157, + -0.053810965269804, + 14.429779052734375 + ], + [ + 0.05387206748127937, + -0.009763059206306934, + -0.9985000491142273, + 32.01590347290039 + ], + [ + 0.0058834366500377655, + -0.999931812286377, + 0.010094488970935345, + 0.4460158050060272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2476, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_111734151", + "mask_path": "../../mask/hdr_left_02476.png" + }, + { + "file_path": "../../rgb/hdr_left_02477.png", + "transform_matrix": [ + [ + -0.9980190992355347, + -0.006575401872396469, + -0.0625666007399559, + 14.38075065612793 + ], + [ + 0.06263207644224167, + -0.010270301252603531, + -0.9979838728904724, + 32.01460647583008 + ], + [ + 0.005919567309319973, + -0.9999256730079651, + 0.010661790147423744, + 0.4554813504219055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2477, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_211733579", + "mask_path": "../../mask/hdr_left_02477.png" + }, + { + "file_path": "../../rgb/hdr_left_02479.png", + "transform_matrix": [ + [ + -0.9970678091049194, + -0.015465916134417057, + -0.07494473457336426, + 14.277670860290527 + ], + [ + 0.0751117467880249, + -0.010515793226659298, + -0.9971196055412292, + 32.0066032409668 + ], + [ + 0.01463326532393694, + -0.999825119972229, + 0.011646632105112076, + 0.45499324798583984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2479, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_411735296", + "mask_path": "../../mask/hdr_left_02479.png" + }, + { + "file_path": "../../rgb/hdr_left_02480.png", + "transform_matrix": [ + [ + -0.9973445534706116, + -0.012643013149499893, + -0.07172110676765442, + 14.205245018005371 + ], + [ + 0.07176714390516281, + -0.003223045729100704, + -0.9974163174629211, + 31.993572235107422 + ], + [ + 0.012379183433949947, + -0.9999149441719055, + 0.004121842328459024, + 0.4561260938644409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2480, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_511733531", + "mask_path": "../../mask/hdr_left_02480.png" + }, + { + "file_path": "../../rgb/hdr_left_02481.png", + "transform_matrix": [ + [ + -0.9977110028266907, + -0.010751423425972462, + -0.06676040589809418, + 14.148642539978027 + ], + [ + 0.06673519313335419, + 0.0026885224506258965, + -0.9977670907974243, + 31.981624603271484 + ], + [ + 0.010906901210546494, + -0.9999386072158813, + -0.0019648675806820393, + 0.45380347967147827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2481, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_611733436", + "mask_path": "../../mask/hdr_left_02481.png" + }, + { + "file_path": "../../rgb/hdr_left_02483.png", + "transform_matrix": [ + [ + -0.9973340630531311, + -0.00760431494563818, + -0.07257317751646042, + 14.045610427856445 + ], + [ + 0.07260546088218689, + -0.004056019242852926, + -0.9973524808883667, + 31.9813289642334 + ], + [ + 0.0072898222133517265, + -0.9999629259109497, + 0.004597323480993509, + 0.45671722292900085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2483, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_811733722", + "mask_path": "../../mask/hdr_left_02483.png" + }, + { + "file_path": "../../rgb/hdr_left_02484.png", + "transform_matrix": [ + [ + -0.9964874982833862, + -0.01091476995497942, + -0.08302697539329529, + 13.995691299438477 + ], + [ + 0.08305297791957855, + -0.0019472729181870818, + -0.9965432286262512, + 31.9847412109375 + ], + [ + 0.01071536261588335, + -0.9999385476112366, + 0.0028469397220760584, + 0.46210044622421265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2484, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_911734104", + "mask_path": "../../mask/hdr_left_02484.png" + }, + { + "file_path": "../../rgb/hdr_left_02486.png", + "transform_matrix": [ + [ + -0.9955728054046631, + -0.019620366394519806, + -0.09192251414060593, + 13.887938499450684 + ], + [ + 0.09193404763936996, + 0.0003155340673401952, + -0.9957650303840637, + 31.97110939025879 + ], + [ + 0.01956627517938614, + -0.9998074769973755, + 0.0014896454522386193, + 0.4643825590610504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2486, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_111734628", + "mask_path": "../../mask/hdr_left_02486.png" + }, + { + "file_path": "../../rgb/hdr_left_02487.png", + "transform_matrix": [ + [ + -0.996165931224823, + -0.01342849526554346, + -0.08644735813140869, + 13.827743530273438 + ], + [ + 0.08634085953235626, + 0.008319342508912086, + -0.9962308406829834, + 31.957542419433594 + ], + [ + 0.014097063802182674, + -0.9998752474784851, + -0.007128013297915459, + 0.4678998589515686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2487, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_211734294", + "mask_path": "../../mask/hdr_left_02487.png" + }, + { + "file_path": "../../rgb/hdr_left_02489.png", + "transform_matrix": [ + [ + -0.9962313175201416, + -0.008413740433752537, + -0.0863274484872818, + 13.737968444824219 + ], + [ + 0.08628012984991074, + 0.0058351801708340645, + -0.9962537884712219, + 31.951448440551758 + ], + [ + 0.008885955438017845, + -0.9999476075172424, + -0.005087244790047407, + 0.4608907103538513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2489, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_411733627", + "mask_path": "../../mask/hdr_left_02489.png" + }, + { + "file_path": "../../rgb/hdr_left_02490.png", + "transform_matrix": [ + [ + -0.9953652620315552, + -0.005627735052257776, + -0.09600121527910233, + 13.684991836547852 + ], + [ + 0.09598328918218613, + 0.0033744382672011852, + -0.9953771829605103, + 31.950239181518555 + ], + [ + 0.005925668869167566, + -0.9999785423278809, + -0.002818625420331955, + 0.4704158902168274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2490, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_511733531", + "mask_path": "../../mask/hdr_left_02490.png" + }, + { + "file_path": "../../rgb/hdr_left_02492.png", + "transform_matrix": [ + [ + -0.9938493967056274, + -0.014713245443999767, + -0.10975838452577591, + 13.58717155456543 + ], + [ + 0.10973425209522247, + 0.0024399524554610252, + -0.9939579367637634, + 31.93980598449707 + ], + [ + 0.014892150647938251, + -0.9998888373374939, + -0.0008103963336907327, + 0.4730512201786041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2492, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_711733579", + "mask_path": "../../mask/hdr_left_02492.png" + }, + { + "file_path": "../../rgb/hdr_left_02493.png", + "transform_matrix": [ + [ + -0.9943023324012756, + -0.010119052603840828, + -0.10611587762832642, + 13.521377563476562 + ], + [ + 0.10600943118333817, + 0.01053343340754509, + -0.9943093061447144, + 31.927169799804688 + ], + [ + 0.01117923203855753, + -0.999893307685852, + -0.009400701150298119, + 0.4742937386035919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2493, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_811733245", + "mask_path": "../../mask/hdr_left_02493.png" + }, + { + "file_path": "../../rgb/hdr_left_02496.png", + "transform_matrix": [ + [ + -0.9940747022628784, + -0.0069864061661064625, + -0.10847355425357819, + 13.369568824768066 + ], + [ + 0.10842294991016388, + 0.0072545516304671764, + -0.9940783381462097, + 31.92230796813965 + ], + [ + 0.00773196155205369, + -0.9999493360519409, + -0.0064540766179561615, + 0.47985324263572693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2496, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_111733675", + "mask_path": "../../mask/hdr_left_02496.png" + }, + { + "file_path": "../../rgb/hdr_left_02498.png", + "transform_matrix": [ + [ + -0.992776095867157, + -0.01712706685066223, + -0.11875299364328384, + 13.265724182128906 + ], + [ + 0.11876912415027618, + 7.638873648829758e-05, + -0.9929218292236328, + 31.914648056030273 + ], + [ + 0.01701490953564644, + -0.9998534321784973, + 0.001958331558853388, + 0.4787890613079071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2498, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_311733722", + "mask_path": "../../mask/hdr_left_02498.png" + }, + { + "file_path": "../../rgb/hdr_left_02499.png", + "transform_matrix": [ + [ + -0.9933983087539673, + -0.015039107762277126, + -0.11372596025466919, + 13.201393127441406 + ], + [ + 0.1136685237288475, + 0.004624055698513985, + -0.9935079216957092, + 31.901100158691406 + ], + [ + 0.015467347577214241, + -0.9998763203620911, + -0.002884053625166416, + 0.481225848197937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2499, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_411735296", + "mask_path": "../../mask/hdr_left_02499.png" + }, + { + "file_path": "../../rgb/hdr_left_02500.png", + "transform_matrix": [ + [ + -0.994687020778656, + -0.012706807814538479, + -0.1021578386425972, + 13.149262428283691 + ], + [ + 0.10204997658729553, + 0.008867157623171806, + -0.9947397708892822, + 31.89189338684082 + ], + [ + 0.013545816764235497, + -0.9998799562454224, + -0.007523312699049711, + 0.478160560131073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2500, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_511734247", + "mask_path": "../../mask/hdr_left_02500.png" + }, + { + "file_path": "../../rgb/hdr_left_02502.png", + "transform_matrix": [ + [ + -0.9970173239707947, + -0.010462441481649876, + -0.07646429538726807, + 13.039027214050293 + ], + [ + 0.07650163024663925, + -0.003212887095287442, + -0.9970643520355225, + 31.879047393798828 + ], + [ + 0.01018605474382639, + -0.9999400973320007, + 0.004003698006272316, + 0.4792574644088745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2502, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_711735248", + "mask_path": "../../mask/hdr_left_02502.png" + }, + { + "file_path": "../../rgb/hdr_left_02503.png", + "transform_matrix": [ + [ + -0.9968381524085999, + -0.011734599247574806, + -0.07858684659004211, + 12.987860679626465 + ], + [ + 0.07863879203796387, + -0.004030241630971432, + -0.9968949556350708, + 31.87773323059082 + ], + [ + 0.011381438001990318, + -0.999923050403595, + 0.004940296057611704, + 0.4861149489879608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2503, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_811735153", + "mask_path": "../../mask/hdr_left_02503.png" + }, + { + "file_path": "../../rgb/hdr_left_02505.png", + "transform_matrix": [ + [ + -0.9961721301078796, + -0.02048824168741703, + -0.0849781334400177, + 12.879283905029297 + ], + [ + 0.08514226973056793, + -0.0072746905498206615, + -0.996342122554779, + 31.867565155029297 + ], + [ + 0.01979510858654976, + -0.9997636675834656, + 0.008991261944174767, + 0.48916226625442505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2505, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_11735200", + "mask_path": "../../mask/hdr_left_02505.png" + }, + { + "file_path": "../../rgb/hdr_left_02506.png", + "transform_matrix": [ + [ + -0.9968407154083252, + -0.01685956120491028, + -0.07761576026678085, + 12.814783096313477 + ], + [ + 0.07761556655168533, + 0.0006665574037469923, + -0.9969831109046936, + 31.85695457458496 + ], + [ + 0.01686042919754982, + -0.9998577237129211, + 0.0006441167206503451, + 0.4888969361782074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2506, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_111734867", + "mask_path": "../../mask/hdr_left_02506.png" + }, + { + "file_path": "../../rgb/hdr_left_02508.png", + "transform_matrix": [ + [ + -0.9974009394645691, + -0.010806516744196415, + -0.07123566418886185, + 12.718973159790039 + ], + [ + 0.07124767452478409, + -0.0007308186031877995, + -0.9974583387374878, + 31.83629035949707 + ], + [ + 0.010726988315582275, + -0.999941349029541, + 0.0014988599577918649, + 0.4786612391471863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2508, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_311734199", + "mask_path": "../../mask/hdr_left_02508.png" + }, + { + "file_path": "../../rgb/hdr_left_02509.png", + "transform_matrix": [ + [ + -0.9967819452285767, + -0.007173852529376745, + -0.0798378586769104, + 12.663914680480957 + ], + [ + 0.07986631989479065, + -0.003768828697502613, + -0.9967985153198242, + 31.82879638671875 + ], + [ + 0.006849989295005798, + -0.9999671578407288, + 0.004329652059823275, + 0.482688844203949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2509, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_411735534", + "mask_path": "../../mask/hdr_left_02509.png" + }, + { + "file_path": "../../rgb/hdr_left_02510.png", + "transform_matrix": [ + [ + -0.9955680966377258, + -0.010902507230639458, + -0.09340979903936386, + 12.608052253723145 + ], + [ + 0.09348791837692261, + -0.006889919750392437, + -0.9955965280532837, + 31.825109481811523 + ], + [ + 0.010210910812020302, + -0.9999168515205383, + 0.007878638803958893, + 0.491084486246109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2510, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_511734962", + "mask_path": "../../mask/hdr_left_02510.png" + }, + { + "file_path": "../../rgb/hdr_left_02511.png", + "transform_matrix": [ + [ + -0.9945248365402222, + -0.01498410478234291, + -0.10341966152191162, + 12.548003196716309 + ], + [ + 0.10354085266590118, + -0.007548205554485321, + -0.994596540927887, + 31.82285499572754 + ], + [ + 0.01412250567227602, + -0.9998592138290405, + 0.009058346971869469, + 0.4900049567222595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2511, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_611734151", + "mask_path": "../../mask/hdr_left_02511.png" + }, + { + "file_path": "../../rgb/hdr_left_02512.png", + "transform_matrix": [ + [ + -0.994303286075592, + -0.012827180325984955, + -0.1058129370212555, + 12.469612121582031 + ], + [ + 0.10586395114660263, + -0.0033642102498561144, + -0.9943748712539673, + 31.813737869262695 + ], + [ + 0.012399047613143921, + -0.9999120831489563, + 0.004702984821051359, + 0.4862740933895111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2512, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_711735010", + "mask_path": "../../mask/hdr_left_02512.png" + }, + { + "file_path": "../../rgb/hdr_left_02513.png", + "transform_matrix": [ + [ + -0.9947390556335449, + -0.010411402210593224, + -0.10191050916910172, + 12.401479721069336 + ], + [ + 0.10191863030195236, + -0.0002498428802937269, + -0.9947927594184875, + 31.801837921142578 + ], + [ + 0.010331722907721996, + -0.9999458193778992, + 0.0013096444308757782, + 0.4825424253940582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2513, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_811735391", + "mask_path": "../../mask/hdr_left_02513.png" + }, + { + "file_path": "../../rgb/hdr_left_02515.png", + "transform_matrix": [ + [ + -0.9940558671951294, + -0.01103018969297409, + -0.1083114817738533, + 12.287684440612793 + ], + [ + 0.10841210186481476, + -0.00897129625082016, + -0.994065523147583, + 31.795913696289062 + ], + [ + 0.009993035346269608, + -0.9998989701271057, + 0.010113777592778206, + 0.48929527401924133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2515, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_11734247", + "mask_path": "../../mask/hdr_left_02515.png" + }, + { + "file_path": "../../rgb/hdr_left_02516.png", + "transform_matrix": [ + [ + -0.9929815530776978, + -0.013465736992657185, + -0.11749976128339767, + 12.223814964294434 + ], + [ + 0.11763788759708405, + -0.009966732934117317, + -0.9930065274238586, + 31.79949951171875 + ], + [ + 0.012200474739074707, + -0.9998596906661987, + 0.011480865068733692, + 0.49679669737815857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2516, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_111733675", + "mask_path": "../../mask/hdr_left_02516.png" + }, + { + "file_path": "../../rgb/hdr_left_02517.png", + "transform_matrix": [ + [ + -0.9919395446777344, + -0.021640093997120857, + -0.12485014647245407, + 12.168824195861816 + ], + [ + 0.1251598745584488, + -0.013598348945379257, + -0.9920432567596436, + 31.796899795532227 + ], + [ + 0.019770154729485512, + -0.9996733665466309, + 0.016197213903069496, + 0.4983317255973816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2517, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_211734771", + "mask_path": "../../mask/hdr_left_02517.png" + }, + { + "file_path": "../../rgb/hdr_left_02518.png", + "transform_matrix": [ + [ + -0.9914684891700745, + -0.02409374713897705, + -0.12810026109218597, + 12.090768814086914 + ], + [ + 0.12838447093963623, + -0.010637134313583374, + -0.9916674494743347, + 31.788869857788086 + ], + [ + 0.022530360147356987, + -0.9996531009674072, + 0.013639646582305431, + 0.4980472922325134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2518, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_311734914", + "mask_path": "../../mask/hdr_left_02518.png" + }, + { + "file_path": "../../rgb/hdr_left_02519.png", + "transform_matrix": [ + [ + -0.9915886521339417, + -0.017740938812494278, + -0.12820743024349213, + 12.01584529876709 + ], + [ + 0.12826184928417206, + -0.00196059956215322, + -0.9917383790016174, + 31.779478073120117 + ], + [ + 0.017343005165457726, + -0.9998407363891602, + 0.0042195976711809635, + 0.49687737226486206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2519, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_411732673", + "mask_path": "../../mask/hdr_left_02519.png" + }, + { + "file_path": "../../rgb/hdr_left_02521.png", + "transform_matrix": [ + [ + -0.9888827204704285, + -0.012607887387275696, + -0.14816239476203918, + 11.91871452331543 + ], + [ + 0.14832369983196259, + -0.01299508847296238, + -0.9888535141944885, + 31.772058486938477 + ], + [ + 0.01054196897894144, + -0.9998361468315125, + 0.014720668084919453, + 0.48803550004959106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2521, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_611734628", + "mask_path": "../../mask/hdr_left_02521.png" + }, + { + "file_path": "../../rgb/hdr_left_02522.png", + "transform_matrix": [ + [ + -0.9848477244377136, + -0.012277554720640182, + -0.17298567295074463, + 11.859723091125488 + ], + [ + 0.17317448556423187, + -0.016474125906825066, + -0.9847533702850342, + 31.77657699584961 + ], + [ + 0.009240574203431606, + -0.9997889399528503, + 