diff --git a/.gitattributes b/.gitattributes index a132c7aa8bc26330157231ad225ba83290d010dd..5eacb3b1ab7d89f5e600faeab5789545df2a122c 100644 --- a/.gitattributes +++ b/.gitattributes @@ -300,3 +300,45 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text 2024-11-03-13-51-43/splats/e699f3ed/mesh.ply filter=lfs diff=lfs merge=lfs -text 2024-11-03-13-51-43/splats/e699f3ed/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text 2024-11-03-13-51-43/splats/e699f3ed/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/4614e25e/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/4614e25e/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/4614e25e/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/5d9a25b2/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/5d9a25b2/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/5d9a25b2/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/5fdc9beb/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/5fdc9beb/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/5fdc9beb/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/637ed86c/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/637ed86c/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/637ed86c/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/6631cee9/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/6631cee9/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/6631cee9/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/74f51641/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/74f51641/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/74f51641/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/76b3a818/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/76b3a818/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/76b3a818/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/b664e18f/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/b664e18f/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/b664e18f/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/d09c6e4b/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/d09c6e4b/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/d09c6e4b/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/d2dad012/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/d2dad012/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/d2dad012/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/d5d378ce/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/d5d378ce/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/d5d378ce/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/e8b3517e/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/e8b3517e/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/e8b3517e/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/e9713b49/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/e9713b49/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/e9713b49/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/ec3e2dcc/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/ec3e2dcc/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-03-13-59-54/splats/ec3e2dcc/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text diff --git a/2024-11-03-13-59-54/splats/4614e25e/mesh.ply b/2024-11-03-13-59-54/splats/4614e25e/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..6c95029c97d87e00b1a9b3bf63a075f8a8ef3db1 --- /dev/null +++ b/2024-11-03-13-59-54/splats/4614e25e/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b24e5bcdd6d0a458d7e356c5a687d62554b2dfb038c809ab0d5a18aa8fcd053d +size 87968839 diff --git a/2024-11-03-13-59-54/splats/4614e25e/mesh_filled_decimated.ply b/2024-11-03-13-59-54/splats/4614e25e/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..b882eee0efa6774c88e0cb4a43188f1a1edefa85 --- /dev/null +++ b/2024-11-03-13-59-54/splats/4614e25e/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:457bdc548ae86993e6426eef2a9c120410ef1da47e61c61e107c7a95c79f4cc6 +size 1570210 diff --git a/2024-11-03-13-59-54/splats/4614e25e/splatfacto/config.yml b/2024-11-03-13-59-54/splats/4614e25e/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..8e6f1202ee2277cc32d023f4373b0dbc75bbd638 --- /dev/null +++ b/2024-11-03-13-59-54/splats/4614e25e/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-03-13-59-54_nerfstudio +- slices +- slice_4614e25e +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-03-13-59-54_nerfstudio + - slices + - slice_4614e25e + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-03-13-59-54/splats/4614e25e/splatfacto/dataparser_transforms.json b/2024-11-03-13-59-54/splats/4614e25e/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..bbc6c27429123b07a289ca6880e76f531de27673 --- /dev/null +++ b/2024-11-03-13-59-54/splats/4614e25e/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + -0.1318972110748291, + -0.9834259152412415, + -0.12440440058708191, + -11.537304878234863 + ], + [ + -0.9834259152412415, + 0.14557045698165894, + -0.1080862283706665, + -7.381392955780029 + ], + [ + 0.12440440058708191, + 0.1080862283706665, + -0.9863266944885254, + -0.9178125858306885 + ] + ], + "scale": 0.17966865401606585 +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/4614e25e/splatfacto/splat.ply b/2024-11-03-13-59-54/splats/4614e25e/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..c32eb9a211eb3af01feeb4f2df71f1ddb8b1a6be --- /dev/null +++ b/2024-11-03-13-59-54/splats/4614e25e/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f7181538bc5bbf78bbe417091a1e4dadc1d3b3e7a2ac21e0699778d86c5b432 +size 260752514 diff --git a/2024-11-03-13-59-54/splats/4614e25e/transforms.json b/2024-11-03-13-59-54/splats/4614e25e/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f4593acd4551791fda345cd6f4fe4887b5aec189 --- /dev/null +++ b/2024-11-03-13-59-54/splats/4614e25e/transforms.json @@ -0,0 +1,23064 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_00329.png", + "transform_matrix": [ + [ + 0.8770343661308289, + 0.06092481687664986, + 0.4765488803386688, + -5.272935390472412 + ], + [ + -0.47996121644973755, + 0.15480923652648926, + 0.8635227084159851, + -5.274013519287109 + ], + [ + -0.02116420306265354, + -0.9860640168190002, + 0.1650145947933197, + -1.6075526475906372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 329, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_842267751", + "mask_path": "../../mask/hdr_front_00329.png" + }, + { + "file_path": "../../rgb/hdr_front_00330.png", + "transform_matrix": [ + [ + 0.8767502903938293, + 0.053176309913396835, + 0.47799715399742126, + -5.315362930297852 + ], + [ + -0.4802468419075012, + 0.15036676824092865, + 0.8641486763954163, + -5.359142303466797 + ], + [ + -0.02592264860868454, + -0.9871991872787476, + 0.15737184882164001, + -1.6298059225082397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 330, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_942268133", + "mask_path": "../../mask/hdr_front_00330.png" + }, + { + "file_path": "../../rgb/hdr_front_00331.png", + "transform_matrix": [ + [ + 0.8834286332130432, + 0.04813266918063164, + 0.46608713269233704, + -5.359488487243652 + ], + [ + -0.46759939193725586, + 0.1544172614812851, + 0.870348334312439, + -5.453020095825195 + ], + [ + -0.030079718679189682, + -0.9868326187133789, + 0.1589234471321106, + -1.6517839431762695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 331, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_42268991", + "mask_path": "../../mask/hdr_front_00331.png" + }, + { + "file_path": "../../rgb/hdr_front_00332.png", + "transform_matrix": [ + [ + 0.8929110765457153, + 0.049777839332818985, + 0.4474729597568512, + -5.382815837860107 + ], + [ + -0.4495459198951721, + 0.15346045792102814, + 0.8799763321876526, + -5.534146308898926 + ], + [ + -0.024866074323654175, + -0.9869002103805542, + 0.1594039648771286, + -1.6675349473953247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 332, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_142268657", + "mask_path": "../../mask/hdr_front_00332.png" + }, + { + "file_path": "../../rgb/hdr_front_00333.png", + "transform_matrix": [ + [ + 0.9025009870529175, + 0.05836288258433342, + 0.42671504616737366, + -5.404719352722168 + ], + [ + -0.43058738112449646, + 0.14366015791893005, + 0.8910422921180725, + -5.619068145751953 + ], + [ + -0.00929815974086523, + -0.9879046678543091, + 0.15478375554084778, + -1.6907093524932861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 333, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_242268562", + "mask_path": "../../mask/hdr_front_00333.png" + }, + { + "file_path": "../../rgb/hdr_front_00334.png", + "transform_matrix": [ + [ + 0.9091682434082031, + 0.06537075340747833, + 0.41126614809036255, + -5.43870210647583 + ], + [ + -0.4164212644100189, + 0.1487693041563034, + 0.8969175815582275, + -5.707538604736328 + ], + [ + -0.002551604760810733, + -0.9867088198661804, + 0.16247810423374176, + -1.70553719997406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 334, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_342267513", + "mask_path": "../../mask/hdr_front_00334.png" + }, + { + "file_path": "../../rgb/hdr_front_00335.png", + "transform_matrix": [ + [ + 0.9137479066848755, + 0.0644177794456482, + 0.4011423587799072, + -5.469330787658691 + ], + [ + -0.40626728534698486, + 0.15319037437438965, + 0.9008216857910156, + -5.782679080963135 + ], + [ + -0.0034222090616822243, + -0.9860949516296387, + 0.16614821553230286, + -1.7103722095489502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 335, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_442267417", + "mask_path": "../../mask/hdr_front_00335.png" + }, + { + "file_path": "../../rgb/hdr_front_00336.png", + "transform_matrix": [ + [ + 0.9164467453956604, + 0.06459671258926392, + 0.3949083089828491, + -5.48974609375 + ], + [ + -0.40015655755996704, + 0.14832226932048798, + 0.9043646454811096, + -5.847480773925781 + ], + [ + -0.00015471817459911108, + -0.9868271350860596, + 0.1617782562971115, + -1.7228204011917114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 336, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_542267084", + "mask_path": "../../mask/hdr_front_00336.png" + }, + { + "file_path": "../../rgb/hdr_front_00337.png", + "transform_matrix": [ + [ + 0.9178577065467834, + 0.05706439167261124, + 0.39278602600097656, + -5.516631126403809 + ], + [ + -0.39688700437545776, + 0.14250724017620087, + 0.9067372679710388, + -5.925331115722656 + ], + [ + -0.0042324429377913475, + -0.988147497177124, + 0.15344950556755066, + -1.7344536781311035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 337, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_642267704", + "mask_path": "../../mask/hdr_front_00337.png" + }, + { + "file_path": "../../rgb/hdr_front_00338.png", + "transform_matrix": [ + [ + 0.9217601418495178, + 0.050192005932331085, + 0.38449838757514954, + -5.547943592071533 + ], + [ + -0.38759541511535645, + 0.14819616079330444, + 0.909839391708374, + -6.016669750213623 + ], + [ + -0.011314520612359047, + -0.9876834750175476, + 0.1560555100440979, + -1.755696177482605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 338, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_742268323", + "mask_path": "../../mask/hdr_front_00338.png" + }, + { + "file_path": "../../rgb/hdr_front_00339.png", + "transform_matrix": [ + [ + 0.9274290800094604, + 0.049891211092472076, + 0.3706563711166382, + -5.565064430236816 + ], + [ + -0.37385669350624084, + 0.15101025998592377, + 0.9151104688644409, + -6.092393398284912 + ], + [ + -0.010316947475075722, + -0.9872724413871765, + 0.15870347619056702, + -1.7766436338424683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 339, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_842267274", + "mask_path": "../../mask/hdr_front_00339.png" + }, + { + "file_path": "../../rgb/hdr_front_00340.png", + "transform_matrix": [ + [ + 0.9336610436439514, + 0.054800402373075485, + 0.3539406359195709, + -5.5785698890686035 + ], + [ + -0.35815519094467163, + 0.14668136835098267, + 0.9220681190490723, + -6.170938014984131 + ], + [ + -0.0013868027599528432, + -0.9876646995544434, + 0.15657775104045868, + -1.7997324466705322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 340, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_942267179", + "mask_path": "../../mask/hdr_front_00340.png" + }, + { + "file_path": "../../rgb/hdr_front_00341.png", + "transform_matrix": [ + [ + 0.9389933943748474, + 0.05813039094209671, + 0.3389871418476105, + -5.603943824768066 + ], + [ + -0.34392207860946655, + 0.15008209645748138, + 0.9269266724586487, + -6.257579326629639 + ], + [ + 0.0030067062471061945, + -0.986963152885437, + 0.16091839969158173, + -1.823652744293213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 341, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_42267084", + "mask_path": "../../mask/hdr_front_00341.png" + }, + { + "file_path": "../../rgb/hdr_front_00342.png", + "transform_matrix": [ + [ + 0.9420467019081116, + 0.05662126839160919, + 0.33066901564598083, + -5.633026599884033 + ], + [ + -0.3354756534099579, + 0.15310385823249817, + 0.9295242428779602, + -6.336507797241211 + ], + [ + 0.002004138892516494, + -0.9865866899490356, + 0.16322603821754456, + -1.8287113904953003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 342, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_142264127", + "mask_path": "../../mask/hdr_front_00342.png" + }, + { + "file_path": "../../rgb/hdr_front_00343.png", + "transform_matrix": [ + [ + 0.9426409602165222, + 0.0547550767660141, + 0.3292867839336395, + -5.655158042907715 + ], + [ + -0.33380499482154846, + 0.1503024399280548, + 0.9305822849273682, + -6.402721405029297 + ], + [ + 0.001461491920053959, + -0.987122654914856, + 0.15995876491069794, + -1.8256269693374634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 343, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_242265224", + "mask_path": "../../mask/hdr_front_00343.png" + }, + { + "file_path": "../../rgb/hdr_front_00344.png", + "transform_matrix": [ + [ + 0.9426342248916626, + 0.046804141253232956, + 0.33052995800971985, + -5.687239646911621 + ], + [ + -0.3337889015674591, + 0.14716529846191406, + 0.9310894012451172, + -6.48291015625 + ], + [ + -0.005063703283667564, + -0.9880039095878601, + 0.15434575080871582, + -1.8460781574249268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 344, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_342267990", + "mask_path": "../../mask/hdr_front_00344.png" + }, + { + "file_path": "../../rgb/hdr_front_00345.png", + "transform_matrix": [ + [ + 0.946418046951294, + 0.04032684862613678, + 0.3204163908958435, + -5.718912601470947 + ], + [ + -0.3227263391017914, + 0.15453577041625977, + 0.9337913990020752, + -6.575968265533447 + ], + [ + -0.011858928948640823, + -0.9871639013290405, + 0.15926998853683472, + -1.8697023391723633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 345, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_442267179", + "mask_path": "../../mask/hdr_front_00345.png" + }, + { + "file_path": "../../rgb/hdr_front_00346.png", + "transform_matrix": [ + [ + 0.9522498846054077, + 0.03582858294248581, + 0.3032105267047882, + -5.736842632293701 + ], + [ + -0.304971843957901, + 0.1590333729982376, + 0.9389891624450684, + -6.654617786407471 + ], + [ + -0.014577950350940228, + -0.9866229295730591, + 0.16236619651317596, + -1.886254072189331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 346, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_542267322", + "mask_path": "../../mask/hdr_front_00346.png" + }, + { + "file_path": "../../rgb/hdr_front_00347.png", + "transform_matrix": [ + [ + 0.9580152034759521, + 0.038031693547964096, + 0.28418368101119995, + -5.750069618225098 + ], + [ + -0.2866019308567047, + 0.15513917803764343, + 0.9454053640365601, + -6.733575820922852 + ], + [ + -0.00813265796750784, + -0.987160325050354, + 0.15952564775943756, + -1.899768352508545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 347, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_642267227", + "mask_path": "../../mask/hdr_front_00347.png" + }, + { + "file_path": "../../rgb/hdr_front_00348.png", + "transform_matrix": [ + [ + 0.9621270298957825, + 0.04067564755678177, + 0.26954975724220276, + -5.773640155792236 + ], + [ + -0.27257630228996277, + 0.15699103474617004, + 0.9492396712303162, + -6.8211989402771 + ], + [ + -0.0037059548776596785, + -0.9867620468139648, + 0.16213254630565643, + -1.9213346242904663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 348, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_742265462", + "mask_path": "../../mask/hdr_front_00348.png" + }, + { + "file_path": "../../rgb/hdr_front_00349.png", + "transform_matrix": [ + [ + 0.9643082022666931, + 0.04107292369008064, + 0.26157721877098083, + -5.800589561462402 + ], + [ + -0.26477307081222534, + 0.1577967405319214, + 0.9513124227523804, + -6.901714324951172 + ], + [ + -0.0022028430830687284, + -0.9866170883178711, + 0.1630396991968155, + -1.927293300628662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 349, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_842267990", + "mask_path": "../../mask/hdr_front_00349.png" + }, + { + "file_path": "../../rgb/hdr_front_00350.png", + "transform_matrix": [ + [ + 0.965160608291626, + 0.04071521759033203, + 0.2584711015224457, + -5.818108558654785 + ], + [ + -0.2616567611694336, + 0.15350043773651123, + 0.9528763890266418, + -6.964886665344238 + ], + [ + -0.0008788533159531653, + -0.987309455871582, + 0.1588059812784195, + -1.9341694116592407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 350, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_942267179", + "mask_path": "../../mask/hdr_front_00350.png" + }, + { + "file_path": "../../rgb/hdr_front_00351.png", + "transform_matrix": [ + [ + 0.9649711847305298, + 0.03332415595650673, + 0.2602306306362152, + -5.840463161468506 + ], + [ + -0.26228123903274536, + 0.14615382254123688, + 0.953859269618988, + -7.039167404174805 + ], + [ + -0.006247140932828188, + -0.9887004494667053, + 0.14977455139160156, + -1.956056833267212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 351, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_42267322", + "mask_path": "../../mask/hdr_front_00351.png" + }, + { + "file_path": "../../rgb/hdr_front_00352.png", + "transform_matrix": [ + [ + 0.9667802453041077, + 0.028555184602737427, + 0.254008948802948, + -5.861099720001221 + ], + [ + -0.2553826868534088, + 0.14971166849136353, + 0.9551785588264465, + -7.135627746582031 + ], + [ + -0.010752802714705467, + -0.9883173108100891, + 0.15203076601028442, + -1.9679251909255981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 352, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_142265319", + "mask_path": "../../mask/hdr_front_00352.png" + }, + { + "file_path": "../../rgb/hdr_front_00353.png", + "transform_matrix": [ + [ + 0.9681360721588135, + 0.030650727450847626, + 0.2485419064760208, + -5.8717851638793945 + ], + [ + -0.25029176473617554, + 0.15076783299446106, + 0.956359326839447, + -7.21165132522583 + ], + [ + -0.008159006014466286, + -0.9880939722061157, + 0.1536353975534439, + -1.9822534322738647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 353, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_242268323", + "mask_path": "../../mask/hdr_front_00353.png" + }, + { + "file_path": "../../rgb/hdr_front_00354.png", + "transform_matrix": [ + [ + 0.9687539935112, + 0.03662616014480591, + 0.24530445039272308, + -5.8796305656433105 + ], + [ + -0.24802356958389282, + 0.14387394487857819, + 0.9580108523368835, + -7.2821760177612305 + ], + [ + -0.00020466621208470315, + -0.9889180064201355, + 0.14846260845661163, + -1.9968209266662598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 354, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_342267513", + "mask_path": "../../mask/hdr_front_00354.png" + }, + { + "file_path": "../../rgb/hdr_front_00355.png", + "transform_matrix": [ + [ + 0.9686594009399414, + 0.0409945547580719, + 0.24498654901981354, + -5.893442630767822 + ], + [ + -0.24837090075016022, + 0.14678530395030975, + 0.9574790000915527, + -7.366970062255859 + ], + [ + 0.003291003406047821, + -0.9883185625076294, + 0.15236684679985046, + -2.0138020515441895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 355, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_442267179", + "mask_path": "../../mask/hdr_front_00355.png" + }, + { + "file_path": "../../rgb/hdr_front_00356.png", + "transform_matrix": [ + [ + 0.9671168923377991, + 0.04039951041340828, + 0.2511027753353119, + -5.915632724761963 + ], + [ + -0.2543295621871948, + 0.1494218111038208, + 0.9555048942565918, + -7.45367431640625 + ], + [ + 0.00108170451130718, + -0.987947940826416, + 0.15478317439556122, + -2.0219411849975586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 356, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_542266368", + "mask_path": "../../mask/hdr_front_00356.png" + }, + { + "file_path": "../../rgb/hdr_front_00357.png", + "transform_matrix": [ + [ + 0.9647708535194397, + 0.04063950851559639, + 0.25993403792381287, + -5.934279441833496 + ], + [ + -0.2630898058414459, + 0.14522911608219147, + 0.9537779092788696, + -7.529946804046631 + ], + [ + 0.001011074986308813, + -0.988563060760498, + 0.15080462396144867, + -2.030485153198242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 357, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_642267942", + "mask_path": "../../mask/hdr_front_00357.png" + }, + { + "file_path": "../../rgb/hdr_front_00358.png", + "transform_matrix": [ + [ + 0.9616564512252808, + 0.030873924493789673, + 0.2725136876106262, + -5.956119537353516 + ], + [ + -0.2741287648677826, + 0.13859117031097412, + 0.951654314994812, + -7.622128486633301 + ], + [ + -0.008386692963540554, + -0.9898683428764343, + 0.14174053072929382, + -2.046881914138794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 358, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_742266893", + "mask_path": "../../mask/hdr_front_00358.png" + }, + { + "file_path": "../../rgb/hdr_front_00359.png", + "transform_matrix": [ + [ + 0.9603779315948486, + 0.022972218692302704, + 0.2777523696422577, + -5.98133659362793 + ], + [ + -0.2781563103199005, + 0.14127010107040405, + 0.9500904083251953, + -7.726419448852539 + ], + [ + -0.017412420362234116, + -0.9897045493125916, + 0.14206255972385406, + -2.0622053146362305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 359, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_842267274", + "mask_path": "../../mask/hdr_front_00359.png" + }, + { + "file_path": "../../rgb/hdr_front_00360.png", + "transform_matrix": [ + [ + 0.9612409472465515, + 0.023613417521119118, + 0.27469655871391296, + -5.992385387420654 + ], + [ + -0.2752171754837036, + 0.1416967511177063, + 0.9508825540542603, + -7.810471534729004 + ], + [ + -0.016470016911625862, + -0.9896284341812134, + 