0.018350664526224136, + 0.4924865961074829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2522, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_711735963", + "mask_path": "../../mask/hdr_left_02522.png" + }, + { + "file_path": "../../rgb/hdr_left_02523.png", + "transform_matrix": [ + [ + -0.9783331155776978, + -0.015948688611388206, + -0.20642118155956268, + 11.805752754211426 + ], + [ + 0.20665264129638672, + -0.01454827282577753, + -0.9783061742782593, + 31.79022216796875 + ], + [ + 0.012599626556038857, + -0.999767005443573, + 0.017528899013996124, + 0.499332070350647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2523, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_811734437", + "mask_path": "../../mask/hdr_left_02523.png" + }, + { + "file_path": "../../rgb/hdr_left_02524.png", + "transform_matrix": [ + [ + -0.971409022808075, + -0.020832035690546036, + -0.2364964634180069, + 11.748290061950684 + ], + [ + 0.2367304265499115, + -0.009554481133818626, + -0.9715284705162048, + 31.79561424255371 + ], + [ + 0.01797931082546711, + -0.9997374415397644, + 0.014212887734174728, + 0.5044146180152893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2524, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_911734580", + "mask_path": "../../mask/hdr_left_02524.png" + }, + { + "file_path": "../../rgb/hdr_left_02525.png", + "transform_matrix": [ + [ + -0.9662852883338928, + -0.020137235522270203, + -0.25668492913246155, + 11.669960975646973 + ], + [ + 0.256785124540329, + -0.002515748841688037, + -0.9664652347564697, + 31.79719352722168 + ], + [ + 0.018816184252500534, + -0.9997941255569458, + 0.007601876277476549, + 0.5062054395675659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2525, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_11734247", + "mask_path": "../../mask/hdr_left_02525.png" + }, + { + "file_path": "../../rgb/hdr_left_02526.png", + "transform_matrix": [ + [ + -0.9631524682044983, + -0.017696689814329147, + -0.2683730721473694, + 11.605559349060059 + ], + [ + 0.26845142245292664, + -0.0021660516504198313, + -0.963290810585022, + 31.796918869018555 + ], + [ + 0.016465749591588974, + -0.999841034412384, + 0.006836942862719297, + 0.5011309385299683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2526, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_111733913", + "mask_path": "../../mask/hdr_left_02526.png" + }, + { + "file_path": "../../rgb/hdr_left_02528.png", + "transform_matrix": [ + [ + -0.9506011605262756, + -0.01870068348944187, + -0.3098510205745697, + 11.515632629394531 + ], + [ + 0.3100249469280243, + -0.0071822889149188995, + -0.9507013559341431, + 31.81760597229004 + ], + [ + 0.015553321689367294, + -0.9997993111610413, + 0.012625169940292835, + 0.5032203197479248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2528, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_311734914", + "mask_path": "../../mask/hdr_left_02528.png" + }, + { + "file_path": "../../rgb/hdr_left_02529.png", + "transform_matrix": [ + [ + -0.9435320496559143, + -0.018767178058624268, + -0.33074915409088135, + 11.460034370422363 + ], + [ + 0.3309621214866638, + -0.009595705196261406, + -0.9435952305793762, + 31.83710479736328 + ], + [ + 0.014534850604832172, + -0.9997779130935669, + 0.015265082009136677, + 0.5124374032020569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2529, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_411736726", + "mask_path": "../../mask/hdr_left_02529.png" + }, + { + "file_path": "../../rgb/hdr_left_02531.png", + "transform_matrix": [ + [ + -0.9356054067611694, + -0.026002246886491776, + -0.35208839178085327, + 11.35707950592041 + ], + [ + 0.3523227274417877, + -0.004908905364573002, + -0.9358657002449036, + 31.864377975463867 + ], + [ + 0.02260623872280121, + -0.9996498823165894, + 0.013753983192145824, + 0.5143998861312866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2531, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_611735105", + "mask_path": "../../mask/hdr_left_02531.png" + }, + { + "file_path": "../../rgb/hdr_left_02532.png", + "transform_matrix": [ + [ + -0.9366735816001892, + -0.019467249512672424, + -0.3496619462966919, + 11.285609245300293 + ], + [ + 0.3496919870376587, + 0.001949059427715838, + -0.9368626475334167, + 31.871599197387695 + ], + [ + 0.018919648602604866, + -0.999808669090271, + 0.004981909412890673, + 0.5178613066673279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2532, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_711734771", + "mask_path": "../../mask/hdr_left_02532.png" + }, + { + "file_path": "../../rgb/hdr_left_02533.png", + "transform_matrix": [ + [ + -0.9385406970977783, + -0.016621995717287064, + -0.3447680175304413, + 11.228277206420898 + ], + [ + 0.3447291851043701, + 0.005239272490143776, + -0.9386876225471497, + 31.87832260131836 + ], + [ + 0.0174091923981905, + -0.9998481869697571, + 0.0008128163171932101, + 0.5169501304626465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2533, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_811734437", + "mask_path": "../../mask/hdr_left_02533.png" + }, + { + "file_path": "../../rgb/hdr_left_02534.png", + "transform_matrix": [ + [ + -0.9379673004150391, + -0.01432693749666214, + -0.3464277386665344, + 11.175532341003418 + ], + [ + 0.3464847803115845, + -0.0016349861398339272, + -0.9380542039871216, + 31.896291732788086 + ], + [ + 0.012873036786913872, + -0.9998961091041565, + 0.0064976331777870655, + 0.5115357041358948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2534, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_911734580", + "mask_path": "../../mask/hdr_left_02534.png" + }, + { + "file_path": "../../rgb/hdr_left_02535.png", + "transform_matrix": [ + [ + -0.936318576335907, + -0.013116809539496899, + -0.3509065508842468, + 11.112419128417969 + ], + [ + 0.3510424792766571, + -0.010049441829323769, + -0.9363057017326355, + 31.918228149414062 + ], + [ + 0.008754926733672619, + -0.9998634457588196, + 0.014014036394655704, + 0.5169171690940857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2535, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_11735439", + "mask_path": "../../mask/hdr_left_02535.png" + }, + { + "file_path": "../../rgb/hdr_left_02536.png", + "transform_matrix": [ + [ + -0.9365711212158203, + -0.015435293316841125, + -0.3501374423503876, + 11.057013511657715 + ], + [ + 0.35031458735466003, + -0.010773015208542347, + -0.9365701675415039, + 31.928756713867188 + ], + [ + 0.010684198699891567, + -0.9998227953910828, + 0.015496905893087387, + 0.5209793448448181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2536, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_111734867", + "mask_path": "../../mask/hdr_left_02536.png" + }, + { + "file_path": "../../rgb/hdr_left_02538.png", + "transform_matrix": [ + [ + -0.9435391426086426, + -0.022224487736821175, + -0.33051443099975586, + 10.936223030090332 + ], + [ + 0.3307827115058899, + -0.009623439982533455, + -0.9436578750610352, + 31.936874389648438 + ], + [ + 0.0177916269749403, + -0.9997067451477051, + 0.016431570053100586, + 0.5205162167549133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2538, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_311734676", + "mask_path": "../../mask/hdr_left_02538.png" + }, + { + "file_path": "../../rgb/hdr_left_02539.png", + "transform_matrix": [ + [ + -0.9498195052146912, + -0.016228560358285904, + -0.31237727403640747, + 10.862786293029785 + ], + [ + 0.31250911951065063, + -0.0062849451787769794, + -0.9498939514160156, + 31.93448829650879 + ], + [ + 0.013452136889100075, + -0.9998485445976257, + 0.011041136458516121, + 0.5217543840408325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2539, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_411734580", + "mask_path": "../../mask/hdr_left_02539.png" + }, + { + "file_path": "../../rgb/hdr_left_02541.png", + "transform_matrix": [ + [ + -0.957448422908783, + -0.014814317226409912, + -0.28822386264801025, + 10.767409324645996 + ], + [ + 0.28843703866004944, + -0.015117189846932888, + -0.9573794603347778, + 31.933937072753906 + ], + [ + 0.009825785644352436, + -0.9997759461402893, + 0.018746929243206978, + 0.5158476829528809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2541, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_611733913", + "mask_path": "../../mask/hdr_left_02541.png" + }, + { + "file_path": "../../rgb/hdr_left_02542.png", + "transform_matrix": [ + [ + -0.9595199823379517, + -0.0130061199888587, + -0.28134000301361084, + 10.708492279052734 + ], + [ + 0.2815755307674408, + -0.02284850925207138, + -0.9592669010162354, + 31.93325424194336 + ], + [ + 0.006048140581697226, + -0.9996543526649475, + 0.025585807859897614, + 0.5185953378677368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2542, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_711734294", + "mask_path": "../../mask/hdr_left_02542.png" + }, + { + "file_path": "../../rgb/hdr_left_02543.png", + "transform_matrix": [ + [ + -0.9606576561927795, + -0.017209267243742943, + -0.27720150351524353, + 10.653392791748047 + ], + [ + 0.2775748372077942, + -0.025579003617167473, + -0.960363507270813, + 31.93521499633789 + ], + [ + 0.009436612017452717, + -0.999524712562561, + 0.02934952639043331, + 0.527595579624176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2543, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_811735153", + "mask_path": "../../mask/hdr_left_02543.png" + }, + { + "file_path": "../../rgb/hdr_left_02544.png", + "transform_matrix": [ + [ + -0.9627745151519775, + -0.02537592314183712, + -0.26911187171936035, + 10.597939491271973 + ], + [ + 0.2697280943393707, + -0.025144455954432487, + -0.9626081585884094, + 31.936569213867188 + ], + [ + 0.017660396173596382, + -0.9993617534637451, + 0.031053045764565468, + 0.530661940574646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2544, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_911735057", + "mask_path": "../../mask/hdr_left_02544.png" + }, + { + "file_path": "../../rgb/hdr_left_02545.png", + "transform_matrix": [ + [ + -0.9672411680221558, + -0.025535564869642258, + -0.25257164239883423, + 10.52578067779541 + ], + [ + 0.25311610102653503, + -0.020937055349349976, + -0.9672092795372009, + 31.930889129638672 + ], + [ + 0.01941012591123581, + -0.99945467710495, + 0.026714645326137543, + 0.5307128429412842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2545, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777109_11734247", + "mask_path": "../../mask/hdr_left_02545.png" + }, + { + "file_path": "../../rgb/hdr_left_02546.png", + "transform_matrix": [ + [ + -0.9733300805091858, + -0.018042895942926407, + -0.22869834303855896, + 10.463872909545898 + ], + [ + 0.22895194590091705, + -0.013502481393516064, + -0.973344087600708, + 31.917213439941406 + ], + [ + 0.014473949559032917, + -0.9997460842132568, + 0.017273331061005592, + 0.529162585735321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2546, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777109_111734628", + "mask_path": "../../mask/hdr_left_02546.png" + }, + { + "file_path": "../../rgb/hdr_left_02548.png", + "transform_matrix": [ + [ + -0.9801284074783325, + -0.011698356829583645, + -0.19801874458789825, + 10.363253593444824 + ], + [ + 0.19822990894317627, + -0.021064946427941322, + -0.9799290895462036, + 31.911012649536133 + ], + [ + 0.007292304653674364, + -0.9997096657752991, + 0.022965317592024803, + 0.5287566184997559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2548, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777109_311734676", + "mask_path": "../../mask/hdr_left_02548.png" + }, + { + "file_path": "../../rgb/hdr_left_02549.png", + "transform_matrix": [ + [ + -0.981066882610321, + -0.01455695740878582, + -0.19312088191509247, + 10.30721664428711 + ], + [ + 0.19336292147636414, + -0.01760852336883545, + -0.9809693098068237, + 31.910301208496094 + ], + [ + 0.010879353620111942, + -0.9997389912605286, + 0.02008991688489914, + 0.5324362516403198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2549, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777109_411735057", + "mask_path": "../../mask/hdr_left_02549.png" + }, + { + "file_path": "../../rgb/hdr_left_02551.png", + "transform_matrix": [ + [ + -0.9825043678283691, + -0.017286697402596474, + -0.18543526530265808, + 10.212657928466797 + ], + [ + 0.18569010496139526, + -0.014518492855131626, + -0.9825010895729065, + 31.89510726928711 + ], + [ + 0.014291954226791859, + -0.9997451901435852, + 0.017474452033638954, + 0.5368152856826782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2551, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777109_611734628", + "mask_path": "../../mask/hdr_left_02551.png" + }, + { + "file_path": "../../rgb/hdr_left_02556.png", + "transform_matrix": [ + [ + -0.9843067526817322, + -0.01177013386040926, + -0.17607255280017853, + 10.090615272521973 + ], + [ + 0.17626619338989258, + -0.018165208399295807, + -0.9841748476028442, + 31.892642974853516 + ], + [ + 0.008385475724935532, + -0.9997657537460327, + 0.01995481736958027, + 0.5384228825569153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2556, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_111734151", + "mask_path": "../../mask/hdr_left_02556.png" + }, + { + "file_path": "../../rgb/hdr_left_02558.png", + "transform_matrix": [ + [ + -0.9886565804481506, + -0.01457386463880539, + -0.14948484301567078, + 9.988290786743164 + ], + [ + 0.14964568614959717, + -0.01064692996442318, + -0.9886823892593384, + 31.87870979309082 + ], + [ + 0.01281736884266138, + -0.9998371005058289, + 0.012707074172794819, + 0.5427659749984741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2558, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_311734199", + "mask_path": "../../mask/hdr_left_02558.png" + }, + { + "file_path": "../../rgb/hdr_left_02560.png", + "transform_matrix": [ + [ + -0.9904804229736328, + -0.012950429692864418, + -0.13704267144203186, + 9.904013633728027 + ], + [ + 0.1371985375881195, + -0.012025702744722366, + -0.9904705882072449, + 31.876605987548828 + ], + [ + 0.011178982444107533, + -0.9998438954353333, + 0.01368800550699234, + 0.5339061617851257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2560, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_511734247", + "mask_path": "../../mask/hdr_left_02560.png" + }, + { + "file_path": "../../rgb/hdr_left_02561.png", + "transform_matrix": [ + [ + -0.9906123280525208, + -0.010355343110859394, + -0.1363081932067871, + 9.848538398742676 + ], + [ + 0.13646748661994934, + -0.016656629741191864, + -0.9905045032501221, + 31.877500534057617 + ], + [ + 0.007986578159034252, + -0.9998076558113098, + 0.01791343092918396, + 0.5380647778511047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2561, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_611733436", + "mask_path": "../../mask/hdr_left_02561.png" + }, + { + "file_path": "../../rgb/hdr_left_02562.png", + "transform_matrix": [ + [ + -0.9909587502479553, + -0.011925962753593922, + -0.13363586366176605, + 9.796814918518066 + ], + [ + 0.133857861161232, + -0.020309973508119583, + -0.9907923340797424, + 31.87063980102539 + ], + [ + 0.00910201296210289, + -0.9997226595878601, + 0.021722732111811638, + 0.5420280694961548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2562, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_711733579", + "mask_path": "../../mask/hdr_left_02562.png" + }, + { + "file_path": "../../rgb/hdr_left_02564.png", + "transform_matrix": [ + [ + -0.993865430355072, + -0.023311639204621315, + -0.10811112821102142, + 9.671528816223145 + ], + [ + 0.1085907444357872, + -0.02039140835404396, + -0.9938774108886719, + 31.845077514648438 + ], + [ + 0.02096436731517315, + -0.9995203018188477, + 0.02279774472117424, + 0.537513256072998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2564, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_911733865", + "mask_path": "../../mask/hdr_left_02564.png" + }, + { + "file_path": "../../rgb/hdr_left_02565.png", + "transform_matrix": [ + [ + -0.996444582939148, + -0.017568591982126236, + -0.08239921182394028, + 9.602665901184082 + ], + [ + 0.08265002071857452, + -0.014061681926250458, + -0.9964793920516968, + 31.81690216064453 + ], + [ + 0.016348065808415413, + -0.9997468590736389, + 0.015463733114302158, + 0.5396091938018799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2565, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777111_11734008", + "mask_path": "../../mask/hdr_left_02565.png" + }, + { + "file_path": "../../rgb/hdr_left_02567.png", + "transform_matrix": [ + [ + -0.9988512992858887, + -0.010148466564714909, + -0.04683041572570801, + 9.524604797363281 + ], + [ + 0.04704158008098602, + -0.02167592942714691, + -0.9986577033996582, + 31.798782348632812 + ], + [ + 0.009119750931859016, + -0.9997135996818542, + 0.022128429263830185, + 0.5315651297569275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2567, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777111_211734294", + "mask_path": "../../mask/hdr_left_02567.png" + }, + { + "file_path": "../../rgb/hdr_left_02571.png", + "transform_matrix": [ + [ + -0.9996964931488037, + -0.013972868211567402, + -0.02028769440948963, + 9.329286575317383 + ], + [ + 0.020497914403676987, + -0.015067695640027523, + -0.9996763467788696, + 31.758716583251953 + ], + [ + 0.013662655837833881, + -0.9997888803482056, + 0.01534954085946083, + 0.5445279479026794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2571, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777111_611734151", + "mask_path": "../../mask/hdr_left_02571.png" + }, + { + "file_path": "../../rgb/hdr_left_02573.png", + "transform_matrix": [ + [ + -0.9999706745147705, + -0.00664813257753849, + -0.0037825496401637793, + 9.269585609436035 + ], + [ + 0.003808332374319434, + -0.0038702653255313635, + -0.9999852180480957, + 31.74400520324707 + ], + [ + 0.0066333943977952, + -0.9999704957008362, + 0.0038954729679971933, + 0.5349777340888977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2573, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777111_811735153", + "mask_path": "../../mask/hdr_left_02573.png" + }, + { + "file_path": "../../rgb/hdr_left_02575.png", + "transform_matrix": [ + [ + -0.9997406005859375, + 0.002255076542496681, + -0.022665701806545258, + 9.209731101989746 + ], + [ + 0.022645561024546623, + -0.008588812313973904, + -0.9997066855430603, + 31.75704574584961 + ], + [ + -0.002449086867272854, + -0.9999606013298035, + 0.008535520173609257, + 0.5478631258010864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2575, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777112_11735200", + "mask_path": "../../mask/hdr_left_02575.png" + }, + { + "file_path": "../../rgb/hdr_left_02577.png", + "transform_matrix": [ + [ + -0.9991490244865417, + -0.0024970166850835085, + -0.041169676929712296, + 9.151978492736816 + ], + [ + 0.04119020700454712, + -0.008811619132757187, + -0.9991124272346497, + 31.75914192199707 + ], + [ + 0.0021320281084626913, + -0.9999580979347229, + 0.008906976319849491, + 0.5472968220710754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2577, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777112_211735725", + "mask_path": "../../mask/hdr_left_02577.png" + }, + { + "file_path": "../../rgb/hdr_left_02580.png", + "transform_matrix": [ + [ + -0.9992650151252747, + -0.004881185945123434, + -0.038020215928554535, + 9.093449592590332 + ], + [ + 0.038015350699424744, + 0.0010891114361584187, + -0.9992765188217163, + 31.753564834594727 + ], + [ + 0.004919061902910471, + -0.9999875426292419, + -0.0009027483756653965, + 0.5466236472129822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2580, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777112_511734724", + "mask_path": "../../mask/hdr_left_02580.png" + }, + { + "file_path": "../../rgb/hdr_left_02586.png", + "transform_matrix": [ + [ + -0.9972668290138245, + -0.018139438703656197, + -0.07162204384803772, + 9.007012367248535 + ], + [ + 0.07155909389257431, + 0.0040964288637042046, + -0.9974279403686523, + 31.771318435668945 + ], + [ + 0.018386175855994225, + -0.9998270869255066, + -0.002787186997011304, + 0.5518127679824829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2586, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_111733913", + "mask_path": "../../mask/hdr_left_02586.png" + }, + { + "file_path": "../../rgb/hdr_left_02588.png", + "transform_matrix": [ + [ + -0.99689120054245, + -0.024265391752123833, + -0.07495999336242676, + 8.897406578063965 + ], + [ + 0.07462502270936966, + 0.014429952949285507, + -0.9971072673797607, + 31.771259307861328 + ], + [ + 0.025276867672801018, + -0.999601423740387, + -0.01257428340613842, + 0.5504253506660461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2588, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_311736106", + "mask_path": "../../mask/hdr_left_02588.png" + }, + { + "file_path": "../../rgb/hdr_left_02589.png", + "transform_matrix": [ + [ + -0.9974899291992188, + -0.021222611889243126, + -0.06755319982767105, + 8.83611011505127 + ], + [ + 0.06712663918733597, + 0.020207500085234642, + -0.997539758682251, + 31.760765075683594 + ], + [ + 0.022535478696227074, + -0.9995705485343933, + -0.018732167780399323, + 0.5522956252098083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2589, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_411734104", + "mask_path": "../../mask/hdr_left_02589.png" + }, + { + "file_path": "../../rgb/hdr_left_02591.png", + "transform_matrix": [ + [ + -0.997502326965332, + -0.01880934089422226, + -0.06808267533779144, + 8.734158515930176 + ], + [ + 0.06784693896770477, + 0.012899812310934067, + -0.9976123571395874, + 31.754798889160156 + ], + [ + 0.019642680883407593, + -0.9997398853302002, + -0.01159143727272749, + 0.5429152846336365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2591, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_611734390", + "mask_path": "../../mask/hdr_left_02591.png" + }, + { + "file_path": "../../rgb/hdr_left_02592.png", + "transform_matrix": [ + [ + -0.9966989755630493, + -0.01721075363457203, + -0.07934078574180603, + 8.661093711853027 + ], + [ + 0.07925060391426086, + 0.0058623142540454865, + -0.9968374967575073, + 31.760129928588867 + ], + [ + 0.017621444538235664, + -0.9998347163200378, + -0.004478995222598314, + 0.5496571660041809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2592, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_711734056", + "mask_path": "../../mask/hdr_left_02592.png" + }, + { + "file_path": "../../rgb/hdr_left_02593.png", + "transform_matrix": [ + [ + -0.9955005049705505, + -0.018877524882555008, + -0.0928567424416542, + 8.604616165161133 + ], + [ + 0.0928649827837944, + 0.00044270578655414283, + -0.9956786632537842, + 31.761768341064453 + ], + [ + 0.018837055191397667, + -0.9998217225074768, + 0.0013123463140800595, + 0.5570407509803772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2593, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_811734199", + "mask_path": "../../mask/hdr_left_02593.png" + }, + { + "file_path": "../../rgb/hdr_left_02595.png", + "transform_matrix": [ + [ + -0.9944229125976562, + -0.02464100904762745, + -0.10254693776369095, + 8.484757423400879 + ], + [ + 0.10247452557086945, + 0.004187334328889847, + -0.994726836681366, + 31.740013122558594 + ], + [ + 0.02494046464562416, + -0.9996876120567322, + -0.0016389045631513, + 0.5511225461959839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2595, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_11734724", + "mask_path": "../../mask/hdr_left_02595.png" + }, + { + "file_path": "../../rgb/hdr_left_02596.png", + "transform_matrix": [ + [ + -0.9952471256256104, + -0.01950727589428425, + -0.095407634973526, + 8.420782089233398 + ], + [ + 0.09521370381116867, + 0.010641301050782204, + -0.9953999519348145, + 31.72528839111328 + ], + [ + 0.02043280377984047, + -0.9997530579566956, + -0.008733363822102547, + 0.5513527393341064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2596, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_111734151", + "mask_path": "../../mask/hdr_left_02596.png" + }, + { + "file_path": "../../rgb/hdr_left_02598.png", + "transform_matrix": [ + [ + -0.995492696762085, + -0.013541445136070251, + -0.09386676549911499, + 8.330730438232422 + ], + [ + 0.09388521313667297, + -0.0007333713583648205, + -0.9955827593803406, + 31.69974136352539 + ], + [ + 0.013412787578999996, + -0.9999080896377563, + 0.0020014087203890085, + 0.5465500354766846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2598, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_311734437", + "mask_path": "../../mask/hdr_left_02598.png" + }, + { + "file_path": "../../rgb/hdr_left_02599.png", + "transform_matrix": [ + [ + -0.995396077632904, + -0.010571293532848358, + -0.09526145458221436, + 8.275731086730957 + ], + [ + 0.09531246870756149, + -0.00442729564383626, + -0.9954375624656677, + 31.68622589111328 + ], + [ + 0.010101309977471828, + -0.9999343752861023, + 0.00541449012234807, + 0.5502185225486755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2599, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_411734580", + "mask_path": "../../mask/hdr_left_02599.png" + }, + { + "file_path": "../../rgb/hdr_left_02600.png", + "transform_matrix": [ + [ + -0.9951274394989014, + -0.012288992293179035, + -0.09782804548740387, + 8.221147537231445 + ], + [ + 0.09784805029630661, + -0.0010355684207752347, + -0.9952008724212646, + 31.682144165039062 + ], + [ + 0.012128705158829689, + -0.9999240040779114, + 0.0022329790517687798, + 0.558903694152832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2600, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_511735439", + "mask_path": "../../mask/hdr_left_02600.png" + }, + { + "file_path": "../../rgb/hdr_left_02601.png", + "transform_matrix": [ + [ + -0.9948673248291016, + -0.018529148772358894, + -0.09947700798511505, + 8.165498733520508 + ], + [ + 0.09952623397111893, + -0.0017512833001092076, + -0.9950334429740906, + 31.681177139282227 + ], + [ + 0.01826290786266327, + -0.9998267889022827, + 0.003586432198062539, + 0.5582196712493896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2601, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_611734151", + "mask_path": "../../mask/hdr_left_02601.png" + }, + { + "file_path": "../../rgb/hdr_left_02602.png", + "transform_matrix": [ + [ + -0.9949131011962891, + -0.02150672674179077, + -0.09841436892747879, + 8.0963773727417 + ], + [ + 0.09843361377716064, + 0.00016494945157319307, + -0.9951435327529907, + 31.675098419189453 + ], + [ + 0.021418511867523193, + -0.9997687935829163, + 0.0019528778502717614, + 0.5554178953170776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2602, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_711735248", + "mask_path": "../../mask/hdr_left_02602.png" + }, + { + "file_path": "../../rgb/hdr_left_02603.png", + "transform_matrix": [ + [ + -0.9957361817359924, + -0.018211888149380684, + -0.09043043851852417, + 8.017306327819824 + ], + [ + 0.09025152027606964, + 0.01041953545063734, + -0.9958645105361938, + 31.664140701293945 + ], + [ + 0.0190788134932518, + -0.9997798800468445, + -0.008731454610824585, + 0.5579086542129517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2603, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_811734676", + "mask_path": "../../mask/hdr_left_02603.png" + }, + { + "file_path": "../../rgb/hdr_left_02604.png", + "transform_matrix": [ + [ + -0.9966903328895569, + -0.01694515533745289, + -0.07950662076473236, + 7.951623916625977 + ], + [ + 0.07917191088199615, + 0.01958453468978405, + -0.9966685771942139, + 31.658199310302734 + ], + [ + 0.018445802852511406, + -0.9996646642684937, + -0.01817813143134117, + 0.5575128793716431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2604, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_911736011", + "mask_path": "../../mask/hdr_left_02604.png" + }, + { + "file_path": "../../rgb/hdr_left_02605.png", + "transform_matrix": [ + [ + -0.9971739053726196, + -0.015971742570400238, + -0.07340960204601288, + 7.891530513763428 + ], + [ + 0.07314349710941315, + 0.016652829945087433, + -0.997182309627533, + 31.658292770385742 + ], + [ + 0.017149217426776886, + -0.9997338652610779, + -0.01543753407895565, + 0.5533475875854492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2605, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_11734962", + "mask_path": "../../mask/hdr_left_02605.png" + }, + { + "file_path": "../../rgb/hdr_left_02606.png", + "transform_matrix": [ + [ + -0.9970350861549377, + -0.016431337222456932, + -0.07517288625240326, + 7.81580924987793 + ], + [ + 0.07498713582754135, + 0.01164418924599886, + -0.9971165657043457, + 31.665971755981445 + ], + [ + 0.01725928485393524, + -0.9997972249984741, + -0.010377523489296436, + 0.5575460195541382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2606, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_111734390", + "mask_path": "../../mask/hdr_left_02606.png" + }, + { + "file_path": "../../rgb/hdr_left_02607.png", + "transform_matrix": [ + [ + -0.996478259563446, + -0.01981367915868759, + -0.0814770981669426, + 7.754034519195557 + ], + [ + 0.08122839033603668, + 0.01304983627051115, + -0.9966100454330444, + 31.6695499420166 + ], + [ + 0.020809775218367577, + -0.9997186064720154, + -0.011394444853067398, + 0.5664255023002625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2607, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_211735010", + "mask_path": "../../mask/hdr_left_02607.png" + }, + { + "file_path": "../../rgb/hdr_left_02609.png", + "transform_matrix": [ + [ + -0.9964097738265991, + -0.026642419397830963, + -0.08035945892333984, + 7.65579080581665 + ], + [ + 0.08007501065731049, + 0.011578832753002644, + -0.996721625328064, + 31.646995544433594 + ], + [ + 0.02748553827404976, + -0.999578058719635, + -0.009403864853084087, + 0.5703469514846802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2609, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_411735057", + "mask_path": "../../mask/hdr_left_02609.png" + }, + { + "file_path": "../../rgb/hdr_left_02610.png", + "transform_matrix": [ + [ + -0.9969525337219238, + -0.02371790073812008, + -0.07431681454181671, + 7.592294692993164 + ], + [ + 0.07389815896749496, + 0.01806655339896679, + -0.9971020817756653, + 31.64141273498535 + ], + [ + 0.02499181590974331, + -0.9995554685592651, + -0.016258781775832176, + 0.5694248676300049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2610, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_511734008", + "mask_path": "../../mask/hdr_left_02610.png" + }, + { + "file_path": "../../rgb/hdr_left_02612.png", + "transform_matrix": [ + [ + -0.9981457591056824, + -0.016561822965741158, + -0.05857343599200249, + 7.534144878387451 + ], + [ + 0.05826191231608391, + 0.018705597147345543, + -0.9981260895729065, + 31.635435104370117 + ], + [ + 0.017626440152525902, + -0.999687910079956, + -0.01770598627626896, + 0.5618120431900024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2612, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_711735010", + "mask_path": "../../mask/hdr_left_02612.png" + }, + { + "file_path": "../../rgb/hdr_left_02614.png", + "transform_matrix": [ + [ + -0.9982883930206299, + -0.016763724386692047, + -0.05602766200900078, + 7.455787658691406 + ], + [ + 0.055862005800008774, + 0.01019376702606678, + -0.9983864426612854, + 31.64427947998047 + ], + [ + 0.01730780489742756, + -0.999807596206665, + -0.00923986081033945, + 0.5772178769111633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2614, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_911734342", + "mask_path": "../../mask/hdr_left_02614.png" + }, + { + "file_path": "../../rgb/hdr_left_02615.png", + "transform_matrix": [ + [ + -0.9980064034461975, + -0.02318640612065792, + -0.05869811773300171, + 7.403375148773193 + ], + [ + 0.058512646704912186, + 0.008599549531936646, + -0.9982496500015259, + 31.656078338623047 + ], + [ + 0.023650597780942917, + -0.9996941685676575, + -0.007225707173347473, + 0.5813709497451782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2615, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_11735439", + "mask_path": "../../mask/hdr_left_02615.png" + }, + { + "file_path": "../../rgb/hdr_left_02616.png", + "transform_matrix": [ + [ + -0.9981461763381958, + -0.02250676043331623, + -0.05654681846499443, + 7.33899450302124 + ], + [ + 0.056235987693071365, + 0.014212317764759064, + -0.9983162879943848, + 31.672954559326172 + ], + [ + 0.023272523656487465, + -0.9996456503868103, + -0.012920277193188667, + 0.5806968212127686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2616, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_111734867", + "mask_path": "../../mask/hdr_left_02616.png" + }, + { + "file_path": "../../rgb/hdr_left_02617.png", + "transform_matrix": [ + [ + -0.9985841512680054, + -0.017677828669548035, + -0.050169672816991806, + 7.284721374511719 + ], + [ + 0.04982926696538925, + 0.01919785887002945, + -0.9985733032226562, + 31.689268112182617 + ], + [ + 0.018615754321217537, + -0.9996594786643982, + -0.018289804458618164, + 0.5748587250709534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2617, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_211735725", + "mask_path": "../../mask/hdr_left_02617.png" + }, + { + "file_path": "../../rgb/hdr_left_02619.png", + "transform_matrix": [ + [ + -0.9984576106071472, + -0.011351821944117546, + -0.05434611439704895, + 7.170325756072998 + ], + [ + 0.05428583547472954, + 0.0055510359816253185, + -0.99850994348526, + 31.718523025512695 + ], + [ + 0.0116365822032094, + -0.9999201893806458, + -0.00492622796446085, + 0.5755438208580017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2619, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_411735534", + "mask_path": "../../mask/hdr_left_02619.png" + }, + { + "file_path": "../../rgb/hdr_left_02620.png", + "transform_matrix": [ + [ + -0.9978813529014587, + -0.008965948596596718, + -0.06443993747234344, + 7.101526737213135 + ], + [ + 0.06438437849283218, + 0.006353379227221012, + -0.997904896736145, + 31.7419490814209 + ], + [ + 0.009356575086712837, + -0.9999396800994873, + -0.005762649700045586, + 0.5815014243125916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2620, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_511735200", + "mask_path": "../../mask/hdr_left_02620.png" + }, + { + "file_path": "../../rgb/hdr_left_02621.png", + "transform_matrix": [ + [ + -0.9970912933349609, + -0.013747298158705235, + -0.07496559619903564, + 7.048904895782471 + ], + [ + 0.07487370818853378, + 0.007083148695528507, + -0.9971679449081421, + 31.75664520263672 + ], + [ + 0.014239354990422726, + -0.9998804926872253, + -0.00603323383256793, + 0.5826379060745239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2621, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_611734151", + "mask_path": "../../mask/hdr_left_02621.png" + }, + { + "file_path": "../../rgb/hdr_left_02622.png", + "transform_matrix": [ + [ + -0.9962665438652039, + -0.01626867614686489, + -0.08478385955095291, + 6.980398654937744 + ], + [ + 0.08464474231004715, + 0.009058930911123753, + -0.9963700175285339, + 31.771743774414062 + ], + [ + 0.016977667808532715, + -0.9998266696929932, + -0.0076480526477098465, + 0.5819292068481445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2622, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_711734056", + "mask_path": "../../mask/hdr_left_02622.png" + }, + { + "file_path": "../../rgb/hdr_left_02623.png", + "transform_matrix": [ + [ + -0.9955347180366516, + -0.013573100790381432, + -0.0934150442481041, + 6.906413555145264 + ], + [ + 0.09322787076234818, + 0.013826542533934116, + -0.9955488443374634, + 31.790708541870117 + ], + [ + 0.014804290607571602, + -0.9998123645782471, + -0.012499408796429634, + 0.5813199877738953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2623, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_811734676", + "mask_path": "../../mask/hdr_left_02623.png" + }, + { + "file_path": "../../rgb/hdr_left_02624.png", + "transform_matrix": [ + [ + -0.9948896169662476, + -0.012093370780348778, + -0.1002407819032669, + 6.844040393829346 + ], + [ + 0.10002817958593369, + 0.01706494577229023, + -0.9948382377624512, + 31.802980422973633 + ], + [ + 0.013741550035774708, + -0.9997813105583191, + -0.015768060460686684, + 0.5765947103500366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2624, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_911733627", + "mask_path": "../../mask/hdr_left_02624.png" + }, + { + "file_path": "../../rgb/hdr_left_02625.png", + "transform_matrix": [ + [ + -0.9928709268569946, + -0.012508073821663857, + -0.11853612214326859, + 6.784610271453857 + ], + [ + 0.11846879869699478, + 0.0059957848861813545, + -0.9929396510124207, + 31.812910079956055 + ], + [ + 0.013130477629601955, + -0.9999038577079773, + -0.004471222870051861, + 0.573896586894989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2625, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_11734247", + "mask_path": "../../mask/hdr_left_02625.png" + }, + { + "file_path": "../../rgb/hdr_left_02626.png", + "transform_matrix": [ + [ + -0.9879196286201477, + -0.008383995853364468, + -0.15474019944667816, + 6.714279651641846 + ], + [ + 0.15479522943496704, + -0.006364867091178894, + -0.9879260659217834, + 31.840187072753906 + ], + [ + 0.007297865115106106, + -0.9999446272850037, + 0.007585780695080757, + 0.5764322280883789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2626, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_111733675", + "mask_path": "../../mask/hdr_left_02626.png" + }, + { + "file_path": "../../rgb/hdr_left_02627.png", + "transform_matrix": [ + [ + -0.9796479940414429, + -0.00804901123046875, + -0.20056159794330597, + 6.660571575164795 + ], + [ + 0.20062561333179474, + -0.008134651929140091, + -0.9796342253684998, + 31.865787506103516 + ], + [ + 0.006253586150705814, + -0.9999345541000366, + 0.009583935141563416, + 0.5810503363609314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2627, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_211734056", + "mask_path": "../../mask/hdr_left_02627.png" + }, + { + "file_path": "../../rgb/hdr_left_02628.png", + "transform_matrix": [ + [ + -0.9697889089584351, + -0.009775569662451744, + -0.24374938011169434, + 6.612035274505615 + ], + [ + 0.2438173145055771, + -0.006475528236478567, + -0.9697995781898499, + 31.87396240234375 + ], + [ + 0.007901935838162899, + -0.9999313950538635, + 0.008663351647555828, + 0.5803384184837341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2628, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_311734199", + "mask_path": "../../mask/hdr_left_02628.png" + }, + { + "file_path": "../../rgb/hdr_left_02629.png", + "transform_matrix": [ + [ + -0.9610079526901245, + -0.009690236300230026, + -0.27635082602500916, + 6.537199020385742 + ], + [ + 0.2763712704181671, + -0.0008077438687905669, + -0.9610506296157837, + 31.878253936767578 + ], + [ + 0.009089585393667221, + -0.9999527931213379, + 0.0034543517976999283, + 0.5773822665214539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2629, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_411734342", + "mask_path": "../../mask/hdr_left_02629.png" + }, + { + "file_path": "../../rgb/hdr_left_02630.png", + "transform_matrix": [ + [ + -0.9548458456993103, + -0.007901454344391823, + -0.2969963848590851, + 6.468181610107422 + ], + [ + 0.2969791293144226, + 0.0033044740557670593, + -0.9548783302307129, + 31.886550903320312 + ], + [ + 0.008526342920958996, + -0.9999633431434631, + -0.0008086951565928757, + 0.5766157507896423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2630, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_511734247", + "mask_path": "../../mask/hdr_left_02630.png" + }, + { + "file_path": "../../rgb/hdr_left_02632.png", + "transform_matrix": [ + [ + -0.947510838508606, + -0.009605254977941513, + -0.31957942247390747, + 6.3652753829956055 + ], + [ + 0.3195650279521942, + 0.003038228489458561, + -0.9475594162940979, + 31.902118682861328 + ], + [ + 0.010072503238916397, + -0.9999493360519409, + 0.0001907504047267139, + 0.5732381343841553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2632, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_711733579", + "mask_path": "../../mask/hdr_left_02632.png" + }, + { + "file_path": "../../rgb/hdr_left_02633.png", + "transform_matrix": [ + [ + -0.942952573299408, + -0.008848758414387703, + -0.3328092396259308, + 6.30155611038208 + ], + [ + 0.33282023668289185, + 0.0002446114376652986, + -0.9429901838302612, + 31.915409088134766 + ], + [ + 0.008425699546933174, + -0.9999608993530273, + 0.0027143913321197033, + 0.5828112363815308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2633, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_811732769", + "mask_path": "../../mask/hdr_left_02633.png" + }, + { + "file_path": "../../rgb/hdr_left_02634.png", + "transform_matrix": [ + [ + -0.9367420673370361, + -0.0077301147393882275, + -0.34993505477905273, + 6.249322891235352 + ], + [ + 0.3499210476875305, + 0.003141538007184863, + -0.9367738366127014, + 31.9382266998291 + ], + [ + 0.008340703323483467, + -0.9999651908874512, + -0.00023787726240698248, + 0.5887139439582825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2634, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_911734104", + "mask_path": "../../mask/hdr_left_02634.png" + }, + { + "file_path": "../../rgb/hdr_left_02635.png", + "transform_matrix": [ + [ + -0.9307582378387451, + -0.008687303401529789, + -0.36553195118904114, + 6.2022905349731445 + ], + [ + 0.36549246311187744, + 0.005821981932967901, + -0.9307960867881775, + 31.957998275756836 + ], + [ + 0.010214226320385933, + -0.9999454021453857, + -0.002243710681796074, + 0.5890325903892517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2635, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_11733293", + "mask_path": "../../mask/hdr_left_02635.png" + }, + { + "file_path": "../../rgb/hdr_left_02636.png", + "transform_matrix": [ + [ + -0.9253614544868469, + -0.006687752436846495, + -0.3790271282196045, + 6.1437578201293945 + ], + [ + 0.3789787292480469, + 0.007475508376955986, + -0.9253751635551453, + 31.978803634643555 + ], + [ + 0.00902209896594286, + -0.9999496936798096, + -0.004383029416203499, + 0.5898962020874023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2636, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_111733675", + "mask_path": "../../mask/hdr_left_02636.png" + }, + { + "file_path": "../../rgb/hdr_left_02637.png", + "transform_matrix": [ + [ + -0.9211170077323914, + -0.002813454484567046, + -0.389275461435318, + 6.087163925170898 + ], + [ + 0.38921117782592773, + 0.012905365787446499, + -0.921058177947998, + 32.00204086303711 + ], + [ + 0.007615096401423216, + -0.9999128580093384, + -0.010792321525514126, + 0.5896632075309753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2637, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_211734056", + "mask_path": "../../mask/hdr_left_02637.png" + }, + { + "file_path": "../../rgb/hdr_left_02638.png", + "transform_matrix": [ + [ + -0.9186582565307617, + -0.0017061496619135141, + -0.3950493633747101, + 6.036491870880127 + ], + [ + 0.39499208331108093, + 0.013598615303635597, + -0.918583869934082, + 32.01341247558594 + ], + [ + 0.006939365528523922, + -0.9999061226844788, + -0.011818562634289265, + 0.5861468315124512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2638, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_311733484", + "mask_path": "../../mask/hdr_left_02638.png" + }, + { + "file_path": "../../rgb/hdr_left_02639.png", + "transform_matrix": [ + [ + -0.9147337675094604, + -0.002089455956593156, + -0.40405160188674927, + 5.982534885406494 + ], + [ + 0.40402349829673767, + 0.008137973956763744, + -0.9147123098373413, + 32.029964447021484 + ], + [ + 0.005199411418288946, + -0.999964714050293, + -0.006599885411560535, + 0.5789501070976257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2639, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_411733865", + "mask_path": "../../mask/hdr_left_02639.png" + }, + { + "file_path": "../../rgb/hdr_left_02640.png", + "transform_matrix": [ + [ + -0.9076346755027771, + -0.006327630020678043, + -0.41971322894096375, + 5.920999526977539 + ], + [ + 0.41973257064819336, + -0.002058290643617511, + -0.9076454639434814, + 32.05730056762695 + ], + [ + 0.004879351239651442, + -0.9999778866767883, + 0.004524092189967632, + 0.5839709043502808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2640, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_511734247", + "mask_path": "../../mask/hdr_left_02640.png" + }, + { + "file_path": "../../rgb/hdr_left_02641.png", + "transform_matrix": [ + [ + -0.8986328840255737, + -0.010691053234040737, + -0.43857109546661377, + 5.861361026763916 + ], + [ + 0.4386778771877289, + -0.01154897827655077, + -0.89857017993927, + 32.077903747558594 + ], + [ + 0.004541614092886448, + -0.9998762011528015, + 0.01506822183728218, + 0.5962159037590027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2641, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_611734151", + "mask_path": "../../mask/hdr_left_02641.png" + }, + { + "file_path": "../../rgb/hdr_left_02643.png", + "transform_matrix": [ + [ + -0.8836527466773987, + -0.008866837248206139, + -0.46805888414382935, + 5.744230270385742 + ], + [ + 0.46813681721687317, + -0.0116425771266222, + -0.8835793137550354, + 32.11383819580078 + ], + [ + 0.0023851406294852495, + -0.9998930096626282, + 0.014438891783356667, + 0.5798372626304626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2643, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_811734676", + "mask_path": "../../mask/hdr_left_02643.png" + }, + { + "file_path": "../../rgb/hdr_left_02644.png", + "transform_matrix": [ + [ + -0.8813674449920654, + 0.003295190865173936, + -0.47241976857185364, + 5.661691665649414 + ], + [ + 0.4724190831184387, + -0.0010293443920090795, + -0.8813734650611877, + 32.135101318359375 + ], + [ + -0.0033905762247741222, + -0.9999940991401672, + -0.0006494786939583719, + 0.5776682496070862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2644, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_911734580", + "mask_path": "../../mask/hdr_left_02644.png" + }, + { + "file_path": "../../rgb/hdr_left_02645.png", + "transform_matrix": [ + [ + -0.8825535178184509, + 0.008989593014121056, + -0.4701259434223175, + 5.606854438781738 + ], + [ + 0.47014549374580383, + 6.261017551878467e-05, + -0.8825890421867371, + 32.14448165893555 + ], + [ + -0.007904681377112865, + -0.9999596476554871, + -0.0042816693894565105, + 0.5783318877220154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2645, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_11734247", + "mask_path": "../../mask/hdr_left_02645.png" + }, + { + "file_path": "../../rgb/hdr_left_02646.png", + "transform_matrix": [ + [ + -0.8820705413818359, + 0.008008788339793682, + -0.4710492491722107, + 5.556191444396973 + ], + [ + 0.4710330367088318, + -0.003922910429537296, + -0.8821068406105042, + 32.156646728515625 + ], + [ + -0.00891249068081379, + -0.9999602437019348, + -0.0003121167828794569, + 0.5697813034057617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2646, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_111734628", + "mask_path": "../../mask/hdr_left_02646.png" + }, + { + "file_path": "../../rgb/hdr_left_02647.png", + "transform_matrix": [ + [ + -0.8803297877311707, + 0.0033343990799039602, + -0.47435033321380615, + 5.491220951080322 + ], + [ + 0.47430455684661865, + -0.009383953176438808, + -0.8803108930587769, + 32.18205642700195 + ], + [ + -0.007386588025838137, + -0.9999505281448364, + 0.006679453421384096, + 0.5704416632652283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2647, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_211734533", + "mask_path": "../../mask/hdr_left_02647.png" + }, + { + "file_path": "../../rgb/hdr_left_02648.png", + "transform_matrix": [ + [ + -0.878579318523407, + -0.0009770424803718925, + -0.4775954484939575, + 5.4213032722473145 + ], + [ + 0.4775570034980774, + -0.014636357314884663, + -0.8784788250923157, + 32.21303939819336 + ], + [ + -0.006131946109235287, + -0.9998924136161804, + 0.013325795531272888, + 0.5821437835693359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2648, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_311734199", + "mask_path": "../../mask/hdr_left_02648.png" + }, + { + "file_path": "../../rgb/hdr_left_02649.png", + "transform_matrix": [ + [ + -0.8765587210655212, + -0.0039174798876047134, + -0.4812789559364319, + 5.367135047912598 + ], + [ + 0.48126453161239624, + -0.01836170256137848, + -0.8763830661773682, + 32.240257263183594 + ], + [ + -0.005403887014836073, + -0.999823808670044, + 0.017980454489588737, + 0.5906527042388916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2649, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_411735057", + "mask_path": "../../mask/hdr_left_02649.png" + }, + { + "file_path": "../../rgb/hdr_left_02650.png", + "transform_matrix": [ + [ + -0.874940037727356, + -0.008981137536466122, + -0.4841480255126953, + 5.3156633377075195 + ], + [ + 0.4842294752597809, + -0.018994538113474846, + -0.8747348189353943, + 32.26128387451172 + ], + [ + -0.0013400544412434101, + -0.9997793436050415, + 0.020968014374375343, + 0.5897604823112488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2650, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_511734962", + "mask_path": "../../mask/hdr_left_02650.png" + }, + { + "file_path": "../../rgb/hdr_left_02651.png", + "transform_matrix": [ + [ + -0.8758720755577087, + -0.0055176434107124805, + -0.4825119376182556, + 5.247659683227539 + ], + [ + 0.4825369119644165, + -0.01522778533399105, + -0.8757432699203491, + 32.28901290893555 + ], + [ + -0.002515549538657069, + -0.9998688697814941, + 0.016000058501958847, + 0.5890353322029114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2651, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_611734151", + "mask_path": "../../mask/hdr_left_02651.png" + }, + { + "file_path": "../../rgb/hdr_left_02652.png", + "transform_matrix": [ + [ + -0.8795239925384521, + 0.0023696166463196278, + -0.475848525762558, + 5.182097911834717 + ], + [ + 0.4758222997188568, + -0.00723824929445982, + -0.8795115947723389, + 32.314701080322266 + ], + [ + -0.005528416950255632, + -0.9999710321426392, + 0.005238700658082962, + 0.5864541530609131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2652, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_711733818", + "mask_path": "../../mask/hdr_left_02652.png" + }, + { + "file_path": "../../rgb/hdr_left_02653.png", + "transform_matrix": [ + [ + -0.8820850253105164, + -0.00042175347334705293, + -0.4710899293422699, + 5.131857872009277 + ], + [ + 0.47107505798339844, + -0.008779827505350113, + -0.8820493817329407, + 32.327064514160156 + ], + [ + -0.0037640819791704416, + -0.9999613761901855, + 0.007943235337734222, + 0.5812771320343018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2653, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_811734199", + "mask_path": "../../mask/hdr_left_02653.png" + }, + { + "file_path": "../../rgb/hdr_left_02654.png", + "transform_matrix": [ + [ + -0.8817071914672852, + -0.0019936533644795418, + -0.47179263830184937, + 5.076964378356934 + ], + [ + 0.4717639088630676, + -0.015542041510343552, + -0.8815879225730896, + 32.34949493408203 + ], + [ + -0.00557504128664732, + -0.9998773336410522, + 0.014644067734479904, + 0.5794544219970703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2654, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_911733865", + "mask_path": "../../mask/hdr_left_02654.png" + }, + { + "file_path": "../../rgb/hdr_left_02655.png", + "transform_matrix": [ + [ + -0.8789563775062561, + -0.004249383229762316, + -0.4768831431865692, + 5.019864559173584 + ], + [ + 0.4768672585487366, + -0.019918115809559822, + -0.8787496089935303, + 32.37943649291992 + ], + [ + -0.005764470435678959, + -0.9997926354408264, + 0.01953354850411415, + 0.5884578227996826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2655, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777120_11733770", + "mask_path": "../../mask/hdr_left_02655.png" + }, + { + "file_path": "../../rgb/hdr_left_02657.png", + "transform_matrix": [ + [ + -0.8756721019744873, + -0.012533995322883129, + -0.48274341225624084, + 4.919938087463379 + ], + [ + 0.48290330171585083, + -0.026113051921129227, + -0.8752842545509338, + 32.402164459228516 + ], + [ + -0.001635096501559019, + -0.9995805621147156, + 0.02891918271780014, + 0.5908498167991638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2657, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777120_211738109", + "mask_path": "../../mask/hdr_left_02657.png" + }, + { + "file_path": "../../rgb/hdr_left_02658.png", + "transform_matrix": [ + [ + -0.8755239248275757, + -0.010193799622356892, + -0.4830671548843384, + 4.8516340255737305 + ], + [ + 0.48317182064056396, + -0.021920792758464813, + -0.875251054763794, + 32.41926956176758 + ], + [ + -0.001667082542553544, + -0.999707818031311, + 0.02411753684282303, + 0.5903112292289734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2658, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777120_311733245", + "mask_path": "../../mask/hdr_left_02658.png" + }, + { + "file_path": "../../rgb/hdr_right_02449.png", + "transform_matrix": [ + [ + 0.9581334590911865, + -0.02197355218231678, + -0.28547757863998413, + 14.687898635864258 + ], + [ + 0.2853260636329651, + -0.009813997894525528, + 0.9583803415298462, + 31.855985641479492 + ], + [ + -0.023860694840550423, + -0.9997103810310364, + -0.003133495105430484, + 0.45279303193092346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2449, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777101_711732864", + "mask_path": "../../mask/hdr_right_02449.png" + }, + { + "file_path": "../../rgb/hdr_right_02450.png", + "transform_matrix": [ + [ + 0.9572007656097412, + -0.020026108250021935, + -0.28873106837272644, + 14.613325119018555 + ], + [ + 0.288766473531723, + -0.0011643989710137248, + 0.9573989510536194, + 31.835622787475586 + ], + [ + -0.019509170204401016, + -0.9997987747192383, + 0.004668305162340403, + 