0.14270353317260742, + -2.0786187648773193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 360, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_942267417", + "mask_path": "../../mask/hdr_front_00360.png" + }, + { + "file_path": "../../rgb/hdr_front_00361.png", + "transform_matrix": [ + [ + 0.9625701904296875, + 0.030336441472172737, + 0.26932933926582336, + -5.999910831451416 + ], + [ + -0.2709287405014038, + 0.1351853460073471, + 0.9530596733093262, + -7.89307975769043 + ], + [ + -0.007496946025639772, + -0.9903558492660522, + 0.138344407081604, + -2.0958502292633057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 361, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_42267560", + "mask_path": "../../mask/hdr_front_00361.png" + }, + { + "file_path": "../../rgb/hdr_front_00362.png", + "transform_matrix": [ + [ + 0.9620028734207153, + 0.03348759189248085, + 0.2709779143333435, + -6.022802829742432 + ], + [ + -0.27297157049179077, + 0.14005255699157715, + 0.9517730474472046, + -7.9847002029418945 + ], + [ + -0.00607855711132288, + -0.98957759141922, + 0.14387214183807373, + -2.108337879180908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 362, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_142266988", + "mask_path": "../../mask/hdr_front_00362.png" + }, + { + "file_path": "../../rgb/hdr_front_00363.png", + "transform_matrix": [ + [ + 0.9603183269500732, + 0.02879936806857586, + 0.27741530537605286, + -6.050525188446045 + ], + [ + -0.2786400318145752, + 0.142507404088974, + 0.949763834476471, + -8.067831993103027 + ], + [ + -0.012181134894490242, + -0.9893746972084045, + 0.1448771208524704, + -2.1153340339660645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 363, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_242267847", + "mask_path": "../../mask/hdr_front_00363.png" + }, + { + "file_path": "../../rgb/hdr_front_00364.png", + "transform_matrix": [ + [ + 0.9576795101165771, + 0.02563292533159256, + 0.2866930067539215, + -6.071521282196045 + ], + [ + -0.2874433994293213, + 0.13721226155757904, + 0.9479182958602905, + -8.139970779418945 + ], + [ + -0.01503987517207861, + -0.9902099370956421, + 0.13877339661121368, + -2.1218924522399902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 364, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_342267036", + "mask_path": "../../mask/hdr_front_00364.png" + }, + { + "file_path": "../../rgb/hdr_front_00365.png", + "transform_matrix": [ + [ + 0.954217255115509, + 0.017215946689248085, + 0.29861849546432495, + -6.103825092315674 + ], + [ + -0.2982475757598877, + 0.13070841133594513, + 0.9454965591430664, + -8.231621742248535 + ], + [ + -0.022754326462745667, + -0.9912713766098022, + 0.1298588365316391, + -2.1405131816864014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 365, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_442267656", + "mask_path": "../../mask/hdr_front_00365.png" + }, + { + "file_path": "../../rgb/hdr_front_00366.png", + "transform_matrix": [ + [ + 0.952406108379364, + 0.010046251118183136, + 0.3046666085720062, + -6.133975505828857 + ], + [ + -0.30320945382118225, + 0.134208083152771, + 0.9434258341789246, + -8.329572677612305 + ], + [ + -0.0314108170568943, + -0.9909022450447083, + 0.13086670637130737, + -2.152423858642578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 366, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_542267799", + "mask_path": "../../mask/hdr_front_00366.png" + }, + { + "file_path": "../../rgb/hdr_front_00367.png", + "transform_matrix": [ + [ + 0.9522126317024231, + 0.009625482372939587, + 0.30528396368026733, + -6.158341407775879 + ], + [ + -0.3037062883377075, + 0.13604965806007385, + 0.9430022239685059, + -8.409549713134766 + ], + [ + -0.03245692327618599, + -0.9906553030014038, + 0.13247153162956238, + -2.171574354171753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 367, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_642268180", + "mask_path": "../../mask/hdr_front_00367.png" + }, + { + "file_path": "../../rgb/hdr_front_00368.png", + "transform_matrix": [ + [ + 0.9521651268005371, + 0.01460669282823801, + 0.3052346408367157, + -6.1857194900512695 + ], + [ + -0.3044871985912323, + 0.12990060448646545, + 0.9436172246932983, + -8.490236282348633 + ], + [ + -0.02586703933775425, + -0.9914194345474243, + 0.12813438475131989, + -2.1980955600738525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 368, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_742267847", + "mask_path": "../../mask/hdr_front_00368.png" + }, + { + "file_path": "../../rgb/hdr_front_00369.png", + "transform_matrix": [ + [ + 0.9504024386405945, + 0.016812290996313095, + 0.31056803464889526, + -6.223654270172119 + ], + [ + -0.30994802713394165, + 0.134133443236351, + 0.9412441849708557, + -8.580628395080566 + ], + [ + -0.025833088904619217, + -0.9908206462860107, + 0.13269169628620148, + -2.2081515789031982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 369, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_842267751", + "mask_path": "../../mask/hdr_front_00369.png" + }, + { + "file_path": "../../rgb/hdr_front_00370.png", + "transform_matrix": [ + [ + 0.9473288655281067, + 0.01741541549563408, + 0.31978854537010193, + -6.260641098022461 + ], + [ + -0.31903955340385437, + 0.13849346339702606, + 0.9375678896903992, + -8.65950870513916 + ], + [ + -0.027960490435361862, + -0.990210235118866, + 0.1367550641298294, + -2.211961507797241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 370, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_942267656", + "mask_path": "../../mask/hdr_front_00370.png" + }, + { + "file_path": "../../rgb/hdr_front_00371.png", + "transform_matrix": [ + [ + 0.9426476955413818, + 0.019171029329299927, + 0.33323830366134644, + -6.287017822265625 + ], + [ + -0.3327026963233948, + 0.13445259630680084, + 0.9333978295326233, + -8.726346969604492 + ], + [ + -0.02691054716706276, + -0.9907346367835999, + 0.13311968743801117, + -2.217076063156128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 371, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_42268276", + "mask_path": "../../mask/hdr_front_00371.png" + }, + { + "file_path": "../../rgb/hdr_front_00372.png", + "transform_matrix": [ + [ + 0.9384718537330627, + 0.013412995263934135, + 0.34509503841400146, + -6.321706295013428 + ], + [ + -0.3437313139438629, + 0.13307633996009827, + 0.9295910000801086, + -8.815570831298828 + ], + [ + -0.03345538303256035, + -0.9910151362419128, + 0.1294988989830017, + -2.242648124694824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 372, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_142267227", + "mask_path": "../../mask/hdr_front_00372.png" + }, + { + "file_path": "../../rgb/hdr_front_00373.png", + "transform_matrix": [ + [ + 0.9389179348945618, + 0.008545424789190292, + 0.34403491020202637, + -6.349562168121338 + ], + [ + -0.34182289242744446, + 0.13899467885494232, + 0.9294286966323853, + -8.909612655639648 + ], + [ + -0.039876651018857956, + -0.9902562499046326, + 0.13342560827732086, + -2.2656607627868652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 373, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_242268323", + "mask_path": "../../mask/hdr_front_00373.png" + }, + { + "file_path": "../../rgb/hdr_front_00374.png", + "transform_matrix": [ + [ + 0.9420033097267151, + 0.010592002421617508, + 0.33543655276298523, + -6.36365270614624 + ], + [ + -0.33356916904449463, + 0.13944099843502045, + 0.9323561191558838, + -8.992477416992188 + ], + [ + -0.03689808398485184, + -0.9901737570762634, + 0.13488703966140747, + -2.2813563346862793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 374, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_342268705", + "mask_path": "../../mask/hdr_front_00374.png" + }, + { + "file_path": "../../rgb/hdr_front_00375.png", + "transform_matrix": [ + [ + 0.9451857805252075, + 0.017952164635062218, + 0.3260391056537628, + -6.380990028381348 + ], + [ + -0.32543325424194336, + 0.13366763293743134, + 0.9360694885253906, + -9.081448554992676 + ], + [ + -0.026776401326060295, + -0.9908636212348938, + 0.1321829855442047, + -2.3058583736419678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 375, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_442267417", + "mask_path": "../../mask/hdr_front_00375.png" + }, + { + "file_path": "../../rgb/hdr_front_00376.png", + "transform_matrix": [ + [ + 0.9446060657501221, + 0.02147192507982254, + 0.3275032043457031, + -6.400700092315674 + ], + [ + -0.32709041237831116, + 0.14380373060703278, + 0.9339873194694519, + -9.171197891235352 + ], + [ + -0.027041668072342873, + -0.9893732666969299, + 0.14286111295223236, + -2.317314624786377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 376, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_542268514", + "mask_path": "../../mask/hdr_front_00376.png" + }, + { + "file_path": "../../rgb/hdr_front_00377.png", + "transform_matrix": [ + [ + 0.9417802691459656, + 0.02447357214987278, + 0.3353368639945984, + -6.425355911254883 + ], + [ + -0.33509719371795654, + 0.15007466077804565, + 0.93015456199646, + -9.252388000488281 + ], + [ + -0.02756136655807495, + -0.988371729850769, + 0.14953839778900146, + -2.314765453338623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 377, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_642268657", + "mask_path": "../../mask/hdr_front_00377.png" + }, + { + "file_path": "../../rgb/hdr_front_00378.png", + "transform_matrix": [ + [ + 0.9379870891571045, + 0.028492050245404243, + 0.3454972803592682, + -6.445354461669922 + ], + [ + -0.345869243144989, + 0.14461597800254822, + 0.9270710349082947, + -9.326742172241211 + ], + [ + -0.02355027198791504, + -0.9890775680541992, + 0.1455024629831314, + -2.3199105262756348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 378, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_742268562", + "mask_path": "../../mask/hdr_front_00378.png" + }, + { + "file_path": "../../rgb/hdr_front_00379.png", + "transform_matrix": [ + [ + 0.9351174831390381, + 0.021777357906103134, + 0.35366788506507874, + -6.477494239807129 + ], + [ + -0.3529769480228424, + 0.14464032649993896, + 0.9243844151496887, + -9.429471969604492 + ], + [ + -0.031023982912302017, + -0.9892446398735046, + 0.1429426074028015, + -2.3435163497924805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 379, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_842267513", + "mask_path": "../../mask/hdr_front_00379.png" + }, + { + "file_path": "../../rgb/hdr_front_00380.png", + "transform_matrix": [ + [ + 0.9346168637275696, + 0.01671503111720085, + 0.3552630841732025, + -6.506420135498047 + ], + [ + -0.353608101606369, + 0.15071474015712738, + 0.9231719374656677, + -9.524778366088867 + ], + [ + -0.03811252862215042, + -0.9884359836578369, + 0.1467711180448532, + -2.3713207244873047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 380, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_942267417", + "mask_path": "../../mask/hdr_front_00380.png" + }, + { + "file_path": "../../rgb/hdr_front_00381.png", + "transform_matrix": [ + [ + 0.9353817701339722, + 0.020494617521762848, + 0.35304516553878784, + -6.524328231811523 + ], + [ + -0.35203319787979126, + 0.14900578558444977, + 0.9240508079528809, + -9.603894233703613 + ], + [ + -0.03366770222783089, + -0.9886239767074585, + 0.14659209549427032, + -2.3889787197113037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 381, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_42267322", + "mask_path": "../../mask/hdr_front_00381.png" + }, + { + "file_path": "../../rgb/hdr_front_00382.png", + "transform_matrix": [ + [ + 0.9354149699211121, + 0.029482392594218254, + 0.3523201644420624, + -6.551304817199707 + ], + [ + -0.35264360904693604, + 0.14917612075805664, + 0.9237905740737915, + -9.689241409301758 + ], + [ + -0.02532219886779785, + -0.9883710741996765, + 0.14993835985660553, + -2.4123244285583496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 382, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_142267704", + "mask_path": "../../mask/hdr_front_00382.png" + }, + { + "file_path": "../../rgb/hdr_front_00383.png", + "transform_matrix": [ + [ + 0.9331265091896057, + 0.030415216460824013, + 0.3582594096660614, + -6.589280128479004 + ], + [ + -0.35846737027168274, + 0.15589919686317444, + 0.9204328656196594, + -9.770634651184082 + ], + [ + -0.027857186272740364, + -0.9873046278953552, + 0.15637654066085815, + -2.4226086139678955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 383, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_242267131", + "mask_path": "../../mask/hdr_front_00383.png" + }, + { + "file_path": "../../rgb/hdr_front_00384.png", + "transform_matrix": [ + [ + 0.9294171929359436, + 0.03039601817727089, + 0.36777687072753906, + -6.624943733215332 + ], + [ + -0.3678065836429596, + 0.15740972757339478, + 0.9164827466011047, + -9.839067459106445 + ], + [ + -0.030034227296710014, + -0.9870654940605164, + 0.15747913718223572, + -2.430799722671509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 384, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_342267513", + "mask_path": "../../mask/hdr_front_00384.png" + }, + { + "file_path": "../../rgb/hdr_front_00385.png", + "transform_matrix": [ + [ + 0.9241937398910522, + 0.03204672411084175, + 0.38057711720466614, + -6.657332420349121 + ], + [ + -0.3807631731033325, + 0.15494543313980103, + 0.911598265171051, + -9.906394004821777 + ], + [ + -0.02975495532155037, + -0.987403154373169, + 0.1554018259048462, + -2.440524101257324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 385, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_442266941", + "mask_path": "../../mask/hdr_front_00385.png" + }, + { + "file_path": "../../rgb/hdr_front_00386.png", + "transform_matrix": [ + [ + 0.9208900928497314, + 0.02749096415936947, + 0.3888518214225769, + -6.701292037963867 + ], + [ + -0.3878428041934967, + 0.165011927485466, + 0.9068346619606018, + -9.996726989746094 + ], + [ + -0.039235420525074005, + -0.9859083890914917, + 0.16262003779411316, + -2.471524477005005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 386, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_542268991", + "mask_path": "../../mask/hdr_front_00386.png" + }, + { + "file_path": "../../rgb/hdr_front_00387.png", + "transform_matrix": [ + [ + 0.9202103614807129, + 0.024431873112916946, + 0.39066094160079956, + -6.735768795013428 + ], + [ + -0.38832521438598633, + 0.1823236048221588, + 0.9033059477806091, + -10.077590942382812 + ], + [ + -0.04915725439786911, + -0.9829349517822266, + 0.17726357281208038, + -2.5042521953582764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 387, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_642267465", + "mask_path": "../../mask/hdr_front_00387.png" + }, + { + "file_path": "../../rgb/hdr_front_00388.png", + "transform_matrix": [ + [ + 0.9210706949234009, + 0.027882590889930725, + 0.38839584589004517, + -6.758331298828125 + ], + [ + -0.38654112815856934, + 0.1860150396823883, + 0.9033185243606567, + -10.145591735839844 + ], + [ + -0.04706059768795967, + -0.982151210308075, + 0.1821107715368271, + -2.523571014404297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 388, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_742268085", + "mask_path": "../../mask/hdr_front_00388.png" + }, + { + "file_path": "../../rgb/hdr_front_00389.png", + "transform_matrix": [ + [ + 0.9221186637878418, + 0.04089776799082756, + 0.38473957777023315, + -6.79451847076416 + ], + [ + -0.3853554427623749, + 0.18605171144008636, + 0.9038174748420715, + -10.224536895751953 + ], + [ + -0.034617338329553604, + -0.9816884398460388, + 0.18732191622257233, + -2.550868511199951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 389, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_842267513", + "mask_path": "../../mask/hdr_front_00389.png" + }, + { + "file_path": "../../rgb/hdr_front_00390.png", + "transform_matrix": [ + [ + 0.9213893413543701, + 0.050197191536426544, + 0.3853853642940521, + -6.834733009338379 + ], + [ + -0.38728630542755127, + 0.20130741596221924, + 0.8997136354446411, + -10.303525924682617 + ], + [ + -0.03241780772805214, + -0.9782411456108093, + 0.20492318272590637, + -2.5849969387054443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 390, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_942267656", + "mask_path": "../../mask/hdr_front_00390.png" + }, + { + "file_path": "../../rgb/hdr_front_00391.png", + "transform_matrix": [ + [ + 0.9189838767051697, + 0.05735380947589874, + 0.39010152220726013, + -6.867806434631348 + ], + [ + -0.393105149269104, + 0.21007896959781647, + 0.8951733112335205, + -10.367608070373535 + ], + [ + -0.030610527843236923, + -0.9760008454322815, + 0.21560527384281158, + -2.6077513694763184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 391, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_42267560", + "mask_path": "../../mask/hdr_front_00391.png" + }, + { + "file_path": "../../rgb/hdr_front_00392.png", + "transform_matrix": [ + [ + 0.9156376123428345, + 0.06321927905082703, + 0.3970026671886444, + -6.895233631134033 + ], + [ + -0.40116918087005615, + 0.2073325216770172, + 0.8922312259674072, + -10.433745384216309 + ], + [ + -0.02590535394847393, + -0.976225733757019, + 0.21520307660102844, + -2.621938943862915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 392, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_142267704", + "mask_path": "../../mask/hdr_front_00392.png" + }, + { + "file_path": "../../rgb/hdr_front_00393.png", + "transform_matrix": [ + [ + 0.9126483201980591, + 0.05852557346224785, + 0.40453416109085083, + -6.935331344604492 + ], + [ + -0.4073706269264221, + 0.21135219931602478, + 0.8884703516960144, + -10.523235321044922 + ], + [ + -0.033500947058200836, + -0.9756562113761902, + 0.21673181653022766, + -2.652039051055908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 393, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_242267847", + "mask_path": "../../mask/hdr_front_00393.png" + }, + { + "file_path": "../../rgb/hdr_front_00394.png", + "transform_matrix": [ + [ + 0.9106705784797668, + 0.05497564747929573, + 0.40945926308631897, + -6.9708571434021 + ], + [ + -0.41125261783599854, + 0.21509511768817902, + 0.8857795596122742, + -10.608006477355957 + ], + [ + -0.0393763892352581, + -0.9750444889068604, + 0.2184896618127823, + -2.67519211769104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 394, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_342268705", + "mask_path": "../../mask/hdr_front_00394.png" + }, + { + "file_path": "../../rgb/hdr_front_00395.png", + "transform_matrix": [ + [ + 0.9098260998725891, + 0.05803844705224037, + 0.41091132164001465, + -6.994507789611816 + ], + [ + -0.413532018661499, + 0.20972047746181488, + 0.8860071301460266, + -10.68156909942627 + ], + [ + -0.03475404158234596, + -0.9760373830795288, + 0.21480989456176758, + -2.6889166831970215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 395, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_442268371", + "mask_path": "../../mask/hdr_front_00395.png" + }, + { + "file_path": "../../rgb/hdr_front_00396.png", + "transform_matrix": [ + [ + 0.910200834274292, + 0.06345901638269424, + 0.4092768132686615, + -7.026686668395996 + ], + [ + -0.41333267092704773, + 0.20188362896442413, + 0.8879184126853943, + -10.763402938842773 + ], + [ + -0.026279844343662262, + -0.9773515462875366, + 0.20998430252075195, + -2.716144561767578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 396, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_542268753", + "mask_path": "../../mask/hdr_front_00396.png" + }, + { + "file_path": "../../rgb/hdr_front_00397.png", + "transform_matrix": [ + [ + 0.9068272709846497, + 0.08191976696252823, + 0.41346511244773865, + -7.059833526611328 + ], + [ + -0.42118677496910095, + 0.21406413614749908, + 0.8813502788543701, + -10.841442108154297 + ], + [ + -0.016308043152093887, + -0.9733784794807434, + 0.22862271964550018, + -2.7311837673187256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 397, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_642268180", + "mask_path": "../../mask/hdr_front_00397.png" + }, + { + "file_path": "../../rgb/hdr_front_00398.png", + "transform_matrix": [ + [ + 0.9029686450958252, + 0.08244819939136505, + 0.4217223525047302, + -7.096737384796143 + ], + [ + -0.42930328845977783, + 0.21558207273483276, + 0.8770536184310913, + -10.908873558044434 + ], + [ + -0.018604280427098274, + -0.9729989171028137, + 0.23005914688110352, + -2.731173038482666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 398, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_742268323", + "mask_path": "../../mask/hdr_front_00398.png" + }, + { + "file_path": "../../rgb/hdr_front_00399.png", + "transform_matrix": [ + [ + 0.8999817967414856, + 0.07629256695508957, + 0.42919954657554626, + -7.135455131530762 + ], + [ + -0.4353567361831665, + 0.2076694518327713, + 0.8759782910346985, + -10.97384262084961 + ], + [ + -0.02230100706219673, + -0.9752194285392761, + 0.22011320292949677, + -2.748481035232544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 399, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_842268466", + "mask_path": "../../mask/hdr_front_00399.png" + }, + { + "file_path": "../../rgb/hdr_front_00400.png", + "transform_matrix": [ + [ + 0.8965604901313782, + 0.07260137796401978, + 0.4369305372238159, + -7.182466506958008 + ], + [ + -0.442433625459671, + 0.19307354092597961, + 0.875771164894104, + -11.056312561035156 + ], + [ + -0.020777534693479538, + -0.9784946441650391, + 0.20522341132164001, + -2.7756996154785156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 400, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_942271709", + "mask_path": "../../mask/hdr_front_00400.png" + }, + { + "file_path": "../../rgb/hdr_front_00401.png", + "transform_matrix": [ + [ + 0.8960951566696167, + 0.06486339867115021, + 0.43909701704978943, + -7.228023052215576 + ], + [ + -0.44324782490730286, + 0.1827898919582367, + 0.8775643706321716, + -11.141071319580078 + ], + [ + -0.023340698331594467, + -0.9810100793838501, + 0.1925477236509323, + -2.788607120513916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 401, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_42264938", + "mask_path": "../../mask/hdr_front_00401.png" + }, + { + "file_path": "../../rgb/hdr_front_00402.png", + "transform_matrix": [ + [ + 0.8971663117408752, + 0.06267227977514267, + 0.437223881483078, + -7.261147499084473 + ], + [ + -0.4412810802459717, + 0.1699116826057434, + 0.8811362385749817, + -11.22046184539795 + ], + [ + -0.019066624343395233, + -0.9834644198417664, + 0.1800951361656189, + -2.7968266010284424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 402, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_142264842", + "mask_path": "../../mask/hdr_front_00402.png" + }, + { + "file_path": "../../rgb/hdr_front_00403.png", + "transform_matrix": [ + [ + 0.8978117108345032, + 0.06608489155769348, + 0.43539270758628845, + -7.301419734954834 + ], + [ + -0.44028574228286743, + 0.15509073436260223, + 0.8843615651130676, + -11.301599502563477 + ], + [ + -0.009082446806132793, + -0.9856874346733093, + 0.16833852231502533, + -2.816880464553833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 403, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_242266893", + "mask_path": "../../mask/hdr_front_00403.png" + }, + { + "file_path": "../../rgb/hdr_front_00404.png", + "transform_matrix": [ + [ + 0.8953520655632019, + 0.06650163233280182, + 0.44036591053009033, + -7.351814270019531 + ], + [ + -0.44531428813934326, + 0.14768432080745697, + 0.8831107020378113, + -11.38523006439209 + ], + [ + -0.006306830793619156, + -0.9867962598800659, + 0.16184359788894653, + -2.822528600692749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 404, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_342267274", + "mask_path": "../../mask/hdr_front_00404.png" + }, + { + "file_path": "../../rgb/hdr_front_00405.png", + "transform_matrix": [ + [ + 0.890646755695343, + 0.0652526468038559, + 0.449989378452301, + -7.394798278808594 + ], + [ + -0.4546501636505127, + 0.1418350338935852, + 0.8793043494224548, + -11.45931625366211 + ], + [ + -0.006447323132306337, + -0.9877373576164246, + 0.1559920310974121, + -2.8242034912109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 405, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_442266941", + "mask_path": "../../mask/hdr_front_00405.png" + }, + { + "file_path": "../../rgb/hdr_front_00406.png", + "transform_matrix": [ + [ + 0.8838063478469849, + 0.058236539363861084, + 0.4642143249511719, + -7.4334917068481445 + ], + [ + -0.46771934628486633, + 0.13369090855121613, + 0.8737078309059143, + -11.53077507019043 + ], + [ + -0.011179504916071892, + -0.9893105030059814, + 0.1453952193260193, + -2.8297297954559326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 406, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_542266607", + "mask_path": "../../mask/hdr_front_00406.png" + }, + { + "file_path": "../../rgb/hdr_front_00407.png", + "transform_matrix": [ + [ + 0.8802302479743958, + 0.046742819249629974, + 0.4722391963005066, + -7.481379985809326 + ], + [ + -0.47401371598243713, + 0.1337653398513794, + 0.8702975511550903, + -11.62219524383545 + ], + [ + -0.022489061579108238, + -0.9899101257324219, + 0.1399010270833969, + -2.8460075855255127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 407, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_642266988", + "mask_path": "../../mask/hdr_front_00407.png" + }, + { + "file_path": "../../rgb/hdr_front_00408.png", + "transform_matrix": [ + [ + 0.8799428939819336, + 0.04164332523941994, + 0.4732509255409241, + -7.519654750823975 + ], + [ + -0.47432684898376465, + 0.1330629587173462, + 0.8702346086502075, + -11.707489013671875 + ], + [ + -0.026732707396149635, + -0.9902323484420776, + 0.1368403434753418, + -2.863576889038086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 408, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_742266893", + "mask_path": "../../mask/hdr_front_00408.png" + }, + { + "file_path": "../../rgb/hdr_front_00409.png", + "transform_matrix": [ + [ + 0.8810877799987793, + 0.043529804795980453, + 0.4709453284740448, + -7.54642391204834 + ], + [ + -0.47251370549201965, + 0.1239146813750267, + 0.8725686073303223, + -11.785723686218262 + ], + [ + -0.020374298095703125, + -0.9913376569747925, + 0.1297481507062912, + -2.874626398086548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 409, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_842268705", + "mask_path": "../../mask/hdr_front_00409.png" + }, + { + "file_path": "../../rgb/hdr_front_00410.png", + "transform_matrix": [ + [ + 0.8807563185691833, + 0.04962058737874031, + 0.47096288204193115, + -7.585029602050781 + ], + [ + -0.47336769104003906, + 0.12129437178373337, + 0.872473955154419, + -11.871244430541992 + ], + [ + -0.013832480646669865, + -0.9913755655288696, + 0.13031956553459167, + -2.8887717723846436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 410, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_942266941", + "mask_path": "../../mask/hdr_front_00410.png" + }, + { + "file_path": "../../rgb/hdr_front_00411.png", + "transform_matrix": [ + [ + 0.876912534236908, + 0.049882546067237854, + 0.47805464267730713, + -7.635538578033447 + ], + [ + -0.48042675852775574, + 0.12128151208162308, + 0.8686087131500244, + -11.951271057128906 + ], + [ + -0.01465077605098486, + -0.9913639426231384, + 0.13031817972660065, + -2.8888914585113525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 411, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_42268037", + "mask_path": "../../mask/hdr_front_00411.png" + }, + { + "file_path": "../../rgb/hdr_front_00412.png", + "transform_matrix": [ + [ + 0.8712011575698853, + 0.04782751575112343, + 0.4885909855365753, + -7.677911758422852 + ], + [ + -0.4906841516494751, + 0.1160893514752388, + 0.8635696172714233, + -12.020102500915527 + ], + [ + -0.015417821705341339, + -0.99208664894104, + 0.12460536509752274, + -2.8897736072540283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 412, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_142267227", + "mask_path": "../../mask/hdr_front_00412.png" + }, + { + "file_path": "../../rgb/hdr_front_00413.png", + "transform_matrix": [ + [ + 0.8635187745094299, + 0.04076128453016281, + 0.502666711807251, + -7.726801872253418 + ], + [ + -0.503903865814209, + 0.11005551367998123, + 0.8567197322845459, + -12.092270851135254 + ], + [ + -0.020400242879986763, + -0.9930892586708069, + 0.11557476967573166, + -2.8999392986297607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 413, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_242268085", + "mask_path": "../../mask/hdr_front_00413.png" + }, + { + "file_path": "../../rgb/hdr_front_00414.png", + "transform_matrix": [ + [ + 0.8609502911567688, + 0.035003092139959335, + 0.5074833035469055, + -7.781309127807617 + ], + [ + -0.5078940987586975, + 0.11490004509687424, + 0.8537221550941467, + -12.177929878234863 + ], + [ + -0.02842692844569683, + -0.992760181427002, + 0.11670109629631042, + -2.916719913482666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 414, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_342267751", + "mask_path": "../../mask/hdr_front_00414.png" + }, + { + "file_path": "../../rgb/hdr_front_00415.png", + "transform_matrix": [ + [ + 0.861501157283783, + 0.033529046922922134, + 0.5066471695899963, + -7.819207668304443 + ], + [ + -0.506813645362854, + 0.11752824485301971, + 0.8540064096450806, + -12.257262229919434 + ], + [ + -0.030911335721611977, + -0.9925034046173096, + 0.11824370920658112, + -2.933079957962036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 415, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_442267894", + "mask_path": "../../mask/hdr_front_00415.png" + }, + { + "file_path": "../../rgb/hdr_front_00416.png", + "transform_matrix": [ + [ + 0.861177921295166, + 0.03573164343833923, + 0.5070464015007019, + -7.848169326782227 + ], + [ + -0.5076452493667603, + 0.11121626943349838, + 0.8543577790260315, + -12.331354141235352 + ], + [ + -0.025864189490675926, + -0.9931536912918091, + 0.11391598731279373, + -2.9444069862365723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 416, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_542266845", + "mask_path": "../../mask/hdr_front_00416.png" + }, + { + "file_path": "../../rgb/hdr_front_00417.png", + "transform_matrix": [ + [ + 0.8516253232955933, + 0.04506590962409973, + 0.5222100019454956, + -7.8970513343811035 + ], + [ + -0.5237501859664917, + 0.11211608350276947, + 0.8444619178771973, + -12.402883529663086 + ], + [ + -0.020491691306233406, + -0.9926726818084717, + 0.11908417195081711, + -2.9576821327209473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 417, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_642267465", + "mask_path": "../../mask/hdr_front_00417.png" + }, + { + "file_path": "../../rgb/hdr_front_00418.png", + "transform_matrix": [ + [ + 0.8341164588928223, + 0.04513310641050339, + 0.5497388243675232, + -7.9572930335998535 + ], + [ + -0.5509154796600342, + 0.11737897992134094, + 0.8262653350830078, + -12.460074424743652 + ], + [ + -0.027235854417085648, + -0.9920611381530762, + 0.12277227640151978, + -2.9604151248931885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 418, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_742267608", + "mask_path": "../../mask/hdr_front_00418.png" + }, + { + "file_path": "../../rgb/hdr_front_00419.png", + "transform_matrix": [ + [ + 0.8105654716491699, + 0.043960705399513245, + 0.5839957594871521, + -8.004648208618164 + ], + [ + -0.5847956538200378, + 0.11453399062156677, + 0.8030542135238647, + -12.500146865844727 + ], + [ + -0.03158453106880188, + -0.99244624376297, + 0.11854533851146698, + -2.959059000015259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 419, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_842267751", + "mask_path": "../../mask/hdr_front_00419.png" + }, + { + "file_path": "../../rgb/hdr_front_00421.png", + "transform_matrix": [ + [ + 0.7411829829216003, + 0.042857151478528976, + 0.669933557510376, + -8.099637031555176 + ], + [ + -0.6698732972145081, + 0.11231479048728943, + 0.7339313626289368, + -12.567482948303223 + ], + [ + -0.04378924518823624, + -0.9927480816841125, + 0.11195466667413712, + -2.964184522628784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 421, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_42268037", + "mask_path": "../../mask/hdr_front_00421.png" + }, + { + "file_path": "../../rgb/hdr_front_00422.png", + "transform_matrix": [ + [ + 0.7074387073516846, + 0.039912957698106766, + 0.7056467533111572, + -8.144227027893066 + ], + [ + -0.7046005129814148, + 0.11807803809642792, + 0.6997111439704895, + -12.594548225402832 + ], + [ + -0.05539383739233017, + -0.9922019243240356, + 0.11165567487478256, + -2.9767394065856934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 422, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_142267227", + "mask_path": "../../mask/hdr_front_00422.png" + }, + { + "file_path": "../../rgb/hdr_front_00424.png", + "transform_matrix": [ + [ + 0.6392024159431458, + 0.03583156690001488, + 0.7682033777236938, + -8.207762718200684 + ], + [ + -0.7656436562538147, + 0.12340713292360306, + 0.6313164830207825, + -12.62802505493164 + ], + [ + -0.07218071073293686, + -0.9917090535163879, + 0.10631634294986725, + -2.9949541091918945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 424, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_342266798", + "mask_path": "../../mask/hdr_front_00424.png" + }, + { + "file_path": "../../rgb/hdr_front_00426.png", + "transform_matrix": [ + [ + 0.5467782616615295, + 0.049056995660066605, + 0.8358391523361206, + -8.283034324645996 + ], + [ + -0.8335900902748108, + 0.12548135221004486, + 0.5379423499107361, + -12.648451805114746 + ], + [ + -0.07849238812923431, + -0.990882396697998, + 0.10950389504432678, + -3.003699779510498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 426, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_542267322", + "mask_path": "../../mask/hdr_front_00426.png" + }, + { + "file_path": "../../rgb/hdr_front_00428.png", + "transform_matrix": [ + [ + 0.4163588285446167, + 0.062290698289871216, + 0.9070640802383423, + -8.372551918029785 + ], + [ + -0.905525803565979, + 0.1180143803358078, + 0.4075483977794647, + -12.628730773925781 + ], + [ + -0.08166012167930603, + -0.9910563230514526, + 0.10554216802120209, + -3.0034070014953613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 428, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_742268800", + "mask_path": "../../mask/hdr_front_00428.png" + }, + { + "file_path": "../../rgb/hdr_front_00430.png", + "transform_matrix": [ + [ + 0.27349036931991577, + 0.07007184624671936, + 0.959318995475769, + -8.470974922180176 + ], + [ + -0.9571943283081055, + 0.11809485405683517, + 0.26425862312316895, + -12.599332809448242 + ], + [ + -0.0947735458612442, + -0.9905269145965576, + 0.09937018901109695, + -3.0039703845977783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 430, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_942267894", + "mask_path": "../../mask/hdr_front_00430.png" + }, + { + "file_path": "../../rgb/hdr_front_00432.png", + "transform_matrix": [ + [ + 0.13193471729755402, + 0.07522265613079071, + 0.9884001612663269, + -8.54523754119873 + ], + [ + -0.9851542711257935, + 0.12043633311986923, + 0.12233560532331467, + -12.54712200164795 + ], + [ + -0.1098368763923645, + -0.9898670315742493, + 0.08999565243721008, + -3.0162851810455322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 432, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638845_142267704", + "mask_path": "../../mask/hdr_front_00432.png" + }, + { + "file_path": "../../rgb/hdr_front_00440.png", + "transform_matrix": [ + [ + -0.4948001503944397, + 0.1214609295129776, + 0.8604766726493835, + -8.760210037231445 + ], + [ + -0.8604235053062439, + 0.0703517273068428, + -0.5047001242637634, + -12.161554336547852 + ], + [ + -0.12183735519647598, + -0.9900999069213867, + 0.0696977823972702, + -3.04288649559021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 440, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638845_942268610", + "mask_path": "../../mask/hdr_front_00440.png" + }, + { + "file_path": "../../rgb/hdr_front_00441.png", + "transform_matrix": [ + [ + -0.5659371018409729, + 0.12162524461746216, + 0.815427839756012, + -8.781267166137695 + ], + [ + -0.8159840106964111, + 0.05873112753033638, + -0.575083315372467, + -12.103531837463379 + ], + [ + -0.117835633456707, + -0.990837037563324, + 0.0660061314702034, + -3.0386712551116943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 441, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638846_42267560", + "mask_path": "../../mask/hdr_front_00441.png" + }, + { + "file_path": "../../rgb/hdr_front_00443.png", + "transform_matrix": [ + [ + -0.6900442242622375, + 0.1211991235613823, + 0.7135473489761353, + -8.786175727844238 + ], + [ + -0.7145674228668213, + 0.04260816425085068, + -0.6982677578926086, + -12.010035514831543 + ], + [ + -0.1150323748588562, + -0.9917133450508118, + 0.05720342695713043, + -3.0450918674468994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 443, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638846_242267608", + "mask_path": "../../mask/hdr_front_00443.png" + }, + { + "file_path": "../../rgb/hdr_front_00447.png", + "transform_matrix": [ + [ + -0.7326996326446533, + 0.12632565200328827, + 0.6687248945236206, + -8.898982048034668 + ], + [ + -0.6733243465423584, + 0.008267085067927837, + -0.7393009662628174, + -11.82121467590332 + ], + [ + -0.09892106056213379, + -0.9919543862342834, + 0.07900084555149078, + -3.0867719650268555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 447, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638846_642266750", + "mask_path": "../../mask/hdr_front_00447.png" + }, + { + "file_path": "../../rgb/hdr_front_00448.png", + "transform_matrix": [ + [ + -0.736929178237915, + 0.12482060492038727, + 0.6643456816673279, + -8.929911613464355 + ], + [ + -0.6695411801338196, + 0.00043931943946518004, + -0.7427748441696167, + -11.76810073852539 + ], + [ + -0.09300547093153, + -0.992179274559021, + 0.08324878662824631, + -3.0848231315612793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 448, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638846_742267847", + "mask_path": "../../mask/hdr_front_00448.png" + }, + { + "file_path": "../../rgb/hdr_front_00450.png", + "transform_matrix": [ + [ + -0.7519699931144714, + 0.12536346912384033, + 0.6471670269966125, + -8.986184120178223 + ], + [ + -0.6534877419471741, + -0.01283445954322815, + -0.7568283081054688, + -11.659261703491211 + ], + [ + -0.0865725725889206, + -0.9920279383659363, + 0.09157462418079376, + -3.107203960418701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 450, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638846_942267656", + "mask_path": "../../mask/hdr_front_00450.png" + }, + { + "file_path": "../../rgb/hdr_front_00451.png", + "transform_matrix": [ + [ + -0.7480341196060181, + 0.1412026435136795, + 0.6484650373458862, + -9.03182315826416 + ], + [ + -0.6570484638214111, + -0.019987301900982857, + -0.7535833120346069, + -11.593993186950684 + ], + [ + -0.09344688802957535, + -0.989778995513916, + 0.10772816091775894, + -3.1295368671417236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 451, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_42267560", + "mask_path": "../../mask/hdr_front_00451.png" + }, + { + "file_path": "../../rgb/hdr_front_00452.png", + "transform_matrix": [ + [ + -0.7436941266059875, + 0.15078721940517426, + 0.6512926816940308, + -9.06987190246582 + ], + [ + -0.6614583134651184, + -0.024742353707551956, + -0.7495737075805664, + -11.542226791381836 + ], + [ + -0.09691160172224045, + -0.988256573677063, + 0.11814020574092865, + -3.154778242111206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 452, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_142267942", + "mask_path": "../../mask/hdr_front_00452.png" + }, + { + "file_path": "../../rgb/hdr_front_00453.png", + "transform_matrix": [ + [ + -0.7422184348106384, + 0.14610853791236877, + 0.654036819934845, + -9.11943244934082 + ], + [ + -0.6642665863037109, + -0.03127268701791763, + -0.7468412518501282, + -11.482550621032715 + ], + [ + -0.0886664092540741, + -0.9887741804122925, + 0.12026617676019669, + -3.176790475845337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 453, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_242267608", + "mask_path": "../../mask/hdr_front_00453.png" + }, + { + "file_path": "../../rgb/hdr_front_00454.png", + "transform_matrix": [ + [ + -0.7419105172157288, + 0.14310552179813385, + 0.6550493240356445, + -9.181370735168457 + ], + [ + -0.6666866540908813, + -0.05341530591249466, + -0.7434216737747192, + -11.410573959350586 + ], + [ + -0.07139807939529419, + -0.9882650971412659, + 0.135035902261734, + -3.2000205516815186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 454, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_342268466", + "mask_path": "../../mask/hdr_front_00454.png" + }, + { + "file_path": "../../rgb/hdr_front_00455.png", + "transform_matrix": [ + [ + -0.7447763085365295, + 0.146187886595726, + 0.6511046290397644, + -9.228861808776855 + ], + [ + -0.6643590927124023, + -0.07071249186992645, + -0.7440609931945801, + -11.35224437713623 + ], + [ + -0.06273147463798523, + -0.9867263436317444, + 0.14978623390197754, + -3.217237949371338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 455, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_442269325", + "mask_path": "../../mask/hdr_front_00455.png" + }, + { + "file_path": "../../rgb/hdr_front_00456.png", + "transform_matrix": [ + [ + -0.7511105537414551, + 0.14282259345054626, + 0.6445421576499939, + -9.2660551071167 + ], + [ + -0.6579771041870117, + -0.08232906460762024, + -0.7485238909721375, + -11.308533668518066 + ], + [ + -0.05384157598018646, + -0.9863182306289673, + 0.15581221878528595, + -3.2369675636291504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 456, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_542268037", + "mask_path": "../../mask/hdr_front_00456.png" + }, + { + "file_path": "../../rgb/hdr_front_00457.png", + "transform_matrix": [ + [ + -0.756051778793335, + 0.14295116066932678, + 0.6387103199958801, + -9.334766387939453 + ], + [ + -0.6522458791732788, + -0.08342421799898148, + -0.7534027695655823, + -11.24439811706543 + ], + [ + -0.05441590026021004, + -0.9862076044082642, + 0.15631233155727386, + -3.262645959854126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 457, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_642267227", + "mask_path": "../../mask/hdr_front_00457.png" + }, + { + "file_path": "../../rgb/hdr_front_00458.png", + "transform_matrix": [ + [ + -0.756805419921875, + 0.14780519902706146, + 0.6367096304893494, + -9.406326293945312 + ], + [ + -0.6513103246688843, + -0.08835157752037048, + -0.7536503672599792, + -11.180737495422363 + ], + [ + -0.05513913929462433, + -0.985062301158905, + 0.16313201189041138, + -3.2826359272003174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 458, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_742268562", + "mask_path": "../../mask/hdr_front_00458.png" + }, + { + "file_path": "../../rgb/hdr_front_00459.png", + "transform_matrix": [ + [ + -0.7564836144447327, + 0.14380677044391632, + 0.6380064487457275, + -9.45590877532959 + ], + [ + -0.6523504257202148, + -0.09640803188085556, + -0.7517609596252441, + -11.142342567443848 + ], + [ + -0.0465993657708168, + -0.9848986268043518, + 0.16674350202083588, + -3.301165819168091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 459, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_842267751", + "mask_path": "../../mask/hdr_front_00459.png" + }, + { + "file_path": "../../rgb/hdr_front_00460.png", + "transform_matrix": [ + [ + -0.7556560039520264, + 0.13302838802337646, + 0.6413170695304871, + -9.513432502746582 + ], + [ + -0.6541586518287659, + -0.10460165143013, + -0.7490894794464111, + -11.108098030090332 + ], + [ + -0.0325673371553421, + -0.9855769872665405, + 0.1660645306110382, + -3.3232734203338623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 460, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_942267894", + "mask_path": "../../mask/hdr_front_00460.png" + }, + { + "file_path": "../../rgb/hdr_front_00461.png", + "transform_matrix": [ + [ + -0.7571239471435547, + 0.13609980046749115, + 0.6389366984367371, + -9.582036972045898 + ], + [ + -0.6526508927345276, + -0.11496997624635696, + -0.7488850951194763, + -11.06563949584961 + ], + [ + -0.028464561328291893, + -0.9840013980865479, + 0.17587216198444366, + -3.343656301498413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 461, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_42268753", + "mask_path": "../../mask/hdr_front_00461.png" + }, + { + "file_path": "../../rgb/hdr_front_00462.png", + "transform_matrix": [ + [ + -0.7632882595062256, + 0.14201772212982178, + 0.6302555203437805, + -9.635397911071777 + ], + [ + -0.6453582644462585, + -0.12221138179302216, + -0.754040539264679, + -11.014491081237793 + ], + [ + -0.030062714591622353, + -0.9822909235954285, + 0.1849348098039627, + -3.3577094078063965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 462, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_142268419", + "mask_path": "../../mask/hdr_front_00462.png" + }, + { + "file_path": "../../rgb/hdr_front_00463.png", + "transform_matrix": [ + [ + -0.7734176516532898, + 0.1390330195426941, + 0.6184617877006531, + -9.674930572509766 + ], + [ + -0.6331459283828735, + -0.12196115404367447, + -0.7643635272979736, + -10.957460403442383 + ], + [ + -0.030843447893857956, + -0.9827488660812378, + 0.1823550909757614, + -3.370802879333496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 463, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_242267608", + "mask_path": "../../mask/hdr_front_00463.png" + }, + { + "file_path": "../../rgb/hdr_front_00464.png", + "transform_matrix": [ + [ + -0.7839948534965515, + 0.14084260165691376, + 0.6045787334442139, + -9.726662635803223 + ], + [ + -0.6194578409194946, + -0.1142752468585968, + -0.7766680121421814, + -10.890229225158691 + ], + [ + -0.040299564599990845, + -0.9834147095680237, + 0.1768372505903244, + -3.3916876316070557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 464, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_342267990", + "mask_path": "../../mask/hdr_front_00464.png" + }, + { + "file_path": "../../rgb/hdr_front_00465.png", + "transform_matrix": [ + [ + -0.7884631752967834, + 0.15416459739208221, + 0.5954486131668091, + -9.795804977416992 + ], + [ + -0.6128984689712524, + -0.11542142927646637, + -0.7816863059997559, + -10.8146390914917 + ], + [ + -0.0517808236181736, + -0.9812803864479065, + 0.18549281358718872, + -3.417231321334839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 465, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_442267894", + "mask_path": "../../mask/hdr_front_00465.png" + }, + { + "file_path": "../../rgb/hdr_front_00466.png", + "transform_matrix": [ + [ + -0.7909967303276062, + 0.16216254234313965, + 0.5899385809898376, + -9.840997695922852 + ], + [ + -0.6092168688774109, + -0.11990225315093994, + -0.7838866114616394, + -10.762078285217285 + ], + [ + -0.05638207867741585, + -0.9794523119926453, + 0.19363443553447723, + -3.4387574195861816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 466, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_542267799", + "mask_path": "../../mask/hdr_front_00466.png" + }, + { + "file_path": "../../rgb/hdr_front_00467.png", + "transform_matrix": [ + [ + -0.7932116985321045, + 0.1660391241312027, + 0.5858720541000366, + -9.869545936584473 + ], + [ + -0.6058028936386108, + -0.11754164099693298, + -0.7868841886520386, + -10.714794158935547 + ], + [ + -0.06178921461105347, + -0.9790889024734497, + 0.19382239878177643, + -3.455979824066162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 467, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_642267465", + "mask_path": "../../mask/hdr_front_00467.png" + }, + { + "file_path": "../../rgb/hdr_front_00468.png", + "transform_matrix": [ + [ + -0.7968379259109497, + 0.1594211906194687, + 0.5827814340591431, + -9.907062530517578 + ], + [ + -0.601754903793335, + -0.12283677607774734, + -0.7891781330108643, + -10.641523361206055 + ], + [ + -0.05422471836209297, + -0.9795386791229248, + 0.1938135027885437, + -3.481851577758789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 468, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_742266893", + "mask_path": "../../mask/hdr_front_00468.png" + }, + { + "file_path": "../../rgb/hdr_front_00469.png", + "transform_matrix": [ + [ + -0.8001402616500854, + 0.15889498591423035, + 0.57838374376297, + -9.95009708404541 + ], + [ + -0.5977257490158081, + -0.1308523565530777, + -0.7909499406814575, + -10.56883716583252 + ], + [ + -0.04999510198831558, + -0.9785857796669006, + 0.19967584311962128, + -3.5002307891845703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 469, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_842267990", + "mask_path": "../../mask/hdr_front_00469.png" + }, + { + "file_path": "../../rgb/hdr_front_00470.png", + "transform_matrix": [ + [ + -0.8034482598304749, + 0.16435354948043823, + 0.5722402334213257, + -9.971047401428223 + ], + [ + -0.5927332639694214, + -0.13037289679050446, + -0.7947768568992615, + -10.508925437927246 + ], + [ + -0.05601977929472923, + -0.9777478575706482, + 0.20216567814350128, + -3.509345293045044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 470, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_942267656", + "mask_path": "../../mask/hdr_front_00470.png" + }, + { + "file_path": "../../rgb/hdr_front_00471.png", + "transform_matrix": [ + [ + -0.8084667325019836, + 0.16383689641952515, + 0.5652777552604675, + -9.989348411560059 + ], + [ + -0.5855940580368042, + -0.12792149186134338, + -0.8004472255706787, + -10.449305534362793 + ], + [ + -0.058831602334976196, + -0.9781583547592163, + 0.1993621587753296, + -3.5209994316101074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 471, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_42268276", + "mask_path": "../../mask/hdr_front_00471.png" + }, + { + "file_path": "../../rgb/hdr_front_00472.png", + "transform_matrix": [ + [ + -0.8129175901412964, + 0.16519911587238312, + 0.5584569573402405, + -10.024503707885742 + ], + [ + -0.5790297985076904, + -0.1265801638364792, + -0.8054203391075134, + -10.377143859863281 + ], + [ + -0.062365151941776276, + -0.9781036972999573, + 0.19855447113513947, + -3.5385518074035645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 472, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_142267704", + "mask_path": "../../mask/hdr_front_00472.png" + }, + { + "file_path": "../../rgb/hdr_front_00473.png", + "transform_matrix": [ + [ + -0.8138641715049744, + 0.16467158496379852, + 0.5572327971458435, + -10.071011543273926 + ], + [ + -0.5775567889213562, + -0.12418536096811295, + -0.8068495392799377, + -10.306436538696289 + ], + [ + -0.06366502493619919, + -0.9784994721412659, + 0.19617721438407898, + -3.552719831466675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 473, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_242267370", + "mask_path": "../../mask/hdr_front_00473.png" + }, + { + "file_path": "../../rgb/hdr_front_00474.png", + "transform_matrix": [ + [ + -0.8143990635871887, + 0.15860849618911743, + 0.5582091808319092, + -10.108633041381836 + ], + [ + -0.577075719833374, + -0.12000986933708191, + -0.8078250885009766, + -10.25195026397705 + ], + [ + -0.061137303709983826, + -0.9800208806991577, + 0.18926504254341125, + -3.565891981124878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 474, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_342268228", + "mask_path": "../../mask/hdr_front_00474.png" + }, + { + "file_path": "../../rgb/hdr_front_00475.png", + "transform_matrix": [ + [ + -0.816365122795105, + 0.1491795927286148, + 0.5579368472099304, + -10.131661415100098 + ], + [ + -0.5748313069343567, + -0.1164931207895279, + -0.8099372982978821, + -10.196619987487793 + ], + [ + -0.05583031103014946, + -0.9819239974021912, + 0.18085400760173798, + -3.5784108638763428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 475, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_442267656", + "mask_path": "../../mask/hdr_front_00475.png" + }, + { + "file_path": "../../rgb/hdr_front_00476.png", + "transform_matrix": [ + [ + -0.819786787033081, + 0.1379418820142746, + 0.5558072328567505, + -10.160337448120117 + ], + [ + -0.571258544921875, + -0.12890607118606567, + -0.810584306716919, + -10.133856773376465 + ], + [ + -0.04016660526394844, + -0.9820159673690796, + 0.18447594344615936, + -3.589839220046997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 476, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_542268276", + "mask_path": "../../mask/hdr_front_00476.png" + }, + { + "file_path": "../../rgb/hdr_front_00497.png", + "transform_matrix": [ + [ + -0.08770322799682617, + 0.11249566823244095, + 0.9897741675376892, + -10.581107139587402 + ], + [ + -0.9938324689865112, + -0.07756975293159485, + -0.0792464166879654, + -10.37531566619873 + ], + [ + 0.0678616538643837, + -0.9906198382377625, + 0.11860496550798416, + -3.6287550926208496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 497, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638851_642267704", + "mask_path": "../../mask/hdr_front_00497.png" + }, + { + "file_path": "../../rgb/hdr_front_00499.png", + "transform_matrix": [ + [ + -0.07982762157917023, + 0.1356503665447235, + 0.9875355958938599, + -10.63040542602539 + ], + [ + -0.9955078363418579, + -0.061445388942956924, + -0.07203178107738495, + -10.374387741088867 + ], + [ + 0.05090837553143501, + -0.9888495206832886, + 0.13994604349136353, + -3.653388738632202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 499, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638851_842267751", + "mask_path": "../../mask/hdr_front_00499.png" + }, + { + "file_path": "../../rgb/hdr_front_00501.png", + "transform_matrix": [ + [ + -0.0729743242263794, + 0.1693929135799408, + 0.982843279838562, + -10.728189468383789 + ], + [ + -0.9956549406051636, + -0.06952956318855286, + -0.06194216012954712, + -10.392719268798828 + ], + [ + 0.05784409120678902, + -0.9830929636955261, + 0.1737307757139206, + -3.699934244155884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 501, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638852_42268991", + "mask_path": "../../mask/hdr_front_00501.png" + }, + { + "file_path": "../../rgb/hdr_front_00504.png", + "transform_matrix": [ + [ + -0.07148879766464233, + 0.21649451553821564, + 0.9736628532409668, + -10.865044593811035 + ], + [ + -0.996588945388794, + -0.05585053190588951, + -0.060753706842660904, + -10.393641471862793 + ], + [ + 0.04122674837708473, + -0.9746850728988647, + 0.21974873542785645, + -3.755133867263794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 504, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638852_342267513", + "mask_path": "../../mask/hdr_front_00504.png" + }, + { + "file_path": "../../rgb/hdr_front_00505.png", + "transform_matrix": [ + [ + -0.04770113527774811, + 0.2400413155555725, + 0.9695900678634644, + -10.911852836608887 + ], + [ + -0.9986051321029663, + -0.03345606103539467, + -0.04084589332342148, + -10.403542518615723 + ], + [ + 0.02263396419584751, + -0.9701859951019287, + 0.24130238592624664, + -3.7792601585388184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 505, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638852_442268133", + "mask_path": "../../mask/hdr_front_00505.png" + }, + { + "file_path": "../../rgb/hdr_front_00507.png", + "transform_matrix": [ + [ + 0.012930920347571373, + 0.2709829807281494, + 0.9624972343444824, + -10.964814186096191 + ], + [ + -0.999873697757721, + -0.005391724873334169, + 0.01495105680078268, + -10.4216890335083 + ], + [ + 0.009241003543138504, + -0.9625690579414368, + 0.27087903022766113, + -3.825347661972046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 507, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638852_642267227", + "mask_path": "../../mask/hdr_front_00507.png" + }, + { + "file_path": "../../rgb/hdr_front_00512.png", + "transform_matrix": [ + [ + 0.13735619187355042, + 0.3389447331428528, + 0.9307253956794739, + -11.135516166687012 + ], + [ + -0.990519642829895, + 0.04510483518242836, + 0.1297546774148941, + -10.482837677001953 + ], + [ + 0.001999445492401719, + -0.9397244453430176, + 0.34192684292793274, + -3.9564850330352783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 512, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_142267465", + "mask_path": "../../mask/hdr_front_00512.png" + }, + { + "file_path": "../../rgb/hdr_front_00513.png", + "transform_matrix": [ + [ + 0.14956992864608765, + 0.37366533279418945, + 0.9154251217842102, + -11.168472290039062 + ], + [ + -0.9885107278823853, + 0.07692500948905945, + 0.1301114559173584, + -10.491652488708496 + ], + [ + -0.021800944581627846, + -0.9243683218955994, + 0.38087785243988037, + -3.992103099822998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 513, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_242266893", + "mask_path": "../../mask/hdr_front_00513.png" + }, + { + "file_path": "../../rgb/hdr_front_00515.png", + "transform_matrix": [ + [ + 0.15571971237659454, + 0.4079015254974365, + 0.8996486663818359, + -11.231139183044434 + ], + [ + -0.9874106645584106, + 0.08988892287015915, + 0.13015466928482056, + -10.506561279296875 + ], + [ + -0.027778150513768196, + -0.9085903167724609, + 0.4167637526988983, + -4.048657417297363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 515, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_442266941", + "mask_path": "../../mask/hdr_front_00515.png" + }, + { + "file_path": "../../rgb/hdr_front_00516.png", + "transform_matrix": [ + [ + 0.15802231431007385, + 0.4225860834121704, + 0.8924404978752136, + -11.287925720214844 + ], + [ + -0.9874321818351746, + 0.06997723877429962, + 0.14170688390731812, + -10.519281387329102 + ], + [ + -0.0025671732146292925, + -0.9036173224449158, + 0.42833301424980164, + -4.077820777893066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 516, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_542268276", + "mask_path": "../../mask/hdr_front_00516.png" + }, + { + "file_path": "../../rgb/hdr_front_00519.png", + "transform_matrix": [ + [ + 0.23254181444644928, + 0.39906999468803406, + 0.8869427442550659, + -11.419058799743652 + ], + [ + -0.9724538326263428, + 0.08034807443618774, + 0.21880973875522614, + -10.573768615722656 + ], + [ + 0.016056254506111145, + -0.9133933782577515, + 0.40676143765449524, + -4.120084285736084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 519, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_842267751", + "mask_path": "../../mask/hdr_front_00519.png" + }, + { + "file_path": "../../rgb/hdr_front_00520.png", + "transform_matrix": [ + [ + 0.27755048871040344, + 0.3912245035171509, + 0.8774446845054626, + -11.456628799438477 + ], + [ + -0.9600571990013123, + 0.07925748080015182, + 0.26834386587142944, + -10.610275268554688 + ], + [ + 0.03543863818049431, + -0.9168760776519775, + 0.3975958526134491, + -4.152390956878662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 520, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_942269086", + "mask_path": "../../mask/hdr_front_00520.png" + }, + { + "file_path": "../../rgb/hdr_front_00522.png", + "transform_matrix": [ + [ + 0.374231219291687, + 0.3842625021934509, + 0.8439747095108032, + -11.487128257751465 + ], + [ + -0.9241141080856323, + 0.07873960584402084, + 0.37391602993011475, + -10.679993629455566 + ], + [ + 0.07722766697406769, + -0.9198599457740784, + 0.3845692574977875, + -4.180471420288086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 522, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638854_142266750", + "mask_path": "../../mask/hdr_front_00522.png" + }, + { + "file_path": "../../rgb/hdr_front_00524.png", + "transform_matrix": [ + [ + 0.4619927406311035, + 0.378013014793396, + 0.8022897243499756, + -11.524800300598145 + ], + [ + -0.8787474036216736, + 0.07285390049219131, + 0.4716939926147461, + -10.764202117919922 + ], + [ + 0.11985652148723602, + -0.9229294061660767, + 0.36583593487739563, + -4.196534156799316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 524, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638854_342267036", + "mask_path": "../../mask/hdr_front_00524.png" + }, + { + "file_path": "../../rgb/hdr_front_00526.png", + "transform_matrix": [ + [ + 0.5152603983879089, + 0.3662572205066681, + 0.7748305201530457, + -11.55565071105957 + ], + [ + -0.8472651243209839, + 0.08157657831907272, + 0.5248686075210571, + -10.81582260131836 + ], + [ + 0.12902885675430298, + -0.9269309639930725, + 0.3523502051830292, + -4.202507972717285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 526, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638854_542266607", + "mask_path": "../../mask/hdr_front_00526.png" + }, + { + "file_path": "../../rgb/hdr_front_00528.png", + "transform_matrix": [ + [ + 0.5317927598953247, + 0.3498334288597107, + 0.771241307258606, + -11.648972511291504 + ], + [ + -0.8429591059684753, + 0.1311902403831482, + 0.5217366218566895, + -10.868927955627441 + ], + [ + 0.08134158700704575, + -0.9275805950164795, + 0.36466124653816223, + -4.266742706298828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 528, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638854_742267131", + "mask_path": "../../mask/hdr_front_00528.png" + }, + { + "file_path": "../../rgb/hdr_front_00530.png", + "transform_matrix": [ + [ + 0.5374124646186829, + 0.3534386157989502, + 0.7656821012496948, + -11.715971946716309 + ], + [ + -0.8407795429229736, + 0.15413714945316315, + 0.5189716219902039, + -10.899543762207031 + ], + [ + 0.06540456414222717, + -0.9226716160774231, + 0.37999919056892395, + -4.307169437408447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 530, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638854_942267179", + "mask_path": "../../mask/hdr_front_00530.png" + }, + { + "file_path": "../../rgb/hdr_front_00531.png", + "transform_matrix": [ + [ + 0.5347834229469299, + 0.3515535593032837, + 0.7683858275413513, + -11.782793045043945 + ], + [ + -0.8423886895179749, + 0.15052305161952972, + 0.5174205899238586, + -10.922379493713379 + ], + [ + 0.06624123454093933, + -0.9239875674247742, + 0.37664198875427246, + -4.35191011428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 531, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638855_42267084", + "mask_path": "../../mask/hdr_front_00531.png" + }, + { + "file_path": "../../rgb/hdr_front_00532.png", + "transform_matrix": [ + [ + 0.5197445154190063, + 0.37854740023612976, + 0.7658768892288208, + -11.838461875915527 + ], + [ + -0.8495482206344604, + 0.13437528908252716, + 0.510109007358551, + -10.946223258972168 + ], + [ + 0.0901854932308197, + -0.9157757759094238, + 0.39143505692481995, + -4.3538384437561035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 532, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638855_142267227", + "mask_path": "../../mask/hdr_front_00532.png" + }, + { + "file_path": "../../rgb/hdr_front_00534.png", + "transform_matrix": [ + [ + 0.5221787691116333, + 0.3608790338039398, + 0.7727197408676147, + -11.923096656799316 + ], + [ + -0.849794864654541, + 0.14372296631336212, + 0.5071415305137634, + -11.023117065429688 + ], + [ + 0.07195916026830673, + -0.9214716553688049, + 0.38172218203544617, + -4.390972137451172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 534, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638855_342267036", + "mask_path": "../../mask/hdr_front_00534.png" + }, + { + "file_path": "../../rgb/hdr_front_00539.png", + "transform_matrix": [ + [ + 0.5682867169380188, + 0.2945617437362671, + 0.7682992219924927, + -11.933572769165039 + ], + [ + -0.8210815191268921, + 0.1421552449464798, + 0.5528265237808228, + -11.108712196350098 + ], + [ + 0.05362376198172569, + -0.945000171661377, + 0.3226441442966461, + -4.306214332580566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 539, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638855_842267990", + "mask_path": "../../mask/hdr_front_00539.png" + }, + { + "file_path": "../../rgb/hdr_front_00545.png", + "transform_matrix": [ + [ + 0.6423165798187256, + 0.2950132489204407, + 0.7073872089385986, + -11.874127388000488 + ], + [ + -0.761104941368103, + 0.13681183755397797, + 0.6340362429618835, + -11.162433624267578 + ], + [ + 0.09027013182640076, + -0.9456478357315063, + 0.3124125599861145, + -4.294114112854004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 545, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638856_442268848", + "mask_path": "../../mask/hdr_front_00545.png" + }, + { + "file_path": "../../rgb/hdr_front_00549.png", + "transform_matrix": [ + [ + 0.6284109354019165, + 0.29444628953933716, + 0.7200007438659668, + -11.86391830444336 + ], + [ + -0.7772875428199768, + 0.20152156054973602, + 0.5959975719451904, + -11.140326499938965 + ], + [ + 0.03039359487593174, + -0.9341790676116943, + 0.35550785064697266, + -4.349254131317139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 549, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638856_842267274", + "mask_path": "../../mask/hdr_front_00549.png" + }, + { + "file_path": "../../rgb/hdr_front_00560.png", + "transform_matrix": [ + [ + 0.5764134526252747, + 0.284225195646286, + 0.7661354541778564, + -11.93520450592041 + ], + [ + -0.817093551158905, + 0.21225620806217194, + 0.5360086560249329, + -11.119559288024902 + ], + [ + -0.010269817896187305, + -0.934967041015625, + 0.3545859754085541, + -4.367807388305664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 560, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638857_942267894", + "mask_path": "../../mask/hdr_front_00560.png" + }, + { + "file_path": "../../rgb/hdr_front_00563.png", + "transform_matrix": [ + [ + 0.5457316040992737, + 0.27544108033180237, + 0.791396975517273, + -11.985095024108887 + ], + [ + -0.8370794653892517, + 0.22247955203056335, + 0.4998007118701935, + -11.142568588256836 + ], + [ + -0.038404013961553574, + -0.9352192878723145, + 0.3519802689552307, + -4.380010604858398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 563, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638858_242268562", + "mask_path": "../../mask/hdr_front_00563.png" + }, + { + "file_path": "../../rgb/hdr_front_00569.png", + "transform_matrix": [ + [ + 0.534977376461029, + 0.28956305980682373, + 0.7936954498291016, + -12.112211227416992 + ], + [ + -0.8448392748832703, + 0.1758180558681488, + 0.5053064823150635, + -11.271270751953125 + ], + [ + 0.006772096734493971, + -0.9408726096153259, + 0.33869290351867676, + -4.476633071899414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 569, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638858_842267513", + "mask_path": "../../mask/hdr_front_00569.png" + }, + { + "file_path": "../../rgb/hdr_front_00570.png", + "transform_matrix": [ + [ + 0.5370467901229858, + 0.2887354791164398, + 0.7925986051559448, + -12.149182319641113 + ], + [ + -0.8433473110198975, + 0.16305798292160034, + 0.512032687664032, + -11.304869651794434 + ], + [ + 0.018602466210722923, + -0.943421483039856, + 0.3310740292072296, + -4.493162631988525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 570, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638858_942268848", + "mask_path": "../../mask/hdr_front_00570.png" + }, + { + "file_path": "../../rgb/hdr_front_00571.png", + "transform_matrix": [ + [ + 0.5484969019889832, + 0.26381346583366394, + 0.7934441566467285, + -12.19763469696045 + ], + [ + -0.8361523151397705, + 0.17232674360275269, + 0.520723283290863, + -11.331793785095215 + ], + [ + 0.0006421440630219877, + -0.9490553140640259, + 0.3151089549064636, + -4.527544975280762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 571, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638859_42267799", + "mask_path": "../../mask/hdr_front_00571.png" + }, + { + "file_path": "../../rgb/hdr_front_00572.png", + "transform_matrix": [ + [ + 0.5628983378410339, + 0.24197179079055786, + 