0.454149067401886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2450, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777101_811732530", + "mask_path": "../../mask/hdr_right_02450.png" + }, + { + "file_path": "../../rgb/hdr_right_02451.png", + "transform_matrix": [ + [ + 0.9552602767944336, + -0.0179649218916893, + -0.29522016644477844, + 14.560452461242676 + ], + [ + 0.2953239381313324, + 0.003367126453667879, + 0.9553912281990051, + 31.82174301147461 + ], + [ + -0.016169486567378044, + -0.9998329281806946, + 0.008521952666342258, + 0.4488831162452698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2451, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777101_911734580", + "mask_path": "../../mask/hdr_right_02451.png" + }, + { + "file_path": "../../rgb/hdr_right_02453.png", + "transform_matrix": [ + [ + 0.9569506049156189, + -0.01237866934388876, + -0.2899869382381439, + 14.453707695007324 + ], + [ + 0.2899990677833557, + -0.000842083478346467, + 0.9570265412330627, + 31.810161590576172 + ], + [ + -0.012090909294784069, + -0.999923050403595, + 0.002783969510346651, + 0.44683322310447693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2453, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_111734151", + "mask_path": "../../mask/hdr_right_02453.png" + }, + { + "file_path": "../../rgb/hdr_right_02454.png", + "transform_matrix": [ + [ + 0.9594565629959106, + -0.0124571667984128, + -0.28158095479011536, + 14.402873992919922 + ], + [ + 0.28158703446388245, + -0.0012973847333341837, + 0.9595348238945007, + 31.80866050720215 + ], + [ + -0.012318405322730541, + -0.9999215602874756, + 0.0022629923187196255, + 0.4564133286476135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2454, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_211733579", + "mask_path": "../../mask/hdr_right_02454.png" + }, + { + "file_path": "../../rgb/hdr_right_02456.png", + "transform_matrix": [ + [ + 0.9627578258514404, + -0.02123476192355156, + -0.26953017711639404, + 14.297224998474121 + ], + [ + 0.26956063508987427, + -0.0014700113097205758, + 0.9629822969436646, + 31.800397872924805 + ], + [ + -0.02084491215646267, + -0.999773383140564, + 0.004308789037168026, + 0.4558216333389282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2456, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_411735296", + "mask_path": "../../mask/hdr_right_02456.png" + }, + { + "file_path": "../../rgb/hdr_right_02457.png", + "transform_matrix": [ + [ + 0.9619269967079163, + -0.01844148337841034, + -0.27268368005752563, + 14.225469589233398 + ], + [ + 0.27282845973968506, + 0.005803349427878857, + 0.9620453119277954, + 31.787431716918945 + ], + [ + -0.0161590613424778, + -0.9998131394386292, + 0.010613758116960526, + 0.45549699664115906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2457, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_511733531", + "mask_path": "../../mask/hdr_right_02457.png" + }, + { + "file_path": "../../rgb/hdr_right_02458.png", + "transform_matrix": [ + [ + 0.960584819316864, + -0.016594955697655678, + -0.2774909734725952, + 14.169894218444824 + ], + [ + 0.2776965796947479, + 0.011685225181281567, + 0.9605978727340698, + 31.775596618652344 + ], + [ + -0.01269853301346302, + -0.9997940063476562, + 0.015833010897040367, + 0.451983243227005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2458, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_611733436", + "mask_path": "../../mask/hdr_right_02458.png" + }, + { + "file_path": "../../rgb/hdr_right_02460.png", + "transform_matrix": [ + [ + 0.9622235298156738, + -0.01339569129049778, + -0.27193090319633484, + 14.065665245056152 + ], + [ + 0.27201610803604126, + 0.00497526815161109, + 0.9622799158096313, + 31.775171279907227 + ], + [ + -0.011537473648786545, + -0.9998979568481445, + 0.008431161753833294, + 0.45636314153671265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2460, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_811733722", + "mask_path": "../../mask/hdr_right_02460.png" + }, + { + "file_path": "../../rgb/hdr_right_02461.png", + "transform_matrix": [ + [ + 0.9649840593338013, + -0.01661074534058571, + -0.2617819905281067, + 14.013579368591309 + ], + [ + 0.26192599534988403, + 0.007144143804907799, + 0.9650615453720093, + 31.77838706970215 + ], + [ + -0.014160181395709515, + -0.9998364448547363, + 0.011244770139455795, + 0.46126922965049744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2461, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777102_911734104", + "mask_path": "../../mask/hdr_right_02461.png" + }, + { + "file_path": "../../rgb/hdr_right_02463.png", + "transform_matrix": [ + [ + 0.9671322107315063, + -0.025233572348952293, + -0.25301918387413025, + 13.903969764709473 + ], + [ + 0.2533193826675415, + 0.009457262232899666, + 0.9673364758491516, + 31.764604568481445 + ], + [ + -0.022016486153006554, + -0.9996368288993835, + 0.015538573265075684, + 0.46296486258506775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2463, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_111734628", + "mask_path": "../../mask/hdr_right_02463.png" + }, + { + "file_path": "../../rgb/hdr_right_02464.png", + "transform_matrix": [ + [ + 0.9658409357070923, + -0.01909288763999939, + -0.25843149423599243, + 13.84492015838623 + ], + [ + 0.25876083970069885, + 0.017428632825613022, + 0.9657841920852661, + 31.75114631652832 + ], + [ + -0.01393549982458353, + -0.9996657967567444, + 0.021773776039481163, + 0.4649140238761902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2464, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_211734294", + "mask_path": "../../mask/hdr_right_02464.png" + }, + { + "file_path": "../../rgb/hdr_right_02466.png", + "transform_matrix": [ + [ + 0.9658770561218262, + -0.014079871587455273, + -0.25861793756484985, + 13.755176544189453 + ], + [ + 0.25881800055503845, + 0.01494442205876112, + 0.9658105373382568, + 31.745046615600586 + ], + [ + -0.0097335921600461, + -0.9997891783714294, + 0.018078593537211418, + 0.45850369334220886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2466, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_411733627", + "mask_path": "../../mask/hdr_right_02466.png" + }, + { + "file_path": "../../rgb/hdr_right_02467.png", + "transform_matrix": [ + [ + 0.9683722257614136, + -0.011205390095710754, + -0.24925819039344788, + 13.700197219848633 + ], + [ + 0.24939033389091492, + 0.01253870502114296, + 0.9683218598365784, + 31.743675231933594 + ], + [ + -0.007725049275904894, + -0.9998586177825928, + 0.014936649240553379, + 0.4685955345630646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2467, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_511733531", + "mask_path": "../../mask/hdr_right_02467.png" + }, + { + "file_path": "../../rgb/hdr_right_02469.png", + "transform_matrix": [ + [ + 0.9716126918792725, + -0.020162496715784073, + -0.23571664094924927, + 13.599505424499512 + ], + [ + 0.2359774112701416, + 0.011680534109473228, + 0.9716883897781372, + 31.733051300048828 + ], + [ + -0.01683836616575718, + -0.9997284412384033, + 0.016106849536299706, + 0.47132736444473267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2469, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_711733579", + "mask_path": "../../mask/hdr_right_02469.png" + }, + { + "file_path": "../../rgb/hdr_right_02470.png", + "transform_matrix": [ + [ + 0.9708099961280823, + -0.015602759085595608, + -0.2393421232700348, + 13.534476280212402 + ], + [ + 0.2396238148212433, + 0.019752608612179756, + 0.9706648588180542, + 31.720481872558594 + ], + [ + -0.010417417623102665, + -0.9996830821037292, + 0.022914821282029152, + 0.47094595432281494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2470, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777103_811733245", + "mask_path": "../../mask/hdr_right_02470.png" + }, + { + "file_path": "../../rgb/hdr_right_02473.png", + "transform_matrix": [ + [ + 0.9714102745056152, + -0.012448584660887718, + -0.23708052933216095, + 13.382182121276855 + ], + [ + 0.23726609349250793, + 0.01648745685815811, + 0.9713047742843628, + 31.715578079223633 + ], + [ + -0.008182515390217304, + -0.9997865557670593, + 0.018969710916280746, + 0.4772275388240814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2473, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_111733675", + "mask_path": "../../mask/hdr_right_02473.png" + }, + { + "file_path": "../../rgb/hdr_right_02475.png", + "transform_matrix": [ + [ + 0.9736650586128235, + -0.02249203994870186, + -0.22687114775180817, + 13.276182174682617 + ], + [ + 0.22712382674217224, + 0.009366324171423912, + 0.9738208651542664, + 31.70778465270996 + ], + [ + -0.01977827027440071, + -0.9997032284736633, + 0.01422814279794693, + 0.4775562286376953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2475, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_311733722", + "mask_path": "../../mask/hdr_right_02475.png" + }, + { + "file_path": "../../rgb/hdr_right_02476.png", + "transform_matrix": [ + [ + 0.9725412726402283, + -0.020451370626688004, + -0.23183006048202515, + 13.21290111541748 + ], + [ + 0.23213250935077667, + 0.013885955326259136, + 0.972585141658783, + 31.69430160522461 + ], + [ + -0.016671517863869667, + -0.9996944665908813, + 0.018252093344926834, + 0.47905853390693665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2476, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_411735296", + "mask_path": "../../mask/hdr_right_02476.png" + }, + { + "file_path": "../../rgb/hdr_right_02477.png", + "transform_matrix": [ + [ + 0.9698131680488586, + -0.018226826563477516, + -0.2431671917438507, + 13.163180351257324 + ], + [ + 0.24348734319210052, + 0.018064655363559723, + 0.9697359204292297, + 31.685253143310547 + ], + [ + -0.013282477855682373, + -0.9996706247329712, + 0.021957341581583023, + 0.4751133322715759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2477, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_511734247", + "mask_path": "../../mask/hdr_right_02477.png" + }, + { + "file_path": "../../rgb/hdr_right_02479.png", + "transform_matrix": [ + [ + 0.9632445573806763, + -0.01621820405125618, + -0.26813605427742004, + 13.058274269104004 + ], + [ + 0.2682580351829529, + 0.005840939935296774, + 0.9633294939994812, + 31.672813415527344 + ], + [ + -0.014057306572794914, + -0.999851405620575, + 0.009976916015148163, + 0.47868093848228455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2479, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_711735248", + "mask_path": "../../mask/hdr_right_02479.png" + }, + { + "file_path": "../../rgb/hdr_right_02480.png", + "transform_matrix": [ + [ + 0.9637963175773621, + -0.017470909282565117, + -0.2660667300224304, + 13.006667137145996 + ], + [ + 0.2661888301372528, + 0.005035924259573221, + 0.963907778263092, + 31.671459197998047 + ], + [ + -0.015500453300774097, + -0.9998347163200378, + 0.009504164569079876, + 0.48568785190582275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2480, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777104_811735153", + "mask_path": "../../mask/hdr_right_02480.png" + }, + { + "file_path": "../../rgb/hdr_right_02482.png", + "transform_matrix": [ + [ + 0.9653235077857971, + -0.026164883747696877, + -0.2597421109676361, + 12.89675235748291 + ], + [ + 0.2598768472671509, + 0.0018287455895915627, + 0.9656400084495544, + 31.66117286682129 + ], + [ + -0.02479085512459278, + -0.9996559619903564, + 0.008564977906644344, + 0.48926809430122375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2482, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_11735200", + "mask_path": "../../mask/hdr_right_02482.png" + }, + { + "file_path": "../../rgb/hdr_right_02483.png", + "transform_matrix": [ + [ + 0.9634514451026917, + -0.02260393090546131, + -0.2669277787208557, + 12.833781242370605 + ], + [ + 0.26719531416893005, + 0.009726626798510551, + 0.9635933041572571, + 31.65070152282715 + ], + [ + -0.019184688106179237, + -0.999697208404541, + 0.01541079394519329, + 0.48740118741989136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2483, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_111734867", + "mask_path": "../../mask/hdr_right_02483.png" + }, + { + "file_path": "../../rgb/hdr_right_02485.png", + "transform_matrix": [ + [ + 0.9618200659751892, + -0.01660962402820587, + -0.2731780707836151, + 12.739299774169922 + ], + [ + 0.2733388841152191, + 0.008292453363537788, + 0.9618820548057556, + 31.63016128540039 + ], + [ + -0.013711181469261646, + -0.9998276829719543, + 0.012515904381871223, + 0.47755444049835205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2485, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_311734199", + "mask_path": "../../mask/hdr_right_02485.png" + }, + { + "file_path": "../../rgb/hdr_right_02486.png", + "transform_matrix": [ + [ + 0.9641844630241394, + -0.012899321503937244, + -0.2649185061454773, + 12.68246841430664 + ], + [ + 0.2650028467178345, + 0.005304388701915741, + 0.9642331004142761, + 31.622499465942383 + ], + [ + -0.01103272195905447, + -0.9999026656150818, + 0.008532765321433544, + 0.48229551315307617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2486, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_411735534", + "mask_path": "../../mask/hdr_right_02486.png" + }, + { + "file_path": "../../rgb/hdr_right_02487.png", + "transform_matrix": [ + [ + 0.9676622152328491, + -0.016503414139151573, + -0.2517090439796448, + 12.623788833618164 + ], + [ + 0.25177881121635437, + 0.002260772278532386, + 0.9677821397781372, + 31.61857795715332 + ], + [ + -0.015402652323246002, + -0.9998612403869629, + 0.006342872511595488, + 0.49129819869995117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2487, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_511734962", + "mask_path": "../../mask/hdr_right_02487.png" + }, + { + "file_path": "../../rgb/hdr_right_02488.png", + "transform_matrix": [ + [ + 0.9700841307640076, + -0.02049211412668228, + -0.2419024407863617, + 12.561655044555664 + ], + [ + 0.24198590219020844, + 0.0016585993580520153, + 0.9702783823013306, + 31.616174697875977 + ], + [ + -0.0194818377494812, + -0.9997885823249817, + 0.0065677836537361145, + 0.4903227686882019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2488, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_611734151", + "mask_path": "../../mask/hdr_right_02488.png" + }, + { + "file_path": "../../rgb/hdr_right_02489.png", + "transform_matrix": [ + [ + 0.9706991314888, + -0.018313338980078697, + -0.23959940671920776, + 12.482769966125488 + ], + [ + 0.23973961174488068, + 0.005855392664670944, + 0.9708195328712463, + 31.607025146484375 + ], + [ + -0.01637599989771843, + -0.9998151063919067, + 0.010074255988001823, + 0.48576295375823975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2489, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_711735010", + "mask_path": "../../mask/hdr_right_02489.png" + }, + { + "file_path": "../../rgb/hdr_right_02490.png", + "transform_matrix": [ + [ + 0.9697848558425903, + -0.015934010967612267, + -0.24344098567962646, + 12.415452003479004 + ], + [ + 0.24360047280788422, + 0.008947792463004589, + 0.9698345065116882, + 31.59518051147461 + ], + [ + -0.013275091536343098, + -0.9998329877853394, + 0.01255896594375372, + 0.48141080141067505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2490, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777105_811735391", + "mask_path": "../../mask/hdr_right_02490.png" + }, + { + "file_path": "../../rgb/hdr_right_02492.png", + "transform_matrix": [ + [ + 0.9713245630264282, + -0.016493404284119606, + -0.23718489706516266, + 12.300325393676758 + ], + [ + 0.237221360206604, + 0.00026236355188302696, + 0.9714555740356445, + 31.589170455932617 + ], + [ + -0.01596038229763508, + -0.9998639225959778, + 0.004167426377534866, + 0.48997294902801514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2492, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_11734247", + "mask_path": "../../mask/hdr_right_02492.png" + }, + { + "file_path": "../../rgb/hdr_right_02493.png", + "transform_matrix": [ + [ + 0.973442018032074, + -0.01884300448000431, + -0.22815683484077454, + 12.234539985656738 + ], + [ + 0.228184774518013, + -0.0006827668403275311, + 0.9736176133155823, + 31.592647552490234 + ], + [ + -0.018501659855246544, + -0.999822199344635, + 0.003635051194578409, + 0.497676283121109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2493, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_111733675", + "mask_path": "../../mask/hdr_right_02493.png" + }, + { + "file_path": "../../rgb/hdr_right_02494.png", + "transform_matrix": [ + [ + 0.9749448895454407, + -0.02694707177579403, + -0.22080837190151215, + 12.178004264831543 + ], + [ + 0.22077421844005585, + -0.004274061881005764, + 0.9753155708312988, + 31.58997917175293 + ], + [ + -0.02722564898431301, + -0.9996277093887329, + 0.0017822420923039317, + 0.4999096691608429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2494, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_211734771", + "mask_path": "../../mask/hdr_right_02494.png" + }, + { + "file_path": "../../rgb/hdr_right_02495.png", + "transform_matrix": [ + [ + 0.9756034016609192, + -0.029369646683335304, + -0.2175675332546234, + 12.099265098571777 + ], + [ + 0.21762409806251526, + -0.0012955049751326442, + 0.9760318398475647, + 31.5819149017334 + ], + [ + -0.02894756756722927, + -0.9995677471160889, + 0.005127641838043928, + 0.49900656938552856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2495, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_311734914", + "mask_path": "../../mask/hdr_right_02495.png" + }, + { + "file_path": "../../rgb/hdr_right_02496.png", + "transform_matrix": [ + [ + 0.9757726788520813, + -0.02301705628633499, + -0.21757301688194275, + 12.024331092834473 + ], + [ + 0.21779058873653412, + 0.007380349095910788, + 0.9759675860404968, + 31.57252311706543 + ], + [ + -0.02085813879966736, + -0.999707818031311, + 0.012214439921081066, + 0.4960947036743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2496, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_411732673", + "mask_path": "../../mask/hdr_right_02496.png" + }, + { + "file_path": "../../rgb/hdr_right_02498.png", + "transform_matrix": [ + [ + 0.9800532460212708, + -0.01769554615020752, + -0.1979457587003708, + 11.9230375289917 + ], + [ + 0.19791394472122192, + -0.0035492340102791786, + 0.9802129864692688, + 31.564977645874023 + ], + [ + -0.018047960475087166, + -0.9998371601104736, + 2.37555977946613e-05, + 0.48963454365730286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2498, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_611734628", + "mask_path": "../../mask/hdr_right_02498.png" + }, + { + "file_path": "../../rgb/hdr_right_02499.png", + "transform_matrix": [ + [ + 0.9847307205200195, + -0.01712612807750702, + -0.1732398420572281, + 11.858837127685547 + ], + [ + 0.17314468324184418, + -0.006903433706611395, + 0.9848722815513611, + 31.569461822509766 + ], + [ + -0.018062997609376907, + -0.9998295307159424, + -0.0038327258080244064, + 0.4948723018169403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2499, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_711735963", + "mask_path": "../../mask/hdr_right_02499.png" + }, + { + "file_path": "../../rgb/hdr_right_02500.png", + "transform_matrix": [ + [ + 0.9900031685829163, + -0.02046804502606392, + -0.1395518034696579, + 11.797808647155762 + ], + [ + 0.1394817978143692, + -0.004817717242985964, + 0.9902129173278809, + 31.583253860473633 + ], + [ + -0.020940043032169342, + -0.9997789263725281, + -0.001914638327434659, + 0.5014325380325317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2500, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_811734437", + "mask_path": "../../mask/hdr_right_02500.png" + }, + { + "file_path": "../../rgb/hdr_right_02501.png", + "transform_matrix": [ + [ + 0.993740439414978, + -0.02504832297563553, + -0.10887011140584946, + 11.733959197998047 + ], + [ + 0.10891204327344894, + 0.00031105155358090997, + 0.9940513968467712, + 31.5889835357666 + ], + [ + -0.02486545406281948, + -0.9996862411499023, + 0.0030371658504009247, + 0.505649983882904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2501, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777106_911734580", + "mask_path": "../../mask/hdr_right_02501.png" + }, + { + "file_path": "../../rgb/hdr_right_02502.png", + "transform_matrix": [ + [ + 0.9958142638206482, + -0.02414725348353386, + -0.08815305680036545, + 11.65132999420166 + ], + [ + 0.08835522085428238, + 0.0074348971247673035, + 0.9960612654685974, + 31.59090232849121 + ], + [ + -0.02339673601090908, + -0.999680757522583, + 0.00953731033951044, + 0.506061851978302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2502, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_11734247", + "mask_path": "../../mask/hdr_right_02502.png" + }, + { + "file_path": "../../rgb/hdr_right_02503.png", + "transform_matrix": [ + [ + 0.9968647360801697, + -0.021586334332823753, + -0.07612300664186478, + 11.58443546295166 + ], + [ + 0.07630705088376999, + 0.007832353934645653, + 0.9970536828041077, + 31.59086799621582 + ], + [ + -0.02092651277780533, + -0.9997362494468689, + 0.009454984217882156, + 0.5009133219718933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2503, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_111733913", + "mask_path": "../../mask/hdr_right_02503.png" + }, + { + "file_path": "../../rgb/hdr_right_02505.png", + "transform_matrix": [ + [ + 0.9992150068283081, + -0.022153373807668686, + -0.03284347429871559, + 11.485600471496582 + ], + [ + 0.0329173281788826, + 0.0029757109005004168, + 0.9994537830352783, + 31.612667083740234 + ], + [ + -0.022043537348508835, + -0.9997501373291016, + 0.003702603280544281, + 0.5042163133621216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2505, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_311734914", + "mask_path": "../../mask/hdr_right_02505.png" + }, + { + "file_path": "../../rgb/hdr_right_02506.png", + "transform_matrix": [ + [ + 0.9996998906135559, + -0.021994950249791145, + -0.010787920095026493, + 11.42548942565918 + ], + [ + 0.010804538615047932, + 0.0006360846455208957, + 0.9999414682388306, + 31.63288116455078 + ], + [ + -0.02198680117726326, + -0.9997578859329224, + 0.000873538781888783, + 0.5140079855918884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2506, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_411736726", + "mask_path": "../../mask/hdr_right_02506.png" + }, + { + "file_path": "../../rgb/hdr_right_02508.png", + "transform_matrix": [ + [ + 0.999506950378418, + -0.02899538166821003, + 0.012048406526446342, + 11.317893028259277 + ], + [ + -0.011896814219653606, + 0.005393636878579855, + 0.9999147653579712, + 31.66098976135254 + ], + [ + -0.02905789017677307, + -0.9995650053024292, + 0.005046023055911064, + 0.5153798460960388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2508, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_611735105", + "mask_path": "../../mask/hdr_right_02508.png" + }, + { + "file_path": "../../rgb/hdr_right_02509.png", + "transform_matrix": [ + [ + 0.9997034668922424, + -0.022488465532660484, + 0.00933618564158678, + 11.246962547302246 + ], + [ + -0.009062462486326694, + 0.012242846190929413, + 0.9998840093612671, + 31.668106079101562 + ], + [ + -0.02260015718638897, + -0.9996721148490906, + 0.012035416439175606, + 0.5171791315078735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2509, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_711734771", + "mask_path": "../../mask/hdr_right_02509.png" + }, + { + "file_path": "../../rgb/hdr_right_02510.png", + "transform_matrix": [ + [ + 0.9997977018356323, + -0.019697409123182297, + 0.004069996532052755, + 11.190696716308594 + ], + [ + -0.0037645595148205757, + 0.015516618266701698, + 0.999872624874115, + 31.67463493347168 + ], + [ + -0.01975805126130581, + -0.9996855854988098, + 0.01543932780623436, + 0.5154696702957153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2510, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_811734437", + "mask_path": "../../mask/hdr_right_02510.png" + }, + { + "file_path": "../../rgb/hdr_right_02511.png", + "transform_matrix": [ + [ + 0.9998320937156677, + -0.017384542152285576, + 0.00580208096653223, + 11.137596130371094 + ], + [ + -0.005652330815792084, + 0.00864860787987709, + 0.999946653842926, + 31.692665100097656 + ], + [ + -0.01743379421532154, + -0.9998114705085754, + 0.008548889309167862, + 0.5113743543624878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2511, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777107_911734580", + "mask_path": "../../mask/hdr_right_02511.png" + }, + { + "file_path": "../../rgb/hdr_right_02512.png", + "transform_matrix": [ + [ + 0.9998142123222351, + -0.016125420108437538, + 0.010561983101069927, + 11.073512077331543 + ], + [ + -0.010559288784861565, + 0.00024893920635804534, + 0.9999443292617798, + 31.71479034423828 + ], + [ + -0.016127150505781174, + -0.9998698830604553, + 7.861943595344201e-05, + 0.5184344053268433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2512, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_11735439", + "mask_path": "../../mask/hdr_right_02512.png" + }, + { + "file_path": "../../rgb/hdr_right_02513.png", + "transform_matrix": [ + [ + 0.9997819662094116, + -0.018451999872922897, + 0.009776696562767029, + 11.018269538879395 + ], + [ + -0.009787128306925297, + -0.0004770031664520502, + 0.9999520778656006, + 31.72528839111328 + ], + [ + -0.01844645105302334, + -0.9998295903205872, + -0.0006574934814125299, + 0.5227319002151489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2513, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_111734867", + "mask_path": "../../mask/hdr_right_02513.png" + }, + { + "file_path": "../../rgb/hdr_right_02515.png", + "transform_matrix": [ + [ + 0.9996156692504883, + -0.025454120710492134, + -0.010975446552038193, + 10.901721954345703 + ], + [ + 0.010994491167366505, + 0.0006077353609725833, + 0.9999394416809082, + 31.732643127441406 + ], + [ + -0.025445908308029175, + -0.9996758103370667, + 0.0008873554761521518, + 0.5222111344337463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2515, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_311734676", + "mask_path": "../../mask/hdr_right_02515.png" + }, + { + "file_path": "../../rgb/hdr_right_02516.png", + "transform_matrix": [ + [ + 0.99934983253479, + -0.01965467445552349, + -0.030227629467844963, + 10.83221435546875 + ], + [ + 0.030309544876217842, + 0.003882048185914755, + 0.9995330572128296, + 31.72962760925293 + ], + [ + -0.01952815242111683, + -0.9997992515563965, + 0.004475248046219349, + 0.5225004553794861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2516, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_411734580", + "mask_path": "../../mask/hdr_right_02516.png" + }, + { + "file_path": "../../rgb/hdr_right_02518.png", + "transform_matrix": [ + [ + 0.998284637928009, + -0.018496982753276825, + -0.055547814816236496, + 10.742036819458008 + ], + [ + 0.0554635226726532, + -0.0050402479246258736, + 0.9984479546546936, + 31.728382110595703 + ], + [ + -0.018748249858617783, + -0.9998161792755127, + -0.0040056961588561535, + 0.5182937979698181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2518, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_611733913", + "mask_path": "../../mask/hdr_right_02518.png" + }, + { + "file_path": "../../rgb/hdr_right_02519.png", + "transform_matrix": [ + [ + 0.9978889226913452, + -0.01676132343709469, + -0.06274361908435822, + 10.684598922729492 + ], + [ + 0.06253315508365631, + -0.01279904879629612, + 0.9979608058929443, + 31.7275447845459 + ], + [ + -0.017530204728245735, + -0.9997775554656982, + -0.011723892763257027, + 0.5225699543952942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2519, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_711734294", + "mask_path": "../../mask/hdr_right_02519.png" + }, + { + "file_path": "../../rgb/hdr_right_02520.png", + "transform_matrix": [ + [ + 0.9975333213806152, + -0.021007085219025612, + -0.0669785887002945, + 10.630379676818848 + ], + [ + 0.06665938347578049, + -0.015545702539384365, + 0.9976547956466675, + 31.729419708251953 + ], + [ + -0.021999046206474304, + -0.999658465385437, + -0.01410703919827938, + 0.532220184803009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2520, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_811735153", + "mask_path": "../../mask/hdr_right_02520.png" + }, + { + "file_path": "../../rgb/hdr_right_02521.png", + "transform_matrix": [ + [ + 0.9967376589775085, + -0.029256349429488182, + -0.07522082328796387, + 10.576643943786621 + ], + [ + 0.074802465736866, + -0.015142377465963364, + 0.9970834255218506, + 31.730588912963867 + ], + [ + -0.030310042202472687, + -0.9994572401046753, + -0.012904534116387367, + 0.5353468656539917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2521, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777108_911735057", + "mask_path": "../../mask/hdr_right_02521.png" + }, + { + "file_path": "../../rgb/hdr_right_02522.png", + "transform_matrix": [ + [ + 0.9952925443649292, + -0.029586737975478172, + -0.092289999127388, + 10.508017539978027 + ], + [ + 0.0920005515217781, + -0.011002558283507824, + 0.9956982135772705, + 31.72455406188965 + ], + [ + -0.030474886298179626, + -0.999501645565033, + -0.008228770457208157, + 0.5344507694244385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2522, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777109_11734247", + "mask_path": "../../mask/hdr_right_02522.png" + }, + { + "file_path": "../../rgb/hdr_right_02523.png", + "transform_matrix": [ + [ + 0.9928943514823914, + -0.022338660433888435, + -0.11688397824764252, + 10.451204299926758 + ], + [ + 0.11683092266321182, + -0.003671163460239768, + 0.9931451082229614, + 31.710479736328125 + ], + [ + -0.022614631801843643, + -0.9997437000274658, + -0.0010352330282330513, + 0.5311453342437744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2523, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777109_111734628", + "mask_path": "../../mask/hdr_right_02523.png" + }, + { + "file_path": "../../rgb/hdr_right_02525.png", + "transform_matrix": [ + [ + 0.9888371825218201, + -0.016301654279232025, + -0.14810580015182495, + 10.35709285736084 + ], + [ + 0.1479325145483017, + -0.011374256573617458, + 0.9889320135116577, + 31.704002380371094 + ], + [ + -0.01780582033097744, + -0.9998023509979248, + -0.008835744112730026, + 0.5321525931358337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2525, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777109_311734676", + "mask_path": "../../mask/hdr_right_02525.png" + }, + { + "file_path": "../../rgb/hdr_right_02526.png", + "transform_matrix": [ + [ + 0.9880394339561462, + -0.019208183512091637, + -0.15300042927265167, + 10.302084922790527 + ], + [ + 0.15287311375141144, + -0.007940405048429966, + 0.9882140159606934, + 31.703250885009766 + ], + [ + -0.02019668184220791, + -0.9997839331626892, + -0.0049090199172496796, + 0.5351197719573975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2526, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777109_411735057", + "mask_path": "../../mask/hdr_right_02526.png" + }, + { + "file_path": "../../rgb/hdr_right_02528.png", + "transform_matrix": [ + [ + 0.9867599010467529, + -0.02201300673186779, + -0.1606869101524353, + 10.20914363861084 + ], + [ + 0.16061776876449585, + -0.004886751528829336, + 0.9870046377182007, + 31.68801498413086 + ], + [ + -0.022512173280119896, + -0.9997457265853882, + -0.001286373590119183, + 0.5388454794883728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2528, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777109_611734628", + "mask_path": "../../mask/hdr_right_02528.png" + }, + { + "file_path": "../../rgb/hdr_right_02533.png", + "transform_matrix": [ + [ + 0.985276997089386, + -0.01658875122666359, + -0.1701589673757553, + 10.089080810546875 + ], + [ + 0.17003585398197174, + -0.008579502813518047, + 0.9854004979133606, + 31.685537338256836 + ], + [ + -0.017806444317102432, + -0.9998255968093872, + -0.005632505286484957, + 0.5411660075187683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2533, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_111734151", + "mask_path": "../../mask/hdr_right_02533.png" + }, + { + "file_path": "../../rgb/hdr_right_02535.png", + "transform_matrix": [ + [ + 0.9802858829498291, + -0.01964860036969185, + -0.19660542905330658, + 9.99233341217041 + ], + [ + 0.19662024080753326, + -0.001194177893921733, + 0.9804790616035461, + 31.671621322631836 + ], + [ + -0.019499823451042175, + -0.9998062252998352, + 0.002692676614969969, + 0.5438743829727173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2535, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_311734199", + "mask_path": "../../mask/hdr_right_02535.png" + }, + { + "file_path": "../../rgb/hdr_right_02537.png", + "transform_matrix": [ + [ + 0.9777602553367615, + -0.018143828958272934, + -0.20893937349319458, + 9.910662651062012 + ], + [ + 0.2089262753725052, + -0.002637578174471855, + 0.9779279232025146, + 31.669586181640625 + ], + [ + -0.018294449895620346, + -0.9998319149017334, + 0.0012118027079850435, + 0.5352720618247986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2537, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_511734247", + "mask_path": "../../mask/hdr_right_02537.png" + }, + { + "file_path": "../../rgb/hdr_right_02538.png", + "transform_matrix": [ + [ + 0.9776416420936584, + -0.01555604673922062, + -0.20970137417316437, + 9.85534381866455 + ], + [ + 0.20961061120033264, + -0.007272648625075817, + 0.9777579307556152, + 31.670494079589844 + ], + [ + -0.016735130921006203, + -0.9998525381088257, + -0.0038493331521749496, + 0.5404050350189209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2538, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_611733436", + "mask_path": "../../mask/hdr_right_02538.png" + }, + { + "file_path": "../../rgb/hdr_right_02539.png", + "transform_matrix": [ + [ + 0.9770507216453552, + -0.01715175062417984, + -0.21231530606746674, + 9.804176330566406 + ], + [ + 0.2121504545211792, + -0.010940094478428364, + 0.9771758317947388, + 31.66366195678711 + ], + [ + -0.01908302679657936, + -0.9997930526733398, + -0.007050277665257454, + 0.5451070666313171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2539, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_711733579", + "mask_path": "../../mask/hdr_right_02539.png" + }, + { + "file_path": "../../rgb/hdr_right_02541.png", + "transform_matrix": [ + [ + 0.9710389375686646, + -0.028774641454219818, + -0.23718218505382538, + 9.684191703796387 + ], + [ + 0.23695366084575653, + -0.011157556436955929, + 0.9714569449424744, + 31.63835334777832 + ], + [ + -0.030599698424339294, + -0.9995236396789551, + -0.004016167018562555, + 0.5403971076011658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2541, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777110_911733865", + "mask_path": "../../mask/hdr_right_02541.png" + }, + { + "file_path": "../../rgb/hdr_right_02542.png", + "transform_matrix": [ + [ + 0.9647087454795837, + -0.023269299417734146, + -0.2622891068458557, + 9.620674133300781 + ], + [ + 0.262245237827301, + -0.0049727060832083225, + 0.9649884700775146, + 31.61056137084961 + ], + [ + -0.023758893832564354, + -0.9997169375419617, + 0.0013050474226474762, + 0.5411570072174072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2542, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777111_11734008", + "mask_path": "../../mask/hdr_right_02542.png" + }, + { + "file_path": "../../rgb/hdr_right_02544.png", + "transform_matrix": [ + [ + 0.9548588395118713, + -0.016170501708984375, + -0.2966195046901703, + 9.549965858459473 + ], + [ + 0.2964363694190979, + -0.012796847149729729, + 0.9549669027328491, + 31.593233108520508 + ], + [ + -0.01923808827996254, + -0.9997873902320862, + -0.007425658870488405, + 0.5347263813018799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2544, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777111_211734294", + "mask_path": "../../mask/hdr_right_02544.png" + }, + { + "file_path": "../../rgb/hdr_right_02548.png", + "transform_matrix": [ + [ + 0.9465855956077576, + -0.020228035748004913, + -0.3218176066875458, + 