0.7903133034706116, + -12.239486694335938 + ], + [ + -0.8263076543807983, + 0.1867358684539795, + 0.5313619375228882, + -11.3561372756958 + ], + [ + -0.019005252048373222, + -0.9521446228027344, + 0.3050564229488373, + -4.551804065704346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 572, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638859_142267465", + "mask_path": "../../mask/hdr_front_00572.png" + }, + { + "file_path": "../../rgb/hdr_front_00574.png", + "transform_matrix": [ + [ + 0.6110250353813171, + 0.21477684378623962, + 0.7619182467460632, + -12.294659614562988 + ], + [ + -0.7910815477371216, + 0.20087364315986633, + 0.5777886509895325, + -11.402066230773926 + ], + [ + -0.028953688219189644, + -0.9557827711105347, + 0.29264482855796814, + -4.588804244995117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 574, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638859_342267751", + "mask_path": "../../mask/hdr_front_00574.png" + }, + { + "file_path": "../../rgb/hdr_front_00576.png", + "transform_matrix": [ + [ + 0.6702499389648438, + 0.20662976801395416, + 0.7127896547317505, + -12.32020378112793 + ], + [ + -0.7421227097511292, + 0.19220678508281708, + 0.6421140432357788, + -11.47258186340332 + ], + [ + -0.004323134198784828, + -0.9593542814254761, + 0.2821712791919708, + -4.605487823486328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 576, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638859_542267084", + "mask_path": "../../mask/hdr_front_00576.png" + }, + { + "file_path": "../../rgb/hdr_front_00578.png", + "transform_matrix": [ + [ + 0.734479546546936, + 0.1924830973148346, + 0.6507611274719238, + -12.333816528320312 + ], + [ + -0.6785757541656494, + 0.2205248475074768, + 0.7006452679634094, + -11.562943458557129 + ], + [ + -0.008646615780889988, + -0.956200361251831, + 0.2925853431224823, + -4.634048938751221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 578, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638859_742267131", + "mask_path": "../../mask/hdr_front_00578.png" + }, + { + "file_path": "../../rgb/hdr_front_00581.png", + "transform_matrix": [ + [ + 0.7718801498413086, + 0.18503540754318237, + 0.6082457304000854, + -12.359380722045898 + ], + [ + -0.635758101940155, + 0.22996895015239716, + 0.7368351221084595, + -11.622603416442871 + ], + [ + -0.003537054406479001, + -0.9554455876350403, + 0.29514625668525696, + -4.673698902130127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 581, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638860_42267322", + "mask_path": "../../mask/hdr_front_00581.png" + }, + { + "file_path": "../../rgb/hdr_front_00583.png", + "transform_matrix": [ + [ + 0.7637395262718201, + 0.20787133276462555, + 0.6111395359039307, + -12.416356086730957 + ], + [ + -0.6449664235115051, + 0.20635950565338135, + 0.7358221411705017, + -11.68312931060791 + ], + [ + 0.02684188447892666, + -0.9561408758163452, + 0.2916748821735382, + -4.696920394897461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 583, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638860_242267608", + "mask_path": "../../mask/hdr_front_00583.png" + }, + { + "file_path": "../../rgb/hdr_front_00586.png", + "transform_matrix": [ + [ + 0.764208972454071, + 0.2015630602836609, + 0.6126638054847717, + -12.480246543884277 + ], + [ + -0.6449557542800903, + 0.23280879855155945, + 0.7278957366943359, + -11.79979133605957 + ], + [ + 0.0040833777748048306, + -0.9514054656028748, + 0.3079138398170471, + -4.727502822875977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 586, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638860_542268753", + "mask_path": "../../mask/hdr_front_00586.png" + }, + { + "file_path": "../../rgb/hdr_front_00589.png", + "transform_matrix": [ + [ + 0.7683988213539124, + 0.20184694230556488, + 0.6073064804077148, + -12.54642105102539 + ], + [ + -0.6399298906326294, + 0.23154431581497192, + 0.7327188849449158, + -11.893924713134766 + ], + [ + 0.007278732024133205, + -0.9516538381576538, + 0.3070862293243408, + -4.789266109466553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 589, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638860_842267990", + "mask_path": "../../mask/hdr_front_00589.png" + }, + { + "file_path": "../../rgb/hdr_front_00590.png", + "transform_matrix": [ + [ + 0.7689743638038635, + 0.1937505304813385, + 0.6092120409011841, + -12.596736907958984 + ], + [ + -0.6392706036567688, + 0.22796739637851715, + 0.7344141006469727, + -11.936687469482422 + ], + [ + 0.0034126420505344868, + -0.9541968107223511, + 0.2991601228713989, + -4.793195724487305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 590, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638860_942268371", + "mask_path": "../../mask/hdr_front_00590.png" + }, + { + "file_path": "../../rgb/hdr_front_00591.png", + "transform_matrix": [ + [ + 0.7655794024467468, + 0.18916276097297668, + 0.614902913570404, + -12.633576393127441 + ], + [ + -0.6433382630348206, + 0.22808937728405, + 0.7308153510093689, + -11.97038745880127 + ], + [ + -0.0020097747910767794, + -0.9550877809524536, + 0.29631614685058594, + -4.802768707275391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 591, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638861_42267560", + "mask_path": "../../mask/hdr_front_00591.png" + }, + { + "file_path": "../../rgb/hdr_front_00593.png", + "transform_matrix": [ + [ + 0.7578417658805847, + 0.17426851391792297, + 0.6287339329719543, + -12.710887908935547 + ], + [ + -0.6523223519325256, + 0.22056101262569427, + 0.7251402139663696, + -12.064345359802246 + ], + [ + -0.012305067852139473, + -0.9596787691116333, + 0.28082960844039917, + -4.841549873352051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 593, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638861_242266416", + "mask_path": "../../mask/hdr_front_00593.png" + }, + { + "file_path": "../../rgb/hdr_front_00594.png", + "transform_matrix": [ + [ + 0.7637535333633423, + 0.1711883395910263, + 0.6223947405815125, + -12.74395751953125 + ], + [ + -0.6453771591186523, + 0.2219168096780777, + 0.7309180498123169, + -12.117340087890625 + ], + [ + -0.012995180673897266, + -0.9599205851554871, + 0.27997079491615295, + -4.860560894012451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 594, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638861_342266798", + "mask_path": "../../mask/hdr_front_00594.png" + }, + { + "file_path": "../../rgb/hdr_front_00596.png", + "transform_matrix": [ + [ + 0.8011641502380371, + 0.1719130426645279, + 0.5732206702232361, + -12.76459789276123 + ], + [ + -0.5983776450157166, + 0.21579082310199738, + 0.7716078162193298, + -12.192669868469238 + ], + [ + 0.008953696116805077, + -0.961186945438385, + 0.2757527828216553, + -4.8997111320495605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 596, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638861_542267322", + "mask_path": "../../mask/hdr_front_00596.png" + }, + { + "file_path": "../../rgb/hdr_front_00598.png", + "transform_matrix": [ + [ + 0.8331878781318665, + 0.19119730591773987, + 0.5188848972320557, + -12.79269790649414 + ], + [ + -0.5511242747306824, + 0.21008940041065216, + 0.8075423240661621, + -12.25676441192627 + ], + [ + 0.04538770020008087, + -0.9588044881820679, + 0.28041738271713257, + -4.927935600280762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 598, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638861_742266654", + "mask_path": "../../mask/hdr_front_00598.png" + }, + { + "file_path": "../../rgb/hdr_front_00602.png", + "transform_matrix": [ + [ + 0.8612185120582581, + 0.18105991184711456, + 0.47488948702812195, + -12.837472915649414 + ], + [ + -0.5074293613433838, + 0.25373736023902893, + 0.8234882354736328, + -12.38654899597168 + ], + [ + 0.028603507205843925, + -0.9501761198043823, + 0.3103984296321869, + -4.961390972137451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 602, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638862_142267942", + "mask_path": "../../mask/hdr_front_00602.png" + }, + { + "file_path": "../../rgb/hdr_front_00604.png", + "transform_matrix": [ + [ + 0.8632214665412903, + 0.18518394231796265, + 0.46963346004486084, + -12.849441528320312 + ], + [ + -0.5044105052947998, + 0.2786845862865448, + 0.8172546029090881, + -12.436859130859375 + ], + [ + 0.020462801679968834, + -0.9423597455024719, + 0.33397525548934937, + -4.987821578979492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 604, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638862_342268466", + "mask_path": "../../mask/hdr_front_00604.png" + }, + { + "file_path": "../../rgb/hdr_front_00606.png", + "transform_matrix": [ + [ + 0.8548858165740967, + 0.20278853178024292, + 0.4775427281856537, + -12.880712509155273 + ], + [ + -0.5172399878501892, + 0.26143786311149597, + 0.8149313926696777, + -12.505090713500977 + ], + [ + 0.04041096568107605, + -0.9436774849891663, + 0.32838988304138184, + -5.031704902648926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 606, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638862_542268514", + "mask_path": "../../mask/hdr_front_00606.png" + }, + { + "file_path": "../../rgb/hdr_front_00608.png", + "transform_matrix": [ + [ + 0.8514142036437988, + 0.18898122012615204, + 0.48926472663879395, + -12.91887378692627 + ], + [ + -0.5231331586837769, + 0.23882640898227692, + 0.8181037306785583, + -12.591899871826172 + ], + [ + 0.03775691241025925, + -0.9524957537651062, + 0.3022025227546692, + -5.023593425750732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 608, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638862_742268085", + "mask_path": "../../mask/hdr_front_00608.png" + }, + { + "file_path": "../../rgb/hdr_front_00609.png", + "transform_matrix": [ + [ + 0.8508016467094421, + 0.17701581120491028, + 0.4947747588157654, + -12.941272735595703 + ], + [ + -0.5248644948005676, + 0.24044352769851685, + 0.8165196180343628, + -12.651653289794922 + ], + [ + 0.025571489706635475, + -0.9543858766555786, + 0.2974790334701538, + -5.045187950134277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 609, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638862_842267274", + "mask_path": "../../mask/hdr_front_00609.png" + }, + { + "file_path": "../../rgb/hdr_front_00614.png", + "transform_matrix": [ + [ + 0.8319805264472961, + 0.1861146241426468, + 0.5226564407348633, + -13.046491622924805 + ], + [ + -0.5532009601593018, + 0.20670939981937408, + 0.8069943785667419, + -12.818754196166992 + ], + [ + 0.04215545207262039, + -0.9605376720428467, + 0.2749369740486145, + -5.117793560028076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 614, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638863_342268705", + "mask_path": "../../mask/hdr_front_00614.png" + }, + { + "file_path": "../../rgb/hdr_front_00616.png", + "transform_matrix": [ + [ + 0.8288758993148804, + 0.17359218001365662, + 0.531818151473999, + -13.089648246765137 + ], + [ + -0.5581514835357666, + 0.1923159658908844, + 0.8071439862251282, + -12.897951126098633 + ], + [ + 0.03783675283193588, + -0.9658573865890503, + 0.2562968134880066, + -5.138202667236328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 616, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638863_542268276", + "mask_path": "../../mask/hdr_front_00616.png" + }, + { + "file_path": "../../rgb/hdr_front_00617.png", + "transform_matrix": [ + [ + 0.8269835710525513, + 0.1625939905643463, + 0.5382019281387329, + -13.123779296875 + ], + [ + -0.5616772174835205, + 0.19664226472377777, + 0.8036482334136963, + -12.949777603149414 + ], + [ + 0.02483513019979, + -0.9668996930122375, + 0.2539452612400055, + -5.148042678833008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 617, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638863_642268657", + "mask_path": "../../mask/hdr_front_00617.png" + }, + { + "file_path": "../../rgb/hdr_front_00624.png", + "transform_matrix": [ + [ + 0.8596519231796265, + 0.1347920000553131, + 0.4927774667739868, + -13.251133918762207 + ], + [ + -0.5102084279060364, + 0.17706646025180817, + 0.8416263461112976, + -13.189793586730957 + ], + [ + 0.02619013376533985, + -0.9749249219894409, + 0.22098752856254578, + -5.201623439788818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 624, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638864_342267274", + "mask_path": "../../mask/hdr_front_00624.png" + }, + { + "file_path": "../../rgb/hdr_front_00625.png", + "transform_matrix": [ + [ + 0.8602155447006226, + 0.12675654888153076, + 0.49392515420913696, + -13.268377304077148 + ], + [ + -0.5098779201507568, + 0.1998797208070755, + 0.836703360080719, + -13.237527847290039 + ], + [ + 0.007332021836191416, + -0.9715868234634399, + 0.23657000064849854, + -5.215875148773193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 625, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638864_442269563", + "mask_path": "../../mask/hdr_front_00625.png" + }, + { + "file_path": "../../rgb/hdr_front_00627.png", + "transform_matrix": [ + [ + 0.870390772819519, + 0.13426809012889862, + 0.4737004339694977, + -13.274739265441895 + ], + [ + -0.49207913875579834, + 0.2046317607164383, + 0.8461583852767944, + -13.302238464355469 + ], + [ + 0.01667792536318302, + -0.9695864319801331, + 0.2441801130771637, + -5.2444539070129395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 627, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638864_642267942", + "mask_path": "../../mask/hdr_front_00627.png" + }, + { + "file_path": "../../rgb/hdr_left_00354.png", + "transform_matrix": [ + [ + -0.6272242665290833, + 0.07313766330480576, + 0.775397002696991, + -5.325188159942627 + ], + [ + -0.761776864528656, + 0.14963732659816742, + -0.6303210854530334, + -5.156355857849121 + ], + [ + -0.16212855279445648, + -0.986032247543335, + -0.038141585886478424, + -1.5934524536132812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 354, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_842267751", + "mask_path": "../../mask/hdr_left_00354.png" + }, + { + "file_path": "../../rgb/hdr_left_00355.png", + "transform_matrix": [ + [ + -0.6286260485649109, + 0.06538806110620499, + 0.7749540209770203, + -5.367480754852295 + ], + [ + -0.7623573541641235, + 0.14519234001636505, + -0.630658745765686, + -5.241410732269287 + ], + [ + -0.15375493466854095, + -0.9872404336929321, + -0.04142261669039726, + -1.6158227920532227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 355, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_942268133", + "mask_path": "../../mask/hdr_left_00355.png" + }, + { + "file_path": "../../rgb/hdr_left_00356.png", + "transform_matrix": [ + [ + -0.6181407570838928, + 0.06041678041219711, + 0.7837421894073486, + -5.413238525390625 + ], + [ + -0.7707291841506958, + 0.14941775798797607, + -0.6193956136703491, + -5.336091995239258 + ], + [ + -0.15452688932418823, + -0.9869266748428345, + -0.045796237885951996, + -1.6372512578964233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 356, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_42268991", + "mask_path": "../../mask/hdr_left_00356.png" + }, + { + "file_path": "../../rgb/hdr_left_00357.png", + "transform_matrix": [ + [ + -0.6015449166297913, + 0.062161605805158615, + 0.7964167594909668, + -5.4390082359313965 + ], + [ + -0.7834700345993042, + 0.14871229231357574, + -0.6033733487129211, + -5.418310642242432 + ], + [ + -0.1559436023235321, + -0.9869248270988464, + -0.040755365043878555, + -1.6534992456436157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 357, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_142268657", + "mask_path": "../../mask/hdr_left_00357.png" + }, + { + "file_path": "../../rgb/hdr_left_00358.png", + "transform_matrix": [ + [ + -0.5828343629837036, + 0.07084419578313828, + 0.8094968795776367, + -5.463526248931885 + ], + [ + -0.7978217601776123, + 0.13917802274227142, + -0.5866087079048157, + -5.504314422607422 + ], + [ + -0.15422196686267853, + -0.987730085849762, + -0.024596689268946648, + -1.678637146949768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 358, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_242268562", + "mask_path": "../../mask/hdr_left_00358.png" + }, + { + "file_path": "../../rgb/hdr_left_00359.png", + "transform_matrix": [ + [ + -0.5688218474388123, + 0.0779184103012085, + 0.8187615275382996, + -5.499405860900879 + ], + [ + -0.8061455488204956, + 0.1444815993309021, + -0.573806881904602, + -5.5937676429748535 + ], + [ + -0.16300606727600098, + -0.9864348769187927, + -0.01937069743871689, + -1.6935477256774902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 359, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_342267513", + "mask_path": "../../mask/hdr_left_00359.png" + }, + { + "file_path": "../../rgb/hdr_left_00360.png", + "transform_matrix": [ + [ + -0.5596980452537537, + 0.07701218128204346, + 0.8251104950904846, + -5.53130578994751 + ], + [ + -0.8118069767951965, + 0.1490415334701538, + -0.5645847916603088, + -5.6696367263793945 + ], + [ + -0.16645562648773193, + -0.9858275651931763, + -0.020899225026369095, + -1.6980026960372925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 360, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_442267417", + "mask_path": "../../mask/hdr_left_00360.png" + }, + { + "file_path": "../../rgb/hdr_left_00361.png", + "transform_matrix": [ + [ + -0.5540549755096436, + 0.07721822708845139, + 0.8288910388946533, + -5.552490234375 + ], + [ + -0.8164157271385193, + 0.1442592889070511, + -0.5591552257537842, + -5.734790802001953 + ], + [ + -0.1627521812915802, + -0.9865224957466125, + -0.01688540168106556, + -1.711132287979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 361, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_542267084", + "mask_path": "../../mask/hdr_left_00361.png" + }, + { + "file_path": "../../rgb/hdr_left_00362.png", + "transform_matrix": [ + [ + -0.5522513389587402, + 0.06970229744911194, + 0.8307586908340454, + -5.579696178436279 + ], + [ + -0.8193628191947937, + 0.13849112391471863, + -0.5562955141067505, + -5.812795639038086 + ], + [ + -0.15382778644561768, + -0.987907886505127, + -0.019370440393686295, + -1.7230068445205688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 362, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_642267704", + "mask_path": "../../mask/hdr_left_00362.png" + }, + { + "file_path": "../../rgb/hdr_left_00363.png", + "transform_matrix": [ + [ + -0.5448328256607056, + 0.06287074089050293, + 0.8361844420433044, + -5.612071514129639 + ], + [ + -0.8240746855735779, + 0.14430636167526245, + -0.5477924942970276, + -5.904836177825928 + ], + [ + -0.15510684251785278, + -0.9875338077545166, + -0.026812653988599777, + -1.743316411972046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 363, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_742268323", + "mask_path": "../../mask/hdr_left_00363.png" + }, + { + "file_path": "../../rgb/hdr_left_00364.png", + "transform_matrix": [ + [ + -0.5322470664978027, + 0.0626259446144104, + 0.8442694544792175, + -5.630868434906006 + ], + [ + -0.831735372543335, + 0.1473086178302765, + -0.5352723002433777, + -5.981549263000488 + ], + [ + -0.15789009630680084, + -0.9871060252189636, + -0.026316367089748383, + -1.7641563415527344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 364, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_842267274", + "mask_path": "../../mask/hdr_left_00364.png" + }, + { + "file_path": "../../rgb/hdr_left_00365.png", + "transform_matrix": [ + [ + -0.5169176459312439, + 0.06759420037269592, + 0.8533622622489929, + -5.646328449249268 + ], + [ + -0.8414367437362671, + 0.1431967169046402, + -0.5210363864898682, + -6.061160087585449 + ], + [ + -0.15741771459579468, + -0.9873833060264587, + -0.017144670709967613, + -1.788329839706421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 365, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_942267179", + "mask_path": "../../mask/hdr_left_00365.png" + }, + { + "file_path": "../../rgb/hdr_left_00366.png", + "transform_matrix": [ + [ + -0.5031642913818359, + 0.07097391784191132, + 0.861271321773529, + -5.673427581787109 + ], + [ + -0.8487792015075684, + 0.1467915177345276, + -0.5079627633094788, + -6.148873805999756 + ], + [ + -0.16247940063476562, + -0.9866179823875427, + -0.013619069941341877, + -1.8123570680618286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 366, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_42267084", + "mask_path": "../../mask/hdr_left_00366.png" + }, + { + "file_path": "../../rgb/hdr_left_00367.png", + "transform_matrix": [ + [ + -0.49554210901260376, + 0.06949390470981598, + 0.8657994270324707, + -5.703482627868652 + ], + [ + -0.8528516888618469, + 0.14992797374725342, + -0.5001655220985413, + -6.228460311889648 + ], + [ + -0.16456599533557892, + -0.9862515926361084, + -0.015027635730803013, + -1.8171300888061523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 367, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_142264127", + "mask_path": "../../mask/hdr_left_00367.png" + }, + { + "file_path": "../../rgb/hdr_left_00368.png", + "transform_matrix": [ + [ + -0.4942972660064697, + 0.06763383746147156, + 0.8666577935218811, + -5.7257866859436035 + ], + [ + -0.8542051315307617, + 0.14715029299259186, + -0.4986785352230072, + -6.294764518737793 + ], + [ + -0.16125649213790894, + -0.9867991209030151, + -0.014962817542254925, + -1.81424880027771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 368, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_242265224", + "mask_path": "../../mask/hdr_left_00368.png" + }, + { + "file_path": "../../rgb/hdr_left_00369.png", + "transform_matrix": [ + [ + -0.4955483078956604, + 0.059685200452804565, + 0.866527259349823, + -5.757777690887451 + ], + [ + -0.8547183871269226, + 0.14401432871818542, + -0.4987145662307739, + -6.374918460845947 + ], + [ + -0.1545581966638565, + -0.9877740740776062, + -0.020352009683847427, + -1.8344751596450806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 369, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_342267990", + "mask_path": "../../mask/hdr_left_00369.png" + }, + { + "file_path": "../../rgb/hdr_left_00370.png", + "transform_matrix": [ + [ + -0.48631107807159424, + 0.05324465036392212, + 0.8721620440483093, + -5.790645599365234 + ], + [ + -0.8593511581420898, + 0.15153375267982483, + -0.4884188771247864, + -6.468890190124512 + ], + [ + -0.15816767513751984, + -0.987017035484314, + -0.027936691418290138, + -1.8570120334625244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 370, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_442267179", + "mask_path": "../../mask/hdr_left_00370.png" + }, + { + "file_path": "../../rgb/hdr_left_00371.png", + "transform_matrix": [ + [ + -0.47046226263046265, + 0.048800330609083176, + 0.8810697197914124, + -5.8105387687683105 + ], + [ + -0.8676605224609375, + 