9.360092163085938 + ], + [ + 0.3217553496360779, + -0.006350982002913952, + 0.9468015432357788, + 31.553895950317383 + ], + [ + -0.021195795387029648, + -0.999775230884552, + 0.0004967289278283715, + 0.5461462736129761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2548, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777111_611734151", + "mask_path": "../../mask/hdr_right_02548.png" + }, + { + "file_path": "../../rgb/hdr_right_02550.png", + "transform_matrix": [ + [ + 0.9412348866462708, + -0.013047212734818459, + -0.33750054240226746, + 9.303777694702148 + ], + [ + 0.3375837206840515, + 0.0047411066479980946, + 0.9412835836410522, + 31.539716720581055 + ], + [ + -0.010681001469492912, + -0.999903678894043, + 0.008867021650075912, + 0.5345033407211304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2550, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777111_811735153", + "mask_path": "../../mask/hdr_right_02550.png" + }, + { + "file_path": "../../rgb/hdr_right_02552.png", + "transform_matrix": [ + [ + 0.9474889039993286, + -0.0039808908477425575, + -0.31976404786109924, + 9.240069389343262 + ], + [ + 0.3197670876979828, + 0.0001416029699612409, + 0.947496235370636, + 31.55215072631836 + ], + [ + -0.0037265995051711798, + -0.9999920725822449, + 0.00140712212305516, + 0.5486536622047424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2552, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777112_11735200", + "mask_path": "../../mask/hdr_right_02552.png" + }, + { + "file_path": "../../rgb/hdr_right_02554.png", + "transform_matrix": [ + [ + 0.9532312750816345, + -0.00857001543045044, + -0.30212047696113586, + 9.178513526916504 + ], + [ + 0.30213186144828796, + 3.2988140446832404e-05, + 0.9532662034034729, + 31.55371856689453 + ], + [ + -0.00815953966230154, + -0.9999632835388184, + 0.0026207189075648785, + 0.5480029582977295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2554, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777112_211735725", + "mask_path": "../../mask/hdr_right_02554.png" + }, + { + "file_path": "../../rgb/hdr_right_02557.png", + "transform_matrix": [ + [ + 0.952258288860321, + -0.010981837287545204, + -0.305095911026001, + 9.12062931060791 + ], + [ + 0.30520305037498474, + 0.009914135560393333, + 0.9522356986999512, + 31.548229217529297 + ], + [ + -0.007432535290718079, + -0.9998905658721924, + 0.01279250718653202, + 0.5452295541763306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2557, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777112_511734724", + "mask_path": "../../mask/hdr_right_02557.png" + }, + { + "file_path": "../../rgb/hdr_right_02563.png", + "transform_matrix": [ + [ + 0.9618030786514282, + -0.023937944322824478, + -0.2726938724517822, + 9.02724838256836 + ], + [ + 0.27305081486701965, + 0.013121163472533226, + 0.9619101285934448, + 31.5651912689209 + ], + [ + -0.019448090344667435, + -0.9996272921562195, + 0.01915624924004078, + 0.5495631694793701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2563, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_111733913", + "mask_path": "../../mask/hdr_right_02563.png" + }, + { + "file_path": "../../rgb/hdr_right_02565.png", + "transform_matrix": [ + [ + 0.9625696539878845, + -0.030032463371753693, + -0.2693653106689453, + 8.91694164276123 + ], + [ + 0.2700916826725006, + 0.023471061140298843, + 0.962548553943634, + 31.565101623535156 + ], + [ + -0.022585416212677956, + -0.9992733001708984, + 0.03070404939353466, + 0.5459369421005249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2565, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_311736106", + "mask_path": "../../mask/hdr_right_02565.png" + }, + { + "file_path": "../../rgb/hdr_right_02566.png", + "transform_matrix": [ + [ + 0.9606148600578308, + -0.027057310566306114, + -0.2765628397464752, + 8.857181549072266 + ], + [ + 0.2773056626319885, + 0.029203757643699646, + 0.9603378176689148, + 31.554786682128906 + ], + [ + -0.017907485365867615, + -0.9992071986198425, + 0.03555670753121376, + 0.546645998954773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2566, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_411734104", + "mask_path": "../../mask/hdr_right_02566.png" + }, + { + "file_path": "../../rgb/hdr_right_02568.png", + "transform_matrix": [ + [ + 0.9608147740364075, + -0.024639712646603584, + -0.2760941982269287, + 8.755125045776367 + ], + [ + 0.27663061022758484, + 0.021901747211813927, + 0.960726797580719, + 31.548770904541016 + ], + [ + -0.017625082284212112, + -0.9994564056396484, + 0.02785961888730526, + 0.5388244390487671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2568, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_611734390", + "mask_path": "../../mask/hdr_right_02568.png" + }, + { + "file_path": "../../rgb/hdr_right_02569.png", + "transform_matrix": [ + [ + 0.9639055728912354, + -0.022939380258321762, + -0.26525434851646423, + 8.67973518371582 + ], + [ + 0.26562491059303284, + 0.014931350946426392, + 0.9639608263969421, + 31.553855895996094 + ], + [ + -0.018152058124542236, + -0.9996253252029419, + 0.02048567868769169, + 0.5470889806747437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2569, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_711734056", + "mask_path": "../../mask/hdr_right_02569.png" + }, + { + "file_path": "../../rgb/hdr_right_02570.png", + "transform_matrix": [ + [ + 0.9673852324485779, + -0.024482285603880882, + -0.25212398171424866, + 8.620454788208008 + ], + [ + 0.252415269613266, + 0.00958967488259077, + 0.9675716161727905, + 31.555248260498047 + ], + [ + -0.021270576864480972, + -0.999654233455658, + 0.015456612221896648, + 0.555612325668335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2570, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777113_811734199", + "mask_path": "../../mask/hdr_right_02570.png" + }, + { + "file_path": "../../rgb/hdr_right_02572.png", + "transform_matrix": [ + [ + 0.9696604609489441, + -0.030155299231410027, + -0.2425888180732727, + 8.498574256896973 + ], + [ + 0.24306927621364594, + 0.013387723825871944, + 0.9699166417121887, + 31.533355712890625 + ], + [ + -0.026000408455729485, + -0.9994555711746216, + 0.020311370491981506, + 0.5488783121109009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2572, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_11734724", + "mask_path": "../../mask/hdr_right_02572.png" + }, + { + "file_path": "../../rgb/hdr_right_02573.png", + "transform_matrix": [ + [ + 0.9680153727531433, + -0.025088468566536903, + -0.24963335692882538, + 8.436090469360352 + ], + [ + 0.25014418363571167, + 0.019800396636128426, + 0.9680061936378479, + 31.518754959106445 + ], + [ + -0.019342953339219093, + -0.9994890689849854, + 0.0254428219050169, + 0.5478177070617676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2573, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_111734151", + "mask_path": "../../mask/hdr_right_02573.png" + }, + { + "file_path": "../../rgb/hdr_right_02575.png", + "transform_matrix": [ + [ + 0.9677391648292542, + -0.01913779228925705, + -0.2512267529964447, + 8.346367835998535 + ], + [ + 0.2514198422431946, + 0.008419402875006199, + 0.9678415656089783, + 31.493206024169922 + ], + [ + -0.01640716940164566, + -0.9997814297676086, + 0.012959406711161137, + 0.5454518795013428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2575, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_311734437", + "mask_path": "../../mask/hdr_right_02575.png" + }, + { + "file_path": "../../rgb/hdr_right_02576.png", + "transform_matrix": [ + [ + 0.9681333899497986, + -0.016155213117599487, + -0.2499133199453354, + 8.291083335876465 + ], + [ + 0.2500171959400177, + 0.004733625799417496, + 0.9682298898696899, + 31.479663848876953 + ], + [ + -0.01445896364748478, + -0.9998583197593689, + 0.008621862158179283, + 0.5499330163002014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2576, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_411734580", + "mask_path": "../../mask/hdr_right_02576.png" + }, + { + "file_path": "../../rgb/hdr_right_02577.png", + "transform_matrix": [ + [ + 0.9687511920928955, + -0.017849046736955643, + -0.24739155173301697, + 8.23596477508545 + ], + [ + 0.24756358563899994, + 0.008139433339238167, + 0.9688376188278198, + 31.47554588317871 + ], + [ + -0.015279198065400124, + -0.9998075366020203, + 0.012303858064115047, + 0.5578978061676025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2577, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_511735439", + "mask_path": "../../mask/hdr_right_02577.png" + }, + { + "file_path": "../../rgb/hdr_right_02578.png", + "transform_matrix": [ + [ + 0.9690497517585754, + -0.024073012173175812, + -0.245688796043396, + 8.179964065551758 + ], + [ + 0.24592673778533936, + 0.007433116901665926, + 0.9692599773406982, + 31.47455406188965 + ], + [ + -0.021506773307919502, + -0.9996825456619263, + 0.013123256154358387, + 0.5572755932807922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2578, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_611734151", + "mask_path": "../../mask/hdr_right_02578.png" + }, + { + "file_path": "../../rgb/hdr_right_02579.png", + "transform_matrix": [ + [ + 0.9687209725379944, + -0.02705983817577362, + -0.24667266011238098, + 8.111058235168457 + ], + [ + 0.24699735641479492, + 0.009343158453702927, + 0.9689711332321167, + 31.46849250793457 + ], + [ + -0.023915499448776245, + -0.9995902180671692, + 0.01573461852967739, + 0.5540300607681274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2579, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_711735248", + "mask_path": "../../mask/hdr_right_02579.png" + }, + { + "file_path": "../../rgb/hdr_right_02580.png", + "transform_matrix": [ + [ + 0.9667810201644897, + -0.023839037865400314, + -0.2544918656349182, + 8.033649444580078 + ], + [ + 0.2549664080142975, + 0.019550712779164314, + 0.966752290725708, + 31.457685470581055 + ], + [ + -0.018070947378873825, + -0.9995245933532715, + 0.02497941255569458, + 0.5544213652610779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2580, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_811734676", + "mask_path": "../../mask/hdr_right_02580.png" + }, + { + "file_path": "../../rgb/hdr_right_02581.png", + "transform_matrix": [ + [ + 0.9639548659324646, + -0.022672316059470177, + -0.2650982737541199, + 7.970231533050537 + ], + [ + 0.26568400859832764, + 0.02865082398056984, + 0.9636343717575073, + 31.451976776123047 + ], + [ + -0.014252537861466408, + -0.9993323087692261, + 0.03364177048206329, + 0.552119255065918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2581, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777114_911736011", + "mask_path": "../../mask/hdr_right_02581.png" + }, + { + "file_path": "../../rgb/hdr_right_02582.png", + "transform_matrix": [ + [ + 0.9623322486877441, + -0.021754425019025803, + -0.27100419998168945, + 7.91140079498291 + ], + [ + 0.2715168297290802, + 0.02568492665886879, + 0.9620909094810486, + 31.452173233032227 + ], + [ + -0.013969012536108494, + -0.9994333982467651, + 0.03062412515282631, + 0.5485587120056152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2582, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_11734962", + "mask_path": "../../mask/hdr_right_02582.png" + }, + { + "file_path": "../../rgb/hdr_right_02583.png", + "transform_matrix": [ + [ + 0.962801992893219, + -0.022197958081960678, + -0.26929470896720886, + 7.8353142738342285 + ], + [ + 0.269745796918869, + 0.02068786695599556, + 0.962709367275238, + 31.459794998168945 + ], + [ + -0.01579905115067959, + -0.9995395541191101, + 0.025906121358275414, + 0.5537862777709961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2583, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_111734390", + "mask_path": "../../mask/hdr_right_02583.png" + }, + { + "file_path": "../../rgb/hdr_right_02584.png", + "transform_matrix": [ + [ + 0.964418888092041, + -0.025522390380501747, + -0.2631443440914154, + 7.7722296714782715 + ], + [ + 0.263710618019104, + 0.022129228338599205, + 0.9643479585647583, + 31.463260650634766 + ], + [ + -0.01878928579390049, + -0.9994293451309204, + 0.028072373941540718, + 0.5623340606689453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2584, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_211735010", + "mask_path": "../../mask/hdr_right_02584.png" + }, + { + "file_path": "../../rgb/hdr_right_02586.png", + "transform_matrix": [ + [ + 0.9639518857002258, + -0.03235989436507225, + -0.26410138607025146, + 7.674204349517822 + ], + [ + 0.26482823491096497, + 0.02065184898674488, + 0.9640744924545288, + 31.440723419189453 + ], + [ + -0.025743164122104645, + -0.9992629289627075, + 0.028477195650339127, + 0.566428542137146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2586, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_411735057", + "mask_path": "../../mask/hdr_right_02586.png" + }, + { + "file_path": "../../rgb/hdr_right_02587.png", + "transform_matrix": [ + [ + 0.9624096155166626, + -0.029490921646356583, + -0.26999640464782715, + 7.611964225769043 + ], + [ + 0.27078449726104736, + 0.02710273116827011, + 0.9622583985328674, + 31.435285568237305 + ], + [ + -0.021060248836874962, + -0.9991975426673889, + 0.03406961262226105, + 0.5641943216323853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2587, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_511734008", + "mask_path": "../../mask/hdr_right_02587.png" + }, + { + "file_path": "../../rgb/hdr_right_02589.png", + "transform_matrix": [ + [ + 0.958182156085968, + -0.022478116676211357, + -0.28527504205703735, + 7.557077407836914 + ], + [ + 0.28583380579948425, + 0.027649957686662674, + 0.9578803181648254, + 31.429645538330078 + ], + [ + -0.01364350225776434, + -0.9993649125099182, + 0.03291869908571243, + 0.5565434694290161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2589, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_711735010", + "mask_path": "../../mask/hdr_right_02589.png" + }, + { + "file_path": "../../rgb/hdr_right_02591.png", + "transform_matrix": [ + [ + 0.9574470520019531, + -0.022702783346176147, + -0.28771454095840454, + 7.479244709014893 + ], + [ + 0.28815197944641113, + 0.01912541687488556, + 0.9573937058448792, + 31.43851089477539 + ], + [ + -0.016232840716838837, + -0.9995593428611755, + 0.024853426963090897, + 0.5736886858940125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2591, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777115_911734342", + "mask_path": "../../mask/hdr_right_02591.png" + }, + { + "file_path": "../../rgb/hdr_right_02592.png", + "transform_matrix": [ + [ + 0.958073079586029, + -0.02910035289824009, + -0.28504228591918945, + 7.426270484924316 + ], + [ + 0.28560876846313477, + 0.017547165974974632, + 0.9581856727600098, + 31.450244903564453 + ], + [ + -0.022881856188178062, + -0.9994224309921265, + 0.025122782215476036, + 0.5780312418937683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2592, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_11735439", + "mask_path": "../../mask/hdr_right_02592.png" + }, + { + "file_path": "../../rgb/hdr_right_02593.png", + "transform_matrix": [ + [ + 0.9574726223945618, + -0.028440115973353386, + -0.2871190905570984, + 7.362334251403809 + ], + [ + 0.2877890467643738, + 0.023145539686083794, + 0.9574140906333923, + 31.467191696166992 + ], + [ + -0.020583441480994225, + -0.9993274807929993, + 0.030345970764756203, + 0.5762078166007996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2593, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_111734867", + "mask_path": "../../mask/hdr_right_02593.png" + }, + { + "file_path": "../../rgb/hdr_right_02594.png", + "transform_matrix": [ + [ + 0.9557235836982727, + -0.023669037967920303, + -0.29331234097480774, + 7.309383869171143 + ], + [ + 0.2939145565032959, + 0.0280917901545763, + 0.9554188847541809, + 31.483680725097656 + ], + [ + -0.014374176040291786, + -0.9993250966072083, + 0.03380466252565384, + 0.5694363117218018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2594, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_211735725", + "mask_path": "../../mask/hdr_right_02594.png" + }, + { + "file_path": "../../rgb/hdr_right_02596.png", + "transform_matrix": [ + [ + 0.9570493102073669, + -0.017306720837950706, + -0.28940844535827637, + 7.1941375732421875 + ], + [ + 0.2896612584590912, + 0.014473875053226948, + 0.9570198059082031, + 31.512781143188477 + ], + [ + -0.012374012731015682, + -0.9997454881668091, + 0.018865296617150307, + 0.5730934739112854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2596, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_411735534", + "mask_path": "../../mask/hdr_right_02596.png" + }, + { + "file_path": "../../rgb/hdr_right_02597.png", + "transform_matrix": [ + [ + 0.9599587321281433, + -0.014830604195594788, + -0.2797485589981079, + 7.123260021209717 + ], + [ + 0.27996477484703064, + 0.015335933305323124, + 0.9598878026008606, + 31.535978317260742 + ], + [ + -0.009945511817932129, + -0.9997723698616028, + 0.01887390948832035, + 0.5789600610733032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2597, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_511735200", + "mask_path": "../../mask/hdr_right_02597.png" + }, + { + "file_path": "../../rgb/hdr_right_02598.png", + "transform_matrix": [ + [ + 0.9627925157546997, + -0.019516214728355408, + -0.2695362865924835, + 7.068457126617432 + ], + [ + 0.26985570788383484, + 0.01612679846584797, + 0.9627658128738403, + 31.550457000732422 + ], + [ + -0.014442785643041134, + -0.9996795058250427, + 0.02079332433640957, + 0.5798705816268921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2598, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_611734151", + "mask_path": "../../mask/hdr_right_02598.png" + }, + { + "file_path": "../../rgb/hdr_right_02599.png", + "transform_matrix": [ + [ + 0.965359091758728, + -0.021947836503386497, + -0.2600002586841583, + 6.997915267944336 + ], + [ + 0.26040494441986084, + 0.01815846562385559, + 0.9653287529945374, + 31.565380096435547 + ], + [ + -0.016465667635202408, + -0.9995942115783691, + 0.023244764655828476, + 0.5787365436553955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2599, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_711734056", + "mask_path": "../../mask/hdr_right_02599.png" + }, + { + "file_path": "../../rgb/hdr_right_02600.png", + "transform_matrix": [ + [ + 0.967624306678772, + -0.019173594191670418, + -0.251665323972702, + 6.922144889831543 + ], + [ + 0.2520715296268463, + 0.022973958402872086, + 0.967435896396637, + 31.584217071533203 + ], + [ + -0.012767474167048931, + -0.9995522499084473, + 0.02706328220665455, + 0.577212929725647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2600, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_811734676", + "mask_path": "../../mask/hdr_right_02600.png" + }, + { + "file_path": "../../rgb/hdr_right_02601.png", + "transform_matrix": [ + [ + 0.9693514108657837, + -0.01763118989765644, + -0.2450445592403412, + 6.858356952667236 + ], + [ + 0.24544696509838104, + 0.02624981477856636, + 0.969054639339447, + 31.596399307250977 + ], + [ + -0.010653209872543812, + -0.9994999170303345, + 0.029772821813821793, + 0.5718575119972229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2601, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777116_911733627", + "mask_path": "../../mask/hdr_right_02601.png" + }, + { + "file_path": "../../rgb/hdr_right_02602.png", + "transform_matrix": [ + [ + 0.9736946225166321, + -0.017875786870718002, + -0.22715479135513306, + 6.795121192932129 + ], + [ + 0.22743067145347595, + 0.01528360228985548, + 0.9736744165420532, + 31.606061935424805 + ], + [ + -0.013933450914919376, + -0.9997233748435974, + 0.018947063013911247, + 0.5714869499206543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2602, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_11734247", + "mask_path": "../../mask/hdr_right_02602.png" + }, + { + "file_path": "../../rgb/hdr_right_02603.png", + "transform_matrix": [ + [ + 0.9814053773880005, + -0.013409221544861794, + -0.1914777159690857, + 6.717229843139648 + ], + [ + 0.19153502583503723, + 0.003114266786724329, + 0.9814808964729309, + 31.63307762145996 + ], + [ + -0.012564580887556076, + -0.9999052286148071, + 0.005624692887067795, + 0.5766879916191101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2603, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_111733675", + "mask_path": "../../mask/hdr_right_02603.png" + }, + { + "file_path": "../../rgb/hdr_right_02604.png", + "transform_matrix": [ + [ + 0.9892645478248596, + -0.01262759417295456, + -0.1455892026424408, + 6.653878688812256 + ], + [ + 0.14562025666236877, + 0.0015681713121011853, + 0.9893393516540527, + 31.65876579284668 + ], + [ + -0.012264666147530079, + -0.999919056892395, + 0.0033901676069945097, + 0.5817505717277527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2604, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_211734056", + "mask_path": "../../mask/hdr_right_02604.png" + }, + { + "file_path": "../../rgb/hdr_right_02605.png", + "transform_matrix": [ + [ + 0.9947265982627869, + -0.013919794000685215, + -0.10161351412534714, + 6.5961785316467285 + ], + [ + 0.10167016088962555, + 0.0034205664414912462, + 0.9948123097419739, + 31.66744041442871 + ], + [ + -0.01350000686943531, + -0.9998973608016968, + 0.004817753564566374, + 0.5807930827140808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2605, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_311734199", + "mask_path": "../../mask/hdr_right_02605.png" + }, + { + "file_path": "../../rgb/hdr_right_02606.png", + "transform_matrix": [ + [ + 0.9975957274436951, + -0.013498043641448021, + -0.06797484308481216, + 6.514379501342773 + ], + [ + 0.06810236722230911, + 0.00922228954732418, + 0.9976357221603394, + 31.67238426208496 + ], + [ + -0.012839246541261673, + -0.9998663663864136, + 0.010119365528225899, + 0.5767319202423096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2606, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_411734342", + "mask_path": "../../mask/hdr_right_02606.png" + }, + { + "file_path": "../../rgb/hdr_right_02607.png", + "transform_matrix": [ + [ + 0.9988528490066528, + -0.011492450721561909, + -0.04648513346910477, + 6.440933704376221 + ], + [ + 0.04663807526230812, + 0.013413823209702969, + 0.9988219141960144, + 31.68122673034668 + ], + [ + -0.010855366475880146, + -0.999843955039978, + 0.013934420421719551, + 0.5751147866249084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2607, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_511734247", + "mask_path": "../../mask/hdr_right_02607.png" + }, + { + "file_path": "../../rgb/hdr_right_02609.png", + "transform_matrix": [ + [ + 0.9996576309204102, + -0.012955058366060257, + -0.022738348692655563, + 6.333158493041992 + ], + [ + 0.022909631952643394, + 0.013230022974312305, + 0.9996500015258789, + 31.69749641418457 + ], + [ + -0.01264969352632761, + -0.999828577041626, + 0.013522287830710411, + 0.5718871355056763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2609, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_711733579", + "mask_path": "../../mask/hdr_right_02609.png" + }, + { + "file_path": "../../rgb/hdr_right_02610.png", + "transform_matrix": [ + [ + 0.9998889565467834, + -0.012055683881044388, + -0.008755635470151901, + 6.266580104827881 + ], + [ + 0.00888220127671957, + 0.010482590645551682, + 0.9999055862426758, + 31.711254119873047 + ], + [ + -0.011962763965129852, + -0.9998724460601807, + 0.010588507167994976, + 0.5820330381393433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2610, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_811732769", + "mask_path": "../../mask/hdr_right_02610.png" + }, + { + "file_path": "../../rgb/hdr_right_02611.png", + "transform_matrix": [ + [ + 0.9998975992202759, + -0.010750102810561657, + 0.00944904237985611, + 6.210634708404541 + ], + [ + -0.009304321371018887, + 0.013435966335237026, + 0.9998663663864136, + 31.734745025634766 + ], + [ + -0.010875624604523182, + -0.9998518824577332, + 0.013334566727280617, + 0.587336003780365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2611, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777117_911734104", + "mask_path": "../../mask/hdr_right_02611.png" + }, + { + "file_path": "../../rgb/hdr_right_02612.png", + "transform_matrix": [ + [ + 0.9995912313461304, + -0.011534820310771465, + 0.0261605903506279, + 6.160207748413086 + ], + [ + -0.025972498580813408, + 0.01616508513689041, + 0.9995319843292236, + 31.75519561767578 + ], + [ + -0.011952309869229794, + -0.999802827835083, + 0.015858886763453484, + 0.5871796011924744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2612, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_11733293", + "mask_path": "../../mask/hdr_right_02612.png" + }, + { + "file_path": "../../rgb/hdr_right_02613.png", + "transform_matrix": [ + [ + 0.9991287589073181, + -0.009384790435433388, + 0.04066603630781174, + 6.098733425140381 + ], + [ + -0.040493860840797424, + 0.017858712002635002, + 0.9990202188491821, + 31.77663803100586 + ], + [ + -0.01010183710604906, + -0.999796450138092, + 0.01746312715113163, + 0.5876481533050537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2613, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_111733675", + "mask_path": "../../mask/hdr_right_02613.png" + }, + { + "file_path": "../../rgb/hdr_right_02614.png", + "transform_matrix": [ + [ + 0.9986476898193359, + -0.005395415239036083, + 0.05170720815658569, + 6.039902210235596 + ], + [ + -0.051568225026130676, + 0.0233170036226511, + 0.9983972907066345, + 31.800403594970703 + ], + [ + -0.0065924241207540035, + -0.9997135996818542, + 0.023007240146398544, + 0.5861559510231018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2614, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_211734056", + "mask_path": "../../mask/hdr_right_02614.png" + }, + { + "file_path": "../../rgb/hdr_right_02615.png", + "transform_matrix": [ + [ + 0.9983099102973938, + -0.004222780000418425, + 0.05796179175376892, + 5.987967014312744 + ], + [ + -0.05784424766898155, + 0.02402614988386631, + 0.9980365037918091, + 31.81208038330078 + ], + [ + -0.005607087165117264, + -0.9997023940086365, + 0.023741280660033226, + 0.5824536681175232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2615, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_311733484", + "mask_path": "../../mask/hdr_right_02615.png" + }, + { + "file_path": "../../rgb/hdr_right_02616.png", + "transform_matrix": [ + [ + 0.9976910948753357, + -0.004503521602600813, + 0.0677662119269371, + 5.932034492492676 + ], + [ + -0.06767165660858154, + 0.018590671941637993, + 0.9975343942642212, + 31.829099655151367 + ], + [ + -0.005752237513661385, + -0.9998170137405396, + 0.018242985010147095, + 0.5763831734657288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2616, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_411733865", + "mask_path": "../../mask/hdr_right_02616.png" + }, + { + "file_path": "../../rgb/hdr_right_02617.png", + "transform_matrix": [ + [ + 0.9963482022285461, + -0.008561305701732635, + 0.08495277911424637, + 5.867048740386963 + ], + [ + -0.08488090336322784, + 0.008435354568064213, + 0.996355414390564, + 31.857318878173828 + ], + [ + -0.009246710687875748, + -0.9999277591705322, + 0.007677856832742691, + 0.5836861729621887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2617, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_511734247", + "mask_path": "../../mask/hdr_right_02617.png" + }, + { + "file_path": "../../rgb/hdr_right_02618.png", + "transform_matrix": [ + [ + 0.9943069219589233, + -0.01270464900881052, + 0.10579397529363632, + 5.80324125289917 + ], + [ + -0.10581522434949875, + -0.001010855077765882, + 0.9943853616714478, + 31.87910270690918 + ], + [ + -0.01252637431025505, + -0.9999188184738159, + -0.0023494460619986057, + 0.598095715045929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2618, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_611734151", + "mask_path": "../../mask/hdr_right_02618.png" + }, + { + "file_path": "../../rgb/hdr_right_02620.png", + "transform_matrix": [ + [ + 0.9902920722961426, + -0.010530977509915829, + 0.13860280811786652, + 5.679568767547607 + ], + [ + -0.13862130045890808, + -0.0010436888551339507, + 0.9903449416160583, + 31.917068481445312 + ], + [ + -0.01028464362025261, + -0.9999440908432007, + -0.0024933756794780493, + 0.581663966178894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2620, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_811734676", + "mask_path": "../../mask/hdr_right_02620.png" + }, + { + "file_path": "../../rgb/hdr_right_02621.png", + "transform_matrix": [ + [ + 0.9896697402000427, + 0.0016824944177642465, + 0.14335660636425018, + 5.596072196960449 + ], + [ + -0.14336614310741425, + 0.009577536955475807, + 0.9896234273910522, + 31.938642501831055 + ], + [ + 0.00029203284066170454, + -0.9999527335166931, + 0.009719809517264366, + 0.5766165256500244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2621, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777118_911734580", + "mask_path": "../../mask/hdr_right_02621.png" + }, + { + "file_path": "../../rgb/hdr_right_02622.png", + "transform_matrix": [ + [ + 0.990019679069519, + 0.007349242921918631, + 0.1407373994588852, + 5.541750907897949 + ], + [ + -0.14081081748008728, + 0.010665240697562695, + 0.9899792075157166, + 31.94785499572754 + ], + [ + 0.0057745990343391895, + -0.999916136264801, + 0.011593650095164776, + 0.576696515083313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2622, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_11734247", + "mask_path": "../../mask/hdr_right_02622.png" + }, + { + "file_path": "../../rgb/hdr_right_02623.png", + "transform_matrix": [ + [ + 0.9898776412010193, + 0.006379529368132353, + 0.14178010821342468, + 5.490881443023682 + ], + [ + -0.14182202517986298, + 0.006681520026177168, + 0.9898697137832642, + 31.9600830078125 + ], + [ + 0.005367595236748457, + -0.9999573230743408, + 0.007518643047660589, + 0.5689916014671326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2623, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_111734628", + "mask_path": "../../mask/hdr_right_02623.png" + }, + { + "file_path": "../../rgb/hdr_right_02624.png", + "transform_matrix": [ + [ + 0.9893530607223511, + 0.0017449522856622934, + 0.14552482962608337, + 5.4251708984375 + ], + [ + -0.14552703499794006, + 0.0012264129472896457, + 0.989353597164154, + 31.98573875427246 + ], + [ + 0.0015479002613574266, + -0.9999977946281433, + 0.0014672938268631697, + 0.5710259079933167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2624, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_211734533", + "mask_path": "../../mask/hdr_right_02624.png" + }, + { + "file_path": "../../rgb/hdr_right_02625.png", + "transform_matrix": [ + [ + 0.9888013005256653, + -0.0025271165650337934, + 0.14921651780605316, + 5.354525566101074 + ], + [ + -0.14922574162483215, + -0.0040204995311796665, + 0.9887950420379639, + 32.0169792175293 + ], + [ + -0.0018988755764439702, + -0.9999886751174927, + -0.004352587275207043, + 0.5840411186218262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2625, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_311734199", + "mask_path": "../../mask/hdr_right_02625.png" + }, + { + "file_path": "../../rgb/hdr_right_02626.png", + "transform_matrix": [ + [ + 0.9881495833396912, + -0.005422758869826794, + 0.1533983051776886, + 5.29953145980835 + ], + [ + -0.15343740582466125, + -0.007739778608083725, + 0.988128125667572, + 32.044490814208984 + ], + [ + -0.00417111162096262, + -0.9999553561210632, + -0.008480113931000233, + 0.5934749245643616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2626, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_411735057", + "mask_path": "../../mask/hdr_right_02626.png" + }, + { + "file_path": "../../rgb/hdr_right_02627.png", + "transform_matrix": [ + [ + 0.9875910878181458, + -0.010451076552271843, + 0.1566992998123169, + 5.247412204742432 + ], + [ + -0.15678879618644714, + -0.008367660455405712, + 0.9875968098640442, + 32.06574630737305 + ], + [ + -0.009010243229568005, + -0.9999104142189026, + -0.009902440011501312, + 0.5930505990982056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2627, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_511734962", + "mask_path": "../../mask/hdr_right_02627.png" + }, + { + "file_path": "../../rgb/hdr_right_02628.png", + "transform_matrix": [ + [ + 0.987919807434082, + -0.007007825654000044, + 0.15480799973011017, + 5.179778575897217 + ], + [ + -0.15484195947647095, + -0.004603352397680283, + 0.987928569316864, + 32.09333419799805 + ], + [ + -0.006210594903677702, + -0.9999648332595825, + -0.005632849410176277, + 0.5913521647453308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2628, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_611734151", + "mask_path": "../../mask/hdr_right_02628.png" + }, + { + "file_path": "../../rgb/hdr_right_02629.png", + "transform_matrix": [ + [ + 0.9891037940979004, + 0.0007982729002833366, + 0.14721785485744476, + 5.115713119506836 + ], + [ + -0.1472197026014328, + 0.003374891821295023, + 0.989098072052002, + 32.11849594116211 + ], + [ + 0.0002927265886683017, + -0.9999939799308777, + 0.003455638187006116, + 0.5866792798042297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2629, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_711733818", + "mask_path": "../../mask/hdr_right_02629.png" + }, + { + "file_path": "../../rgb/hdr_right_02630.png", + "transform_matrix": [ + [ + 0.9898788928985596, + -0.0020502700936049223, + 0.1418999880552292, + 5.066531181335449 + ], + [ + -0.1418962925672531, + 0.001824658364057541, + 0.989879846572876, + 32.13050842285156 + ], + [ + -0.002288440242409706, + -0.9999961853027344, + 0.0015152636915445328, + 0.5819927453994751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2630, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_811734199", + "mask_path": "../../mask/hdr_right_02630.png" + }, + { + "file_path": "../../rgb/hdr_right_02631.png", + "transform_matrix": [ + [ + 0.9897586107254028, + -0.003613615408539772, + 0.1427055150270462, + 5.011479377746582 + ], + [ + -0.14272232353687286, + -0.00493669742718339, + 0.9897505044937134, + 32.15300369262695 + ], + [ + -0.0028720840346068144, + -0.9999813437461853, + -0.005401884205639362, + 0.5816014409065247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2631, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777119_911733865", + "mask_path": "../../mask/hdr_right_02631.png" + }, + { + "file_path": "../../rgb/hdr_right_02632.png", + "transform_matrix": [ + [ + 0.9889025688171387, + -0.005807810463011265, + 0.14845195412635803, + 4.95324182510376 + ], + [ + -0.1485014408826828, + -0.009304065257310867, + 0.9888684749603271, + 32.1833381652832 + ], + [ + -0.004361954052001238, + -0.9999398589134216, + -0.010063284076750278, + 0.59160977602005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2632, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777120_11733770", + "mask_path": "../../mask/hdr_right_02632.png" + }, + { + "file_path": "../../rgb/hdr_right_02634.png", + "transform_matrix": [ + [ + 0.9877889752388, + -0.014020498842000961, + 0.15516577661037445, + 4.851995468139648 + ], + [ + -0.15537692606449127, + -0.015489576384425163, + 0.9877338409423828, + 32.2065544128418 + ], + [ + -0.011445070616900921, + -0.9997817873954773, + -0.01747889630496502, + 0.5957736968994141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2634, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777120_211738109", + "mask_path": "../../mask/hdr_right_02634.png" + }, + { + "file_path": "../../rgb/hdr_right_02635.png", + "transform_matrix": [ + [ + 0.9877674579620361, + -0.011676705442368984, + 0.15549661219120026, + 4.783622741699219 + ], + [ + -0.15562759339809418, + -0.01129611674696207, + 0.9877512454986572, + 32.22365951538086 + ], + [ + -0.009777172468602657, + -0.9998680353164673, + -0.01297515444457531, + 0.594255805015564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2635, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777120_311733245", + "mask_path": "../../mask/hdr_right_02635.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file