0.1562722623348236, + -0.4719577729701996, + -6.54894495010376 + ], + [ + -0.1607184261083603, + -0.9865078330039978, + -0.031178075820207596, + -1.8730394840240479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 371, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_542267322", + "mask_path": "../../mask/hdr_left_00371.png" + }, + { + "file_path": "../../rgb/hdr_left_00372.png", + "transform_matrix": [ + [ + -0.4527854919433594, + 0.051053449511528015, + 0.8901565670967102, + -5.825858116149902 + ], + [ + -0.8773108720779419, + 0.15262947976589203, + -0.4550052881240845, + -6.6292853355407715 + ], + [ + -0.1590937376022339, + -0.9869639873504639, + -0.024318670853972435, + -1.8874402046203613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 372, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_642267227", + "mask_path": "../../mask/hdr_left_00372.png" + }, + { + "file_path": "../../rgb/hdr_left_00373.png", + "transform_matrix": [ + [ + -0.4391280710697174, + 0.0537315271794796, + 0.8968163132667542, + -5.851004600524902 + ], + [ + -0.883614182472229, + 0.15467143058776855, + -0.4419305920600891, + -6.718042373657227 + ], + [ + -0.1624574512243271, + -0.9865037798881531, + -0.020442625507712364, + -1.9092540740966797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 373, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_742265462", + "mask_path": "../../mask/hdr_left_00373.png" + }, + { + "file_path": "../../rgb/hdr_left_00374.png", + "transform_matrix": [ + [ + -0.43168073892593384, + 0.05414670705795288, + 0.9003998041152954, + -5.878807067871094 + ], + [ + -0.8870624899864197, + 0.15558283030986786, + -0.4346425533294678, + -6.799193859100342 + ], + [ + -0.1636212021112442, + -0.9863377809524536, + -0.019130593165755272, + -1.915295124053955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 374, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_842267990", + "mask_path": "../../mask/hdr_left_00374.png" + }, + { + "file_path": "../../rgb/hdr_left_00375.png", + "transform_matrix": [ + [ + -0.4287815988063812, + 0.05379605293273926, + 0.9018049836158752, + -5.8966593742370605 + ], + [ + -0.8891806602478027, + 0.1513301283121109, + -0.4318065345287323, + -6.862566947937012 + ], + [ + -0.15969975292682648, + -0.987018346786499, + -0.017053162679076195, + -1.922642469406128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 375, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_942267179", + "mask_path": "../../mask/hdr_left_00375.png" + }, + { + "file_path": "../../rgb/hdr_left_00376.png", + "transform_matrix": [ + [ + -0.43050533533096313, + 0.04640553519129753, + 0.901394248008728, + -5.918863773345947 + ], + [ + -0.8900616765022278, + 0.14397726953029633, + -0.43250513076782227, + -6.936714172363281 + ], + [ + -0.14985091984272003, + -0.9884923696517944, + -0.020679183304309845, + -1.9446943998336792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 376, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_42267322", + "mask_path": "../../mask/hdr_left_00376.png" + }, + { + "file_path": "../../rgb/hdr_left_00377.png", + "transform_matrix": [ + [ + -0.4247317612171173, + 0.04165239259600639, + 0.9043605327606201, + -5.940183162689209 + ], + [ + -0.8925947546958923, + 0.147627592086792, + -0.4260053336620331, + -7.033773899078369 + ], + [ + -0.15125268697738647, + -0.9881656169891357, + -0.025523416697978973, + -1.9559217691421509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 377, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_142265319", + "mask_path": "../../mask/hdr_left_00377.png" + }, + { + "file_path": "../../rgb/hdr_left_00378.png", + "transform_matrix": [ + [ + -0.4195927679538727, + 0.04375820606946945, + 0.9066570997238159, + -5.951436996459961 + ], + [ + -0.894673764705658, + 0.14875243604183197, + -0.42122623324394226, + -7.110225200653076 + ], + [ + -0.15329954028129578, + -0.9879058599472046, + -0.023266110569238663, + -1.9703890085220337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 378, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_242268323", + "mask_path": "../../mask/hdr_left_00378.png" + }, + { + "file_path": "../../rgb/hdr_left_00379.png", + "transform_matrix": [ + [ + -0.41649845242500305, + 0.0497368648648262, + 0.9077749252319336, + -5.959595203399658 + ], + [ + -0.8967342376708984, + 0.14189133048057556, + -0.41920703649520874, + -7.1808600425720215 + ], + [ + -0.14965541660785675, + -0.9886319637298584, + -0.014496763236820698, + -1.9861823320388794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 379, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_342267513", + "mask_path": "../../mask/hdr_left_00379.png" + }, + { + "file_path": "../../rgb/hdr_left_00380.png", + "transform_matrix": [ + [ + -0.41615235805511475, + 0.054103195667266846, + 0.9076838493347168, + -5.97341775894165 + ], + [ + -0.8961374759674072, + 0.14479713141918182, + -0.4194893538951874, + -7.2656569480896 + ], + [ + -0.15412573516368866, + -0.9879811406135559, + -0.011773761361837387, + -2.0032129287719727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 380, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_442267179", + "mask_path": "../../mask/hdr_left_00380.png" + }, + { + "file_path": "../../rgb/hdr_left_00381.png", + "transform_matrix": [ + [ + -0.4218904674053192, + 0.05349617078900337, + 0.9050670862197876, + -5.994966983795166 + ], + [ + -0.8931074142456055, + 0.14735209941864014, + -0.4250251352787018, + -7.351902961730957 + ], + [ + -0.15610076487064362, + -0.987636387348175, + -0.0143886161968112, + -2.0109341144561768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 381, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_542266368", + "mask_path": "../../mask/hdr_left_00381.png" + }, + { + "file_path": "../../rgb/hdr_left_00382.png", + "transform_matrix": [ + [ + -0.4301500916481018, + 0.053717195987701416, + 0.9011578559875488, + -6.012674808502197 + ], + [ + -0.8898386359214783, + 0.14304186403751373, + -0.4332737326622009, + -7.427418231964111 + ], + [ + -0.15217751264572144, + -0.9882578253746033, + -0.013729824684560299, + -2.0197858810424805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 382, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_642267942", + "mask_path": "../../mask/hdr_left_00382.png" + }, + { + "file_path": "../../rgb/hdr_left_00383.png", + "transform_matrix": [ + [ + -0.4419943392276764, + 0.04392848536372185, + 0.8959415555000305, + -6.033212184906006 + ], + [ + -0.8857764005661011, + 0.13625597953796387, + -0.44366028904914856, + -7.518642425537109 + ], + [ + -0.1415667086839676, + -0.9896993041038513, + -0.021313557401299477, + -2.035936117172241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 383, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_742266893", + "mask_path": "../../mask/hdr_left_00383.png" + }, + { + "file_path": "../../rgb/hdr_left_00384.png", + "transform_matrix": [ + [ + -0.44694435596466064, + 0.036017727106809616, + 0.893836259841919, + -6.0578932762146 + ], + [ + -0.8834992051124573, + 0.1388794183731079, + -0.44737184047698975, + -7.622640609741211 + ], + [ + -0.14024877548217773, + -0.9896541237831116, + -0.030249737203121185, + -2.0503079891204834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 384, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_842267274", + "mask_path": "../../mask/hdr_left_00384.png" + }, + { + "file_path": "../../rgb/hdr_left_00385.png", + "transform_matrix": [ + [ + -0.44409292936325073, + 0.03666610270738602, + 0.8952301740646362, + -6.069271087646484 + ], + [ + -0.8848087787628174, + 0.13934586942195892, + -0.4446304142475128, + -7.706931114196777 + ], + [ + -0.14104948937892914, + -0.9895647168159485, + -0.029440024867653847, + -2.0667672157287598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 385, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_942267417", + "mask_path": "../../mask/hdr_left_00385.png" + }, + { + "file_path": "../../rgb/hdr_left_00386.png", + "transform_matrix": [ + [ + -0.4390300512313843, + 0.04339877516031265, + 0.8974236249923706, + -6.077349662780762 + ], + [ + -0.887750506401062, + 0.1328945755958557, + -0.44072455167770386, + -7.7898149490356445 + ], + [ + -0.13838963210582733, + -0.9901795983314514, + -0.019817432388663292, + -2.0852646827697754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 386, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_42267560", + "mask_path": "../../mask/hdr_left_00386.png" + }, + { + "file_path": "../../rgb/hdr_left_00387.png", + "transform_matrix": [ + [ + -0.44053688645362854, + 0.046544406563043594, + 0.8965270519256592, + -6.1000494956970215 + ], + [ + -0.8860971927642822, + 0.13773265480995178, + -0.44256243109703064, + -7.881321907043457 + ], + [ + -0.14407986402511597, + -0.9893752336502075, + -0.01943344995379448, + -2.0974602699279785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 387, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_142266988", + "mask_path": "../../mask/hdr_left_00387.png" + }, + { + "file_path": "../../rgb/hdr_left_00388.png", + "transform_matrix": [ + [ + -0.4465803802013397, + 0.04184311628341675, + 0.8937645554542542, + -6.127095699310303 + ], + [ + -0.8830858469009399, + 0.14010977745056152, + -0.44780412316322327, + -7.9640278816223145 + ], + [ + -0.14396265149116516, + -0.989251434803009, + -0.025619208812713623, + -2.103750705718994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 388, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_242267847", + "mask_path": "../../mask/hdr_left_00388.png" + }, + { + "file_path": "../../rgb/hdr_left_00389.png", + "transform_matrix": [ + [ + -0.4552387595176697, + 0.03865475207567215, + 0.8895298838615417, + -6.147091388702393 + ], + [ + -0.879696786403656, + 0.13469646871089935, + -0.45605966448783875, + -8.035415649414062 + ], + [ + -0.1374453902244568, + -0.9901326894760132, + -0.02731458470225334, + -2.1104989051818848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 389, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_342267036", + "mask_path": "../../mask/hdr_left_00389.png" + }, + { + "file_path": "../../rgb/hdr_left_00390.png", + "transform_matrix": [ + [ + -0.46637162566185, + 0.030209045857191086, + 0.8840728402137756, + -6.178106784820557 + ], + [ + -0.8753833174705505, + 0.12804734706878662, + -0.4661630392074585, + -8.1261568069458 + ], + [ + -0.12728551030158997, + -0.9913078546524048, + -0.03327315300703049, + -2.1290338039398193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 390, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_442267656", + "mask_path": "../../mask/hdr_left_00390.png" + }, + { + "file_path": "../../rgb/hdr_left_00391.png", + "transform_matrix": [ + [ + -0.47201859951019287, + 0.023024307563900948, + 0.8812879323959351, + -6.207601547241211 + ], + [ + -0.8724353313446045, + 0.1314784288406372, + -0.4707120954990387, + -8.223758697509766 + ], + [ + -0.12670814990997314, + -0.9910516142845154, + -0.04197302833199501, + -2.1399762630462646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 391, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_542267799", + "mask_path": "../../mask/hdr_left_00391.png" + }, + { + "file_path": "../../rgb/hdr_left_00392.png", + "transform_matrix": [ + [ + -0.4725922644138336, + 0.022601863369345665, + 0.8809912800788879, + -6.231899261474609 + ], + [ + -0.871921956539154, + 0.13331271708011627, + -0.471147358417511, + -8.303715705871582 + ], + [ + -0.12809616327285767, + -0.9908162951469421, + -0.04329549893736839, + -2.1588923931121826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 392, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_642268180", + "mask_path": "../../mask/hdr_left_00392.png" + }, + { + "file_path": "../../rgb/hdr_left_00393.png", + "transform_matrix": [ + [ + -0.47251662611961365, + 0.027581941336393356, + 0.8808900713920593, + -6.259270668029785 + ], + [ + -0.872408390045166, + 0.12715475261211395, + -0.47194838523864746, + -8.38428020477295 + ], + [ + -0.12502658367156982, + -0.9914993047714233, + -0.03602001070976257, + -2.1864333152770996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 393, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_742267847", + "mask_path": "../../mask/hdr_left_00393.png" + }, + { + "file_path": "../../rgb/hdr_left_00394.png", + "transform_matrix": [ + [ + -0.4774344563484192, + 0.029771341010928154, + 0.8781628012657166, + -6.296600818634033 + ], + [ + -0.8690701127052307, + 0.13131193816661835, + -0.47694268822669983, + -8.474294662475586 + ], + [ + -0.1295124739408493, + -0.9908939599990845, + -0.0368194654583931, + -2.196131944656372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 394, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_842267751", + "mask_path": "../../mask/hdr_left_00394.png" + }, + { + "file_path": "../../rgb/hdr_left_00395.png", + "transform_matrix": [ + [ + -0.48594385385513306, + 0.030346395447850227, + 0.8734630346298218, + -6.33254337310791 + ], + [ + -0.863792359828949, + 0.13554663956165314, + -0.48527297377586365, + -8.552528381347656 + ], + [ + -0.13312123715877533, + -0.9903061389923096, + -0.03965507075190544, + -2.19940185546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 395, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_942267656", + "mask_path": "../../mask/hdr_left_00395.png" + }, + { + "file_path": "../../rgb/hdr_left_00396.png", + "transform_matrix": [ + [ + -0.49831724166870117, + 0.03205837681889534, + 0.8664017915725708, + -6.357374668121338 + ], + [ + -0.8572326898574829, + 0.13132019340991974, + -0.49790260195732117, + -8.618298530578613 + ], + [ + -0.12973801791667938, + -0.9908215999603271, + -0.03795761987566948, + -2.2049121856689453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 396, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_42268276", + "mask_path": "../../mask/hdr_left_00396.png" + }, + { + "file_path": "../../rgb/hdr_left_00397.png", + "transform_matrix": [ + [ + -0.5092434883117676, + 0.02626187726855278, + 0.8602216839790344, + -6.390704154968262 + ], + [ + -0.8514973521232605, + 0.12979339063167572, + -0.5080412030220032, + -8.706693649291992 + ], + [ + -0.1249932274222374, + -0.9911933541297913, + -0.043734513223171234, + -2.2300992012023926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 397, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_142267227", + "mask_path": "../../mask/hdr_left_00397.png" + }, + { + "file_path": "../../rgb/hdr_left_00398.png", + "transform_matrix": [ + [ + -0.508299708366394, + 0.021399177610874176, + 0.8609142899513245, + -6.418694972991943 + ], + [ + -0.8516611456871033, + 0.13573616743087769, + -0.5062103867530823, + -8.800936698913574 + ], + [ + -0.1276896744966507, + -0.9905139207839966, + -0.05076979845762253, + -2.2521417140960693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 398, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_242268323", + "mask_path": "../../mask/hdr_left_00398.png" + }, + { + "file_path": "../../rgb/hdr_left_00399.png", + "transform_matrix": [ + [ + -0.5003944039344788, + 0.023474592715501785, + 0.8654792904853821, + -6.433779239654541 + ], + [ + -0.8560328483581543, + 0.13629531860351562, + -0.4986295700073242, + -8.884416580200195 + ], + [ + -0.12966588139533997, + -0.9903901219367981, + -0.048106394708156586, + -2.2680273056030273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 399, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_342268705", + "mask_path": "../../mask/hdr_left_00399.png" + }, + { + "file_path": "../../rgb/hdr_left_00400.png", + "transform_matrix": [ + [ + -0.4917011260986328, + 0.030863318592309952, + 0.8702168464660645, + -6.45217752456665 + ], + [ + -0.8611792922019958, + 0.1306348443031311, + -0.4912277162075043, + -8.9739351272583 + ], + [ + -0.1288415640592575, + -0.9909500479698181, + -0.03765444830060005, + -2.2937824726104736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 400, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_442267417", + "mask_path": "../../mask/hdr_left_00400.png" + }, + { + "file_path": "../../rgb/hdr_left_00401.png", + "transform_matrix": [ + [ + -0.49302297830581665, + 0.03437711298465729, + 0.8693368434906006, + -6.47170877456665 + ], + [ + -0.8587937951087952, + 0.1407453566789627, + -0.49260932207107544, + -9.063668251037598 + ], + [ + -0.13928958773612976, + -0.9894488453865051, + -0.0398678295314312, + -2.304365873336792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 401, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_542268514", + "mask_path": "../../mask/hdr_left_00401.png" + }, + { + "file_path": "../../rgb/hdr_left_00402.png", + "transform_matrix": [ + [ + -0.50020432472229, + 0.03735186532139778, + 0.8651013970375061, + -6.495451927185059 + ], + [ + -0.8535513877868652, + 0.14690490067005157, + -0.49986889958381653, + -9.144332885742188 + ], + [ + -0.14575865864753723, + -0.9884451627731323, + -0.04160073399543762, + -2.301234483718872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 402, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_642268657", + "mask_path": "../../mask/hdr_left_00402.png" + }, + { + "file_path": "../../rgb/hdr_left_00403.png", + "transform_matrix": [ + [ + -0.5094950199127197, + 0.04133375734090805, + 0.8594801425933838, + -6.514254093170166 + ], + [ + -0.8485890030860901, + 0.14130039513111115, + -0.5098341703414917, + -9.2178316116333 + ], + [ + -0.14251826703548431, + -0.9891035556793213, + -0.03691647946834564, + -2.3071107864379883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 403, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_742268562", + "mask_path": "../../mask/hdr_left_00403.png" + }, + { + "file_path": "../../rgb/hdr_left_00404.png", + "transform_matrix": [ + [ + -0.5170360803604126, + 0.03459290415048599, + 0.8552642464637756, + -6.5454607009887695 + ], + [ + -0.8446599245071411, + 0.14122731983661652, + -0.5163376331329346, + -9.32004451751709 + ], + [ + -0.13864828646183014, + -0.9893726706504822, + -0.04380037263035774, + -2.3301525115966797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 404, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_842267513", + "mask_path": "../../mask/hdr_left_00404.png" + }, + { + "file_path": "../../rgb/hdr_left_00405.png", + "transform_matrix": [ + [ + -0.5185332298278809, + 0.029526585713028908, + 0.8545475602149963, + -6.574215412139893 + ], + [ + -0.8433305621147156, + 0.14729121327400208, + -0.5168160200119019, + -9.415374755859375 + ], + [ + -0.14112715423107147, + -0.9886523485183716, + -0.05147469788789749, + -2.3569259643554688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 405, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_942267417", + "mask_path": "../../mask/hdr_left_00405.png" + }, + { + "file_path": "../../rgb/hdr_left_00406.png", + "transform_matrix": [ + [ + -0.5164762735366821, + 0.03331291303038597, + 0.8556532859802246, + -6.592373371124268 + ], + [ + -0.8444864749908447, + 0.14560438692569733, + -0.5154047012329102, + -9.494585037231445 + ], + [ + -0.14175650477409363, + -0.9887819290161133, + -0.04706891253590584, + -2.375054359436035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 406, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_42267322", + "mask_path": "../../mask/hdr_left_00406.png" + }, + { + "file_path": "../../rgb/hdr_left_00407.png", + "transform_matrix": [ + [ + -0.5157358050346375, + 0.04229935258626938, + 0.8557027578353882, + -6.6194000244140625 + ], + [ + -0.8441193103790283, + 0.14576628804206848, + -0.5159599781036377, + -9.579890251159668 + ], + [ + -0.14655740559101105, + -0.9884144067764282, + -0.03947120159864426, + -2.398991584777832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 407, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_142267704", + "mask_path": "../../mask/hdr_left_00407.png" + }, + { + "file_path": "../../rgb/hdr_left_00408.png", + "transform_matrix": [ + [ + -0.5211590528488159, + 0.043209973722696304, + 0.8523649573326111, + -6.656670093536377 + ], + [ + -0.8397377133369446, + 0.15240739285945892, + -0.52116459608078, + -9.660943031311035 + ], + [ + -0.15242622792720795, + -0.9873727560043335, + -0.04314344748854637, + -2.40850567817688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 408, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_242267131", + "mask_path": "../../mask/hdr_left_00408.png" + }, + { + "file_path": "../../rgb/hdr_left_00409.png", + "transform_matrix": [ + [ + -0.5298477411270142, + 0.04315477982163429, + 0.8469941020011902, + -6.691201210021973 + ], + [ + -0.8341564536094666, + 0.1537892073392868, + -0.5296526551246643, + -9.728728294372559 + ], + [ + -0.15311558544635773, + -0.987160861492157, + -0.045487016439437866, + -2.416386127471924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 409, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_342267513", + "mask_path": "../../mask/hdr_left_00409.png" + }, + { + "file_path": "../../rgb/hdr_left_00410.png", + "transform_matrix": [ + [ + -0.541484534740448, + 0.04475382715463638, + 0.839518666267395, + -6.722040176391602 + ], + [ + -0.8270162343978882, + 0.15114755928516388, + -0.541478157043457, + -9.795114517211914 + ], + [ + -0.15112441778182983, + -0.9874976873397827, + -0.044831935316324234, + -2.4263036251068115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 410, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_442266941", + "mask_path": "../../mask/hdr_left_00410.png" + }, + { + "file_path": "../../rgb/hdr_left_00411.png", + "transform_matrix": [ + [ + -0.5490413308143616, + 0.04016612842679024, + 0.8348295092582703, + -6.765012264251709 + ], + [ + -0.8210121393203735, + 0.16111329197883606, + -0.5477056503295898, + -9.885086059570312 + ], + [ + -0.15650135278701782, + -0.9861182570457458, + -0.055480971932411194, + -2.455759286880493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 411, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_542268991", + "mask_path": "../../mask/hdr_left_00411.png" + }, + { + "file_path": "../../rgb/hdr_left_00412.png", + "transform_matrix": [ + [ + -0.5507088899612427, + 0.03710079938173294, + 0.8338724374771118, + -6.799280166625977 + ], + [ + -0.817389965057373, + 0.1784122884273529, + -0.5477614998817444, + -9.966160774230957 + ], + [ + -0.1690954715013504, + -0.9832561016082764, + -0.06792740523815155, + -2.4863085746765137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 412, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_642267465", + "mask_path": "../../mask/hdr_left_00412.png" + }, + { + "file_path": "../../rgb/hdr_left_00413.png", + "transform_matrix": [ + [ + -0.5486240983009338, + 0.04055948555469513, + 0.8350847363471985, + -6.822105407714844 + ], + [ + -0.8177115321159363, + 0.1821269541978836, + -0.54605633020401, + -10.03433895111084 + ], + [ + -0.17423918843269348, + -0.9824382066726685, + -0.06675326824188232, + -2.505458354949951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 413, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_742268085", + "mask_path": "../../mask/hdr_left_00413.png" + }, + { + "file_path": "../../rgb/hdr_left_00414.png", + "transform_matrix": [ + [ + -0.5451695322990417, + 0.05358237400650978, + 0.8366116285324097, + -6.858675003051758 + ], + [ + -0.8184167742729187, + 0.18217992782592773, + -0.5449811220169067, + -10.11336612701416 + ], + [ + -0.1816152185201645, + -0.9818041920661926, + -0.05546623468399048, + -2.5336201190948486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 414, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_842267513", + "mask_path": "../../mask/hdr_left_00414.png" + }, + { + "file_path": "../../rgb/hdr_left_00415.png", + "transform_matrix": [ + [ + -0.5456379652023315, + 0.06287223845720291, + 0.8356592059135437, + -6.898752689361572 + ], + [ + -0.8139744400978088, + 0.19740325212478638, + -0.546330988407135, + -10.192463874816895 + ], + [ + -0.19931088387966156, + -0.9783042669296265, + -0.0565342903137207, + -2.566579580307007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 415, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_942267656", + "mask_path": "../../mask/hdr_left_00415.png" + }, + { + "file_path": "../../rgb/hdr_left_00416.png", + "transform_matrix": [ + [ + -0.549813985824585, + 0.07000289857387543, + 0.8323485255241394, + -6.931198596954346 + ], + [ + -0.8084229230880737, + 0.20609110593795776, + -0.5513426661491394, + -10.256298065185547 + ], + [ + -0.21013520658016205, + -0.9760257601737976, + -0.0567198172211647, + -2.588672637939453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 416, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_42267560", + "mask_path": "../../mask/hdr_left_00416.png" + }, + { + "file_path": "../../rgb/hdr_left_00417.png", + "transform_matrix": [ + [ + -0.5559734106063843, + 0.07583308219909668, + 0.8277336359024048, + -6.957730770111084 + ], + [ + -0.8040798306465149, + 0.2032345086336136, + -0.5587050318717957, + -10.321844100952148 + ], + [ + -0.2105923444032669, + -0.976189136505127, + -0.05201711878180504, + -2.60337495803833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 417, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_142267704", + "mask_path": "../../mask/hdr_left_00417.png" + }, + { + "file_path": "../../rgb/hdr_left_00418.png", + "transform_matrix": [ + [ + -0.5628566741943359, + 0.07111059129238129, + 0.8234900236129761, + -6.996931552886963 + ], + [ + -0.7992433905601501, + 0.2071669101715088, + -0.5641735792160034, + -10.410990715026855 + ], + [ + -0.2107185572385788, + -0.9757177829742432, + -0.05977059528231621, + -2.6325745582580566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 418, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_242267847", + "mask_path": "../../mask/hdr_left_00418.png" + }, + { + "file_path": "../../rgb/hdr_left_00419.png", + "transform_matrix": [ + [ + -0.5673555135726929, + 0.06754158437252045, + 0.8206983804702759, + -7.031869411468506 + ], + [ + -0.7958803772926331, + 0.21085461974143982, + -0.5675514936447144, + -10.49557113647461 + ], + [ + -0.21138137578964233, + -0.9751812219619751, + -0.06587450951337814, + -2.654984951019287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 419, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_342268705", + "mask_path": "../../mask/hdr_left_00419.png" + }, + { + "file_path": "../../rgb/hdr_left_00420.png", + "transform_matrix": [ + [ + -0.5686193108558655, + 0.07059494405984879, + 0.8195660710334778, + -7.055315017700195 + ], + [ + -0.7957115769386292, + 0.20545068383216858, + -0.5697658658027649, + -10.568888664245605 + ], + [ + -0.20860297977924347, + -0.9761180877685547, + -0.06065000593662262, + -2.669475793838501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 420, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_442268371", + "mask_path": "../../mask/hdr_left_00420.png" + }, + { + "file_path": "../../rgb/hdr_left_00421.png", + "transform_matrix": [ + [ + -0.5670593976974487, + 0.07601775974035263, + 0.8201615214347839, + -7.087655544281006 + ], + [ + -0.7976564764976501, + 0.1976197510957718, + -0.5698161125183105, + -10.65060043334961 + ], + [ + -0.20539624989032745, + -0.9773268699645996, + -0.05142607167363167, + -2.697956085205078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 421, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_542268753", + "mask_path": "../../mask/hdr_left_00421.png" + }, + { + "file_path": "../../rgb/hdr_left_00422.png", + "transform_matrix": [ + [ + -0.5704989433288574, + 0.09443807601928711, + 0.8158507347106934, + -7.120104789733887 + ], + [ + -0.789729654788971, + 0.20968665182590485, + -0.5765054225921631, + -10.728339195251465 + ], + [ + -0.22551704943180084, + -0.9731972813606262, + -0.04504546895623207, + -2.712540626525879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 422, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_642268180", + "mask_path": "../../mask/hdr_left_00422.png" + }, + { + "file_path": "../../rgb/hdr_left_00423.png", + "transform_matrix": [ + [ + -0.5779191851615906, + 0.09492677450180054, + 0.8105542659759521, + -7.155959606170654 + ], + [ + -0.784028947353363, + 0.2110915333032608, + -0.5837284326553345, + -10.79527473449707 + ], + [ + -0.2265125960111618, + -0.9728460907936096, + -0.04756849259138107, + -2.7121806144714355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 423, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_742268323", + "mask_path": "../../mask/hdr_left_00423.png" + }, + { + "file_path": "../../rgb/hdr_left_00424.png", + "transform_matrix": [ + [ + -0.5847549438476562, + 0.0887424498796463, + 0.8063413500785828, + -7.193787097930908 + ], + [ + -0.781904935836792, + 0.20309829711914062, + -0.5893858671188354, + -10.85971736907959 + ], + [ + -0.21607010066509247, + -0.975128710269928, + -0.049374569207429886, + -2.7298977375030518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 424, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_842268466", + "mask_path": "../../mask/hdr_left_00424.png" + }, + { + "file_path": "../../rgb/hdr_left_00425.png", + "transform_matrix": [ + [ + -0.5917524695396423, + 0.08501695096492767, + 0.801624059677124, + -7.239840507507324 + ], + [ + -0.7804743647575378, + 0.18841001391410828, + -0.5961219072341919, + -10.94149398803711 + ], + [ + -0.20171445608139038, + -0.9784037470817566, + -0.045138534158468246, + -2.758452892303467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 425, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_942271709", + "mask_path": "../../mask/hdr_left_00425.png" + }, + { + "file_path": "../../rgb/hdr_left_00426.png", + "transform_matrix": [ + [ + -0.5938277244567871, + 0.07727646082639694, + 0.8008726835250854, + -7.285186767578125 + ], + [ + -0.7821288108825684, + 0.1781189739704132, + -0.5971164107322693, + -11.026039123535156 + ], + [ + -0.18879364430904388, + -0.980970025062561, + -0.04533183202147484, + -2.772102117538452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 426, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_42264938", + "mask_path": "../../mask/hdr_left_00426.png" + }, + { + "file_path": "../../rgb/hdr_left_00427.png", + "transform_matrix": [ + [ + -0.5921876430511475, + 0.07509712129831314, + 0.802293062210083, + -7.318571090698242 + ], + [ + -0.7860457301139832, + 0.16527269780635834, + -0.5956652164459229, + -11.105363845825195 + ], + [ + -0.1773298680782318, + -0.9833846688270569, + -0.03884267061948776, + -2.7817468643188477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 427, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_142264842", + "mask_path": "../../mask/hdr_left_00427.png" + }, + { + "file_path": "../../rgb/hdr_left_00428.png", + "transform_matrix": [ + [ + -0.5904908776283264, + 0.07851545512676239, + 0.8032159209251404, + -7.359050750732422 + ], + [ + -0.7894531488418579, + 0.150470569729805, + -0.5950817465782166, + -11.186365127563477 + ], + [ + -0.16758345067501068, + -0.9854917526245117, + -0.026867225766181946, + -2.8037567138671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 428, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_242266893", + "mask_path": "../../mask/hdr_left_00428.png" + }, + { + "file_path": "../../rgb/hdr_left_00429.png", + "transform_matrix": [ + [ + -0.5949349999427795, + 0.07890647649765015, + 0.7998912334442139, + -7.408799648284912 + ], + [ + -0.7873402237892151, + 0.14299675822257996, + -0.5997059941291809, + -11.269587516784668 + ], + [ + -0.16170252859592438, + -0.9865727424621582, + -0.022947533056139946, + -2.810204029083252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 429, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_342267274", + "mask_path": "../../mask/hdr_left_00429.png" + }, + { + "file_path": "../../rgb/hdr_left_00430.png", + "transform_matrix": [ + [ + -0.6035521626472473, + 0.07760860025882721, + 0.793537437915802, + -7.450541973114014 + ], + [ + -0.7819284200668335, + 0.13701964914798737, + -0.6081230640411377, + -11.343023300170898 + ], + [ + -0.15592579543590546, + -0.9875234961509705, + -0.022014137357473373, + -2.8123281002044678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 430, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_442266941", + "mask_path": "../../mask/hdr_left_00430.png" + }, + { + "file_path": "../../rgb/hdr_left_00431.png", + "transform_matrix": [ + [ + -0.6163296103477478, + 0.07052219659090042, + 0.7843241691589355, + -7.487417221069336 + ], + [ + -0.7740886211395264, + 0.12869621813297272, + -0.6198580861091614, + -11.413592338562012 + ], + [ + -0.1446532905101776, + -0.989173412322998, + -0.024728849530220032, + -2.8182079792022705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 431, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_542266607", + "mask_path": "../../mask/hdr_left_00431.png" + }, + { + "file_path": "../../rgb/hdr_left_00432.png", + "transform_matrix": [ + [ + -0.6236172318458557, + 0.05899322032928467, + 0.7795006632804871, + -7.5343170166015625 + ], + [ + -0.7695949077606201, + 0.1286829560995102, + -0.6254312992095947, + -11.50463581085205 + ], + [ + -0.13720464706420898, + -0.9899296164512634, + -0.03484801948070526, + -2.8337602615356445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 432, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_642266988", + "mask_path": "../../mask/hdr_left_00432.png" + }, + { + "file_path": "../../rgb/hdr_left_00433.png", + "transform_matrix": [ + [ + -0.6245792508125305, + 0.05389175936579704, + 0.7790998220443726, + -7.572488307952881 + ], + [ + -0.7694789171218872, + 0.1279764324426651, + -0.6257189512252808, + -11.589903831481934 + ], + [ + -0.1334274858236313, + -0.9903119802474976, + -0.03846284747123718, + -2.8511364459991455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 433, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_742266893", + "mask_path": "../../mask/hdr_left_00433.png" + }, + { + "file_path": "../../rgb/hdr_left_00434.png", + "transform_matrix": [ + [ + -0.6225120425224304, + 0.05579004064202309, + 0.7806191444396973, + -7.599555015563965 + ], + [ + -0.7721366286277771, + 0.1188560426235199, + -0.6242421269416809, + -11.668149948120117 + ], + [ + -0.1276078075170517, + -0.9913429021835327, + -0.030911779031157494, + -2.8634002208709717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 434, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_842268705", + "mask_path": "../../mask/hdr_left_00434.png" + }, + { + "file_path": "../../rgb/hdr_left_00435.png", + "transform_matrix": [ + [ + -0.622446596622467, + 0.06187593936920166, + 0.7802125215530396, + -7.638118743896484 + ], + [ + -0.7718986868858337, + 0.11622457206249237, + -0.6250313520431519, + -11.753593444824219 + ], + [ + -0.12935426831245422, + -0.991293728351593, + -0.024581633508205414, + -2.878171443939209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 435, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_942266941", + "mask_path": "../../mask/hdr_left_00435.png" + }, + { + "file_path": "../../rgb/hdr_left_00436.png", + "transform_matrix": [ + [ + -0.628724217414856, + 0.06209680438041687, + 0.7751450538635254, + -7.687672138214111 + ], + [ + -0.7668193578720093, + 0.1161133348941803, + -0.631273090839386, + -11.83320140838623 + ], + [ + -0.12920470535755157, + -0.9912929534912109, + -0.025386225432157516, + -2.878207206726074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 436, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_42268037", + "mask_path": "../../mask/hdr_left_00436.png" + }, + { + "file_path": "../../rgb/hdr_left_00437.png", + "transform_matrix": [ + [ + -0.6380599737167358, + 0.05998092517256737, + 0.767646849155426, + -7.7286295890808105 + ], + [ + -0.7600259780883789, + 0.11077945679426193, + -0.6403815150260925, + -11.901384353637695 + ], + [ + -0.12345016002655029, + -0.9920334815979004, + -0.02509688027203083, + -2.879462957382202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 437, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_142267227", + "mask_path": "../../mask/hdr_left_00437.png" + }, + { + "file_path": "../../rgb/hdr_left_00438.png", + "transform_matrix": [ + [ + -0.6505385637283325, + 0.05283309891819954, + 0.7576332688331604, + -7.7756266593933105 + ], + [ + -0.750918447971344, + 0.1045624315738678, + -0.6520645022392273, + -11.972744941711426 + ], + [ + -0.11367055773735046, + -0.9931139945983887, + -0.028348540887236595, + -2.8898324966430664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 438, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_242268085", + "mask_path": "../../mask/hdr_left_00438.png" + }, + { + "file_path": "../../rgb/hdr_left_00439.png", + "transform_matrix": [ + [ + -0.6548319458961487, + 0.04704807326197624, + 0.7543086409568787, + -7.829496383666992 + ], + [ + -0.747230052947998, + 0.109349824488163, + -0.6555073261260986, + -12.058225631713867 + ], + [ + -0.1133238673210144, + -0.9928892850875854, + -0.036450017243623734, + -2.905700206756592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 439, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_342267751", + "mask_path": "../../mask/hdr_left_00439.png" + }, + { + "file_path": "../../rgb/hdr_left_00440.png", + "transform_matrix": [ + [ + -0.6541149020195007, + 0.04558028653264046, + 0.7550204992294312, + -7.867519378662109 + ], + [ + -0.7476954460144043, + 0.11199243366718292, + -0.6545297503471375, + -12.137643814086914 + ], + [ + -0.11439023911952972, + -0.9926632046699524, + -0.039175745099782944, + -2.9216830730438232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 440, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_442267894", + "mask_path": "../../mask/hdr_left_00440.png" + }, + { + "file_path": "../../rgb/hdr_left_00441.png", + "transform_matrix": [ + [ + -0.6544407606124878, + 0.04777896776795387, + 0.7546022534370422, + -7.896413803100586 + ], + [ + -0.7479138970375061, + 0.1056705191731453, + -0.6553308367729187, + -12.211629867553711 + ], + [ + -0.11105023324489594, + -0.9932527542114258, + -0.03342052549123764, + -2.933870553970337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 441, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_542266845", + "mask_path": "../../mask/hdr_left_00441.png" + }, + { + "file_path": "../../rgb/hdr_left_00442.png", + "transform_matrix": [ + [ + -0.6675894856452942, + 0.05700699985027313, + 0.7423437833786011, + -7.943106651306152 + ], + [ + -0.7352625131607056, + 0.10634433478116989, + -0.6693878173828125, + -12.28228759765625 + ], + [ + -0.11710383743047714, + -0.9926939010620117, + -0.029079241678118706, + -2.9472880363464355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 442, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_642267465", + "mask_path": "../../mask/hdr_left_00442.png" + }, + { + "file_path": "../../rgb/hdr_left_00443.png", + "transform_matrix": [ + [ + -0.6914931535720825, + 0.05688061937689781, + 0.7201402187347412, + -7.9993767738342285 + ], + [ + -0.7124290466308594, + 0.11122365295886993, + -0.6928737759590149, + -12.33812427520752 + ], + [ + -0.11950771510601044, + -0.9921663403511047, + -0.036386970430612564, + -2.9490370750427246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 443, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_742267608", + "mask_path": "../../mask/hdr_left_00443.png" + }, + { + "file_path": "../../rgb/hdr_left_00444.png", + "transform_matrix": [ + [ + -0.7209243774414062, + 0.055444180965423584, + 0.6907923221588135, + -8.041608810424805 + ], + [ + -0.6834785342216492, + 0.10790038853883743, + -0.7219519019126892, + -12.376557350158691 + ], + [ + -0.11456479877233505, + -0.9926145076751709, + -0.039893101900815964, + -2.9475691318511963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 444, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_842267751", + "mask_path": "../../mask/hdr_left_00444.png" + }, + { + "file_path": "../../rgb/hdr_left_00446.png", + "transform_matrix": [ + [ + -0.7928842902183533, + 0.05354218930006027, + 0.6070152521133423, + -8.122689247131348 + ], + [ + -0.600104033946991, + 0.10446503013372421, + -0.7930713891983032, + -12.440629959106445 + ], + [ + -0.10587462782859802, + -0.9930862784385681, + -0.05069780349731445, + -2.9519636631011963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 446, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_42268037", + "mask_path": "../../mask/hdr_left_00446.png" + }, + { + "file_path": "../../rgb/hdr_left_00447.png", + "transform_matrix": [ + [ + -0.8219089508056641, + 0.05020161718130112, + 0.5674022436141968, + -8.160998344421387 + ], + [ + -0.5601410269737244, + 0.10972310602664948, + -0.8210985660552979, + -12.466830253601074 + ], + [ + -0.10347761958837509, + -0.9926936626434326, + -0.06206241622567177, + -2.963351011276245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 447, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_142267227", + "mask_path": "../../mask/hdr_left_00447.png" + }, + { + "file_path": "../../rgb/hdr_left_00449.png", + "transform_matrix": [ + [ + -0.8710929155349731, + 0.045305389910936356, + 0.4890240728855133, + -8.212594985961914 + ], + [ + -0.4818057715892792, + 0.11415344476699829, + -0.868810772895813, + -12.499443054199219 + ], + [ + -0.09518558531999588, + -0.9924296140670776, + -0.07760985940694809, + -2.980264663696289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 449, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_342266798", + "mask_path": "../../mask/hdr_left_00449.png" + }, + { + "file_path": "../../rgb/hdr_left_00451.png", + "transform_matrix": [ + [ + -0.9208285212516785, + 0.05740226060152054, + 0.38571980595588684, + -8.27302360534668 + ], + [ + -0.3776663839817047, + 0.11520417034626007, + -0.9187470078468323, + -12.520275115966797 + ], + [ + -0.09717467427253723, + -0.9916819334030151, + -0.08440438657999039, + -2.988110065460205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 451, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_542267322", + "mask_path": "../../mask/hdr_left_00451.png" + }, + { + "file_path": "../../rgb/hdr_left_00453.png", + "transform_matrix": [ + [ + -0.9672152996063232, + 0.06901101768016815, + 0.24440151453018188, + -8.343517303466797 + ], + [ + -0.23643240332603455, + 0.10661159455776215, + -0.9657813906669617, + -12.503486633300781 + ], + [ + -0.09270558506250381, + -0.9919030070304871, + -0.08679991215467453, + -2.9878053665161133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 453, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_742268800", + "mask_path": "../../mask/hdr_left_00453.png" + }, + { + "file_path": "../../rgb/hdr_left_00455.png", + "transform_matrix": [ + [ + -0.9927120804786682, + 0.07497768849134445, + 0.09434537589550018, + -8.423144340515137 + ], + [ + -0.08615700155496597, + 0.10581564903259277, + -0.9906463027000427, + -12.480111122131348 + ], + [ + -0.08425958454608917, + -0.9915550947189331, + -0.0985846146941185, + -2.9875106811523438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 455, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_942267894", + "mask_path": "../../mask/hdr_left_00455.png" + }, + { + "file_path": "../../rgb/hdr_left_00457.png", + "transform_matrix": [ + [ + -0.9956656098365784, + 0.07830006629228592, + -0.0501900240778923, + -8.48058032989502 + ], + [ + 0.05849045515060425, + 0.10759514570236206, + -0.9924727082252502, + -12.43624496459961 + ], + [ + -0.07231046259403229, + -0.9911066889762878, + -0.11170859634876251, + -2.9990200996398926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 457, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638845_142267704", + "mask_path": "../../mask/hdr_left_00457.png" + }, + { + "file_path": "../../rgb/hdr_left_00465.png", + "transform_matrix": [ + [ + -0.7562189102172852, + 0.11609204858541489, + -0.6439374685287476, + -8.641307830810547 + ], + [ + 0.6523918509483337, + 0.05830821022391319, + -0.7556355595588684, + -12.113081932067871 + ], + [ + -0.050176430493593216, + -0.9915254712104797, + -0.11983128637075424, + -3.0259945392608643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 465, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638845_942268610", + "mask_path": "../../mask/hdr_left_00465.png" + }, + { + "file_path": "../../rgb/hdr_left_00466.png", + "transform_matrix": [ + [ + -0.6990353465080261, + 0.11525663733482361, + -0.7057374715805054, + -8.658626556396484 + ], + [ + 0.7135228514671326, + 0.04717924818396568, + -0.6990417838096619, + -12.065195083618164 + ], + [ + -0.04727303236722946, + -0.9922147989273071, + -0.11521818488836288, + -3.022482395172119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 466, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638846_42267560", + "mask_path": "../../mask/hdr_left_00466.png" + }, + { + "file_path": "../../rgb/hdr_left_00468.png", + "transform_matrix": [ + [ + -0.5763720870018005, + 0.11305476725101471, + -0.8093291521072388, + -8.658853530883789 + ], + [ + 0.8162500858306885, + 0.03222823143005371, + -0.5767990350723267, + -11.99185562133789 + ], + [ + -0.039126623421907425, + -0.9930659532546997, + -0.11085640639066696, + -3.0298874378204346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 468, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638846_242267608", + "mask_path": "../../mask/hdr_left_00468.png" + }, + { + "file_path": "../../rgb/hdr_left_00472.png", + "transform_matrix": [ + [ + -0.5245490670204163, + 0.11755716800689697, + -0.8432250022888184, + -8.770820617675781 + ], + [ + 0.849010169506073, + -0.001621493836864829, + -0.5283739566802979, + -11.810547828674316 + ], + [ + -0.06348142772912979, + -0.993064820766449, + -0.09895666688680649, + -3.071498155593872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 472, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638846_642266750", + "mask_path": "../../mask/hdr_left_00472.png" + }, + { + "file_path": "../../rgb/hdr_left_00473.png", + "transform_matrix": [ + [ + -0.5194821953773499, + 0.11599050462245941, + -0.8465721607208252, + -8.801664352416992 + ], + [ + 0.8517124652862549, + -0.009403380565345287, + -0.5239248871803284, + -11.758106231689453 + ], + [ + -0.06873095035552979, + -0.9932058453559875, + -0.09390568733215332, + -3.0698206424713135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 473, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638846_742267847", + "mask_path": "../../mask/hdr_left_00473.png" + }, + { + "file_path": "../../rgb/hdr_left_00475.png", + "transform_matrix": [ + [ + -0.499862402677536, + 0.11631155014038086, + -0.8582593202590942, + -8.85775089263916 + ], + [ + 0.8625778555870056, + -0.022483306005597115, + -0.5054244995117188, + -11.65203857421875 + ], + [ + -0.07808321714401245, + -0.9929583668708801, + -0.08908919245004654, + -3.092203378677368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 475, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638846_942267656", + "mask_path": "../../mask/hdr_left_00475.png" + }, + { + "file_path": "../../rgb/hdr_left_00476.png", + "transform_matrix": [ + [ + -0.5017925500869751, + 0.13220302760601044, + -0.854825496673584, + -8.90367317199707 + ], + [ + 0.8600045442581177, + -0.029678085818886757, + -0.5094226002693176, + -11.586156845092773 + ], + [ + -0.09271679073572159, + -0.9907783269882202, + -0.09880294650793076, + -3.1125519275665283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 476, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_42267560", + "mask_path": "../../mask/hdr_left_00476.png" + }, + { + "file_path": "../../rgb/hdr_left_00477.png", + "transform_matrix": [ + [ + -0.5053234696388245, + 0.14184784889221191, + -0.8511916399002075, + -8.94193172454834 + ], + [ + 0.8568417429924011, + -0.03448544815182686, + -0.514424741268158, + -11.533626556396484 + ], + [ + -0.1023237556219101, + -0.9892876744270325, + -0.10411485284566879, + -3.136613368988037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 477, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_142267942", + "mask_path": "../../mask/hdr_left_00477.png" + }, + { + "file_path": "../../rgb/hdr_left_00478.png", + "transform_matrix": [ + [ + -0.5083068609237671, + 0.1371927708387375, + -0.8501777648925781, + -8.991433143615723 + ], + [ + 0.8546386361122131, + -0.04104854166507721, + -0.5175979733467102, + -11.473453521728516 + ], + [ + -0.10590925067663193, + -0.9896935224533081, + -0.09638500213623047, + -3.159304141998291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 478, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_242267608", + "mask_path": "../../mask/hdr_left_00478.png" + }, + { + "file_path": "../../rgb/hdr_left_00479.png", + "transform_matrix": [ + [ + -0.5093695521354675, + 0.1341954618692398, + -0.8500201106071472, + -9.053326606750488 + ], + [ + 0.851631224155426, + -0.06321649253368378, + -0.5203151702880859, + -11.400983810424805 + ], + [ + -0.12355921417474747, + -0.9889365434646606, + -0.08208449184894562, + -3.183137893676758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 479, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_342268466", + "mask_path": "../../mask/hdr_left_00479.png" + }, + { + "file_path": "../../rgb/hdr_left_00480.png", + "transform_matrix": [ + [ + -0.5049598217010498, + 0.1372343897819519, + -0.8521632552146912, + -9.100831031799316 + ], + [ + 0.8517741560935974, + -0.08048231154680252, + -0.5176903605461121, + -11.342962265014648 + ], + [ + -0.13962897658348083, + -0.9872636198997498, + -0.07625236362218857, + -3.2000772953033447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 480, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_442269325", + "mask_path": "../../mask/hdr_left_00480.png" + }, + { + "file_path": "../../rgb/hdr_left_00481.png", + "transform_matrix": [ + [ + -0.4973715543746948, + 0.13377690315246582, + -0.8571611046791077, + -9.137897491455078 + ], + [ + 0.8549646139144897, + -0.09201973676681519, + -0.5104584693908691, + -11.300271987915039 + ], + [ + -0.1471632868051529, + -0.9867300391197205, + -0.06860651820898056, + -3.2202420234680176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 481, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_542268037", + "mask_path": "../../mask/hdr_left_00481.png" + }, + { + "file_path": "../../rgb/hdr_left_00482.png", + "transform_matrix": [ + [ + -0.4907410144805908, + 0.13383235037326813, + -0.8609658479690552, + -9.206562042236328 + ], + [ + 0.8587211966514587, + -0.09304581582546234, + -0.5039250254631042, + -11.237112045288086 + ], + [ + -0.14755073189735413, + -0.9866262674331665, + -0.0692632645368576, + -3.2458221912384033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 482, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_642267227", + "mask_path": "../../mask/hdr_left_00482.png" + }, + { + "file_path": "../../rgb/hdr_left_00483.png", + "transform_matrix": [ + [ + -0.488618940114975, + 0.1386733055114746, + -0.8614065647125244, + -9.278197288513184 + ], + [ + 0.8587769269943237, + -0.09796073287725449, + -0.5028975009918213, + -11.173571586608887 + ], + [ + -0.1541224718093872, + -0.9854813814163208, + -0.07122395187616348, + -3.265197515487671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 483, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_742268562", + "mask_path": "../../mask/hdr_left_00483.png" + }, + { + "file_path": "../../rgb/hdr_left_00484.png", + "transform_matrix": [ + [ + -0.4899674355983734, + 0.13468122482299805, + -0.8612739443778992, + -9.327714920043945 + ], + [ + 0.8570769429206848, + -0.10602764040231705, + -0.5041598677635193, + -11.134930610656738 + ], + [ + -0.15921969711780548, + -0.9852001070976257, + -0.06348208338022232, + -3.284318208694458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 484, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_842267751", + "mask_path": "../../mask/hdr_left_00484.png" + }, + { + "file_path": "../../rgb/hdr_left_00485.png", + "transform_matrix": [ + [ + -0.4934133291244507, + 0.12391921132802963, + -0.8609223365783691, + -9.3850736618042 + ], + [ + 0.8547465205192566, + -0.11424075812101364, + -0.5063174962997437, + -11.100298881530762 + ], + [ + -0.16109487414360046, + -0.9856942296028137, + -0.049551595002412796, + -3.30791974067688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 485, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_942267894", + "mask_path": "../../mask/hdr_left_00485.png" + }, + { + "file_path": "../../rgb/hdr_left_00486.png", + "transform_matrix": [ + [ + -0.49079516530036926, + 0.12696775794029236, + -0.8619740605354309, + -9.453712463378906 + ], + [ + 0.8542339205741882, + -0.1245880052447319, + -0.5047398805618286, + -11.057990074157715 + ], + [ + -0.1714772880077362, + -0.9840513467788696, + -0.047312960028648376, + -3.327946662902832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 486, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_42268753", + "mask_path": "../../mask/hdr_left_00486.png" + }, + { + "file_path": "../../rgb/hdr_left_00487.png", + "transform_matrix": [ + [ + -0.48111942410469055, + 0.13279204070568085, + -0.8665392994880676, + -9.507120132446289 + ], + [ + 0.8579568266868591, + -0.1317395716905594, + -0.49654263257980347, + -11.008005142211914 + ], + [ + -0.1800944060087204, + -0.9823498129844666, + -0.05054736137390137, + -3.3411176204681396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 487, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_142268419", + "mask_path": "../../mask/hdr_left_00487.png" + }, + { + "file_path": "../../rgb/hdr_left_00488.png", + "transform_matrix": [ + [ + -0.46769794821739197, + 0.12965792417526245, + -0.8743268847465515, + -9.546548843383789 + ], + [ + 0.8658992052078247, + -0.13134227693080902, + -0.48266714811325073, + -10.953042984008789 + ], + [ + -0.17741768062114716, + -0.982821524143219, + -0.05084216967225075, + -3.3543355464935303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 488, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_242267608", + "mask_path": "../../mask/hdr_left_00488.png" + }, + { + "file_path": "../../rgb/hdr_left_00489.png", + "transform_matrix": [ + [ + -0.45212268829345703, + 0.13130894303321838, + -0.8822374939918518, + -9.598291397094727 + ], + [ + 0.8755507469177246, + -0.12349319458007812, + -0.46707624197006226, + -10.88818073272705 + ], + [ + -0.17028160393238068, + -0.9836195707321167, + -0.059133563190698624, + -3.3746869564056396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 489, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_342267990", + "mask_path": "../../mask/hdr_left_00489.png" + }, + { + "file_path": "../../rgb/hdr_left_00490.png", + "transform_matrix": [ + [ + -0.4422849416732788, + 0.1445583999156952, + -0.8851479291915894, + -9.667681694030762 + ], + [ + 0.8792943358421326, + -0.12455955892801285, + -0.45970258116722107, + -10.813661575317383 + ], + [ + -0.17670749127864838, + -0.9816250801086426, + -0.072018563747406, + -3.3983662128448486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 490, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_442267894", + "mask_path": "../../mask/hdr_left_00490.png" + }, + { + "file_path": "../../rgb/hdr_left_00491.png", + "transform_matrix": [ + [ + -0.43637755513191223, + 0.1525147259235382, + -0.8867433667182922, + -9.713041305541992 + ], + [ + 0.8807750344276428, + -0.1289944052696228, + -0.4556267261505127, + -10.761656761169434 + ], + [ + -0.1838746964931488, + -0.9798468351364136, + -0.07804090529680252, + -3.4187748432159424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 491, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_542267799", + "mask_path": "../../mask/hdr_left_00491.png" + }, + { + "file_path": "../../rgb/hdr_left_00492.png", + "transform_matrix": [ + [ + -0.4319627583026886, + 0.15635623037815094, + -0.8882346153259277, + -9.741679191589355 + ], + [ + 0.8831138014793396, + -0.12659303843975067, + -0.45175665616989136, + -10.714957237243652 + ], + [ + -0.18307927250862122, + -0.9795545339584351, + -0.08339686691761017, + -3.435427188873291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 492, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_642267465", + "mask_path": "../../mask/hdr_left_00492.png" + }, + { + "file_path": "../../rgb/hdr_left_00493.png", + "transform_matrix": [ + [ + -0.4282914400100708, + 0.14968682825565338, + -0.8911567330360413, + -9.779075622558594 + ], + [ + 0.8846172094345093, + -0.13183742761611938, + -0.44729316234588623, + -10.642289161682129 + ], + [ + -0.1844417005777359, + -0.9799044728279114, + -0.07595069706439972, + -3.462076187133789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 493, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_742266893", + "mask_path": "../../mask/hdr_left_00493.png" + }, + { + "file_path": "../../rgb/hdr_left_00494.png", + "transform_matrix": [ + [ + -0.4233705997467041, + 0.14911113679409027, + -0.8936011791229248, + -9.822118759155273 + ], + [ + 0.8856003880500793, + -0.13980154693126678, + -0.44290804862976074, + -10.570165634155273 + ], + [ + -0.1909693032503128, + -0.9788878560066223, + -0.07286501675844193, + -3.4804251194000244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 494, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_842267990", + "mask_path": "../../mask/hdr_left_00494.png" + }, + { + "file_path": "../../rgb/hdr_left_00495.png", + "transform_matrix": [ + [ + -0.4167093336582184, + 0.15451721847057343, + -0.8958112001419067, + -9.843209266662598 + ], + [ + 0.8884619474411011, + -0.13926146924495697, + -0.43731167912483215, + -10.511067390441895 + ], + [ + -0.19232414662837982, + -0.9781261682510376, + -0.07925111800432205, + -3.4887237548828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 495, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_942267656", + "mask_path": "../../mask/hdr_left_00495.png" + }, + { + "file_path": "../../rgb/hdr_left_00496.png", + "transform_matrix": [ + [ + -0.4089553654193878, + 0.15392494201660156, + -0.89947909116745, + -9.861546516418457 + ], + [ + 0.8927552103996277, + -0.13672380149364471, + -0.42929551005363464, + -10.452625274658203 + ], + [ + -0.18905946612358093, + -0.9785774946212769, + -0.08150336146354675, + -3.5003113746643066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 496, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_42268276", + "mask_path": "../../mask/hdr_left_00496.png" + }, + { + "file_path": "../../rgb/hdr_left_00497.png", + "transform_matrix": [ + [ + -0.4014364778995514, + 0.15521904826164246, + -0.9026381969451904, + -9.896782875061035 + ], + [ + 0.8964627981185913, + -0.13530275225639343, + -0.4219569265842438, + -10.381528854370117 + ], + [ + -0.18762518465518951, + -0.9785705804824829, + -0.08483264595270157, + -3.5175650119781494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 497, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_142267704", + "mask_path": "../../mask/hdr_left_00497.png" + }, + { + "file_path": "../../rgb/hdr_left_00498.png", + "transform_matrix": [ + [ + -0.40006309747695923, + 0.1546774059534073, + -0.9033406972885132, + -9.943289756774902 + ], + [ + 0.897610604763031, + -0.13289067149162292, + -0.4202800393104553, + -10.31108283996582 + ], + [ + -0.18505334854125977, + -0.9789866805076599, + -0.08567541837692261, + -3.531787872314453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 498, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_242267370", + "mask_path": "../../mask/hdr_left_00498.png" + }, + { + "file_path": "../../rgb/hdr_left_00499.png", + "transform_matrix": [ + [ + -0.40094906091690063, + 0.14860913157463074, + -0.9039663076400757, + -9.980786323547363 + ], + [ + 0.8984984159469604, + -0.1287105232477188, + -0.4196834862232208, + -10.256718635559082 + ], + [ + -0.17871877551078796, + -0.9804840087890625, + -0.08191869407892227, + -3.545767307281494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 499, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_342268228", + "mask_path": "../../mask/hdr_left_00499.png" + }, + { + "file_path": "../../rgb/hdr_left_00500.png", + "transform_matrix": [ + [ + -0.40036043524742126, + 0.13915473222732544, + -0.9057303667068481, + -10.003644943237305 + ], + [ + 0.9001824855804443, + -0.1251673400402069, + -0.41713860630989075, + -10.201781272888184 + ], + [ + -0.17141467332839966, + -0.9823284149169922, + -0.07515261322259903, + -3.559497594833374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 500, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_442267656", + "mask_path": "../../mask/hdr_left_00500.png" + }, + { + "file_path": "../../rgb/hdr_left_00501.png", + "transform_matrix": [ + [ + -0.39768850803375244, + 0.12786999344825745, + -0.9085665345191956, + -10.032151222229004 + ], + [ + 0.9001257419586182, + -0.13753293454647064, + -0.41335007548332214, + -10.139449119567871 + ], + [ + -0.177812859416008, + -0.9822087287902832, + -0.06040380522608757, + -3.572246789932251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 501, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_542268276", + "mask_path": "../../mask/hdr_left_00501.png" + }, + { + "file_path": "../../rgb/hdr_left_00522.png", + "transform_matrix": [ + [ + -0.9571142196655273, + 0.1126740425825119, + -0.26690229773521423, + -10.493764877319336 + ], + [ + 0.25757336616516113, + -0.09078200161457062, + -0.9619846940040588, + -10.279701232910156 + ], + [ + -0.13262063264846802, + -0.9894762635231018, + 0.057866912335157394, + -3.6274614334106445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 522, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638851_642267704", + "mask_path": "../../mask/hdr_left_00522.png" + }, + { + "file_path": "../../rgb/hdr_left_00524.png", + "transform_matrix": [ + [ + -0.9562522768974304, + 0.13592755794525146, + -0.25904691219329834, + -10.544022560119629 + ], + [ + 0.2508414089679718, + -0.07467135041952133, + -0.9651438593864441, + -10.278013229370117 + ], + [ + -0.1505330502986908, + -0.9879007339477539, + 0.03730839490890503, + -3.648667097091675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 524, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638851_842267751", + "mask_path": "../../mask/hdr_left_00524.png" + }, + { + "file_path": "../../rgb/hdr_left_00526.png", + "transform_matrix": [ + [ + -0.9527524709701538, + 0.16975118219852448, + -0.2518872916698456, + -10.642842292785645 + ], + [ + 0.24091508984565735, + -0.08274304121732712, + -0.9670126438140869, + -10.295541763305664 + ], + [ + -0.1849934607744217, + -0.9820072054862976, + 0.037938013672828674, + -3.6932477951049805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 526, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638852_42268991", + "mask_path": "../../mask/hdr_left_00526.png" + }, + { + "file_path": "../../rgb/hdr_left_00529.png", + "transform_matrix": [ + [ + -0.9438173174858093, + 0.21685576438903809, + -0.24936363101005554, + -10.780522346496582 + ], + [ + 0.23996636271476746, + -0.06907592713832855, + -0.9683204889297485, + -10.296258926391602 + ], + [ + -0.2272108942270279, + -0.9737567901611328, + 0.013156977482140064, + -3.7430965900421143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 529, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638852_342267513", + "mask_path": "../../mask/hdr_left_00529.png" + }, + { + "file_path": "../../rgb/hdr_left_00530.png", + "transform_matrix": [ + [ + -0.9440306425094604, + 0.24070878326892853, + -0.2255333960056305, + -10.830066680908203 + ], + [ + 0.2208361029624939, + -0.04668296128511429, + -0.9741930365562439, + -10.304353713989258 + ], + [ + -0.24502535164356232, + -0.9694740772247314, + -0.009087028913199902, + -3.7636067867279053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 530, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638852_442268133", + "mask_path": "../../mask/hdr_left_00530.png" + }, + { + "file_path": "../../rgb/hdr_left_00532.png", + "transform_matrix": [ + [ + -0.9479168653488159, + 0.2724379897117615, + -0.16501812636852264, + -10.88977336883545 + ], + [ + 0.16629579663276672, + -0.018561989068984985, + -0.9859011769294739, + -10.3179292678833 + ], + [ + -0.2716599702835083, + -0.9619943499565125, + -0.02771005965769291, + -3.8059744834899902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 532, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638852_642267227", + "mask_path": "../../mask/hdr_left_00532.png" + }, + { + "file_path": "../../rgb/hdr_left_00537.png", + "transform_matrix": [ + [ + -0.9389434456825256, + 0.3419920802116394, + -0.037771906703710556, + -11.075675010681152 + ], + [ + 0.051884740591049194, + 0.032209575176239014, + -0.9981334209442139, + -10.370908737182617 + ], + [ + -0.3401370644569397, + -0.9391506314277649, + -0.047987136989831924, + -3.9307284355163574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 537, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_142267465", + "mask_path": "../../mask/hdr_left_00537.png" + }, + { + "file_path": "../../rgb/hdr_left_00538.png", + "transform_matrix": [ + [ + -0.925977885723114, + 0.3768499493598938, + -0.023432506248354912, + -11.111054420471191 + ], + [ + 0.051288701593875885, + 0.06405394524335861, + -0.9966275095939636, + -10.379865646362305 + ], + [ + -0.37407806515693665, + -0.9240569472312927, + -0.07864066958427429, + -3.9608092308044434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 538, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_242266893", + "mask_path": "../../mask/hdr_left_00538.png" + }, + { + "file_path": "../../rgb/hdr_left_00540.png", + "transform_matrix": [ + [ + -0.9114481210708618, + 0.41114282608032227, + -0.014963943511247635, + -11.17556095123291 + ], + [ + 0.051095347851514816, + 0.07703128457069397, + -0.9957185983657837, + -10.394868850708008 + ], + [ + -0.408229798078537, + -0.9083104133605957, + -0.09121748059988022, + -4.013896465301514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 540, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_442266941", + "mask_path": "../../mask/hdr_left_00540.png" + }, + { + "file_path": "../../rgb/hdr_left_00541.png", + "transform_matrix": [ + [ + -0.904721200466156, + 0.4258466958999634, + -0.01158127374947071, + -11.233137130737305 + ], + [ + 0.03966382518410683, + 0.05713677406311035, + -0.9975780844688416, + -10.406696319580078 + ], + [ + -0.42415356636047363, + -0.9029895067214966, + -0.06858355551958084, + -4.044726848602295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 541, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_542268276", + "mask_path": "../../mask/hdr_left_00541.png" + }, + { + "file_path": "../../rgb/hdr_left_00544.png", + "transform_matrix": [ + [ + -0.9128932356834412, + 0.40330830216407776, + 0.0629950538277626, + -11.37237548828125 + ], + [ + -0.038837458938360214, + 0.067809097468853, + -0.9969420433044434, + -10.456615447998047 + ], + [ + -0.4063466787338257, + -0.9125483632087708, + -0.04623899608850479, + -4.090616703033447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 544, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_842267751", + "mask_path": "../../mask/hdr_left_00544.png" + }, + { + "file_path": "../../rgb/hdr_left_00545.png", + "transform_matrix": [ + [ + -0.9117298722267151, + 0.39604437351226807, + 0.10907571017742157, + -11.415323257446289 + ], + [ + -0.08980108797550201, + 0.06694947928190231, + -0.9937069416046143, + -10.490480422973633 + ], + [ + -0.40085458755493164, + -0.9157875180244446, + -0.02547461725771427, + -4.125640392303467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 545, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_942269086", + "mask_path": "../../mask/hdr_left_00545.png" + }, + { + "file_path": "../../rgb/hdr_left_00547.png", + "transform_matrix": [ + [ + -0.8963424563407898, + 0.39031296968460083, + 0.21029947698116302, + -11.458395004272461 + ], + [ + -0.20013707876205444, + 0.06704932451248169, + -0.9774709939956665, + -10.55554485321045 + ], + [ + -0.39562004804611206, + -0.9182375073432922, + 0.01801694743335247, + -4.159040927886963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 547, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638854_142266750", + "mask_path": "../../mask/hdr_left_00547.png" + }, + { + "file_path": "../../rgb/hdr_left_00549.png", + "transform_matrix": [ + [ + -0.871258556842804, + 0.38516518473625183, + 0.3042306900024414, + -11.50837230682373 + ], + [ + -0.30453383922576904, + 0.061895549297332764, + -0.950488269329071, + -10.636687278747559 + ], + [ + -0.38492551445961, + -0.9207698106765747, + 0.06336881965398788, + -4.180960655212402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 549, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638854_342267036", + "mask_path": "../../mask/hdr_left_00549.png" + }, + { + "file_path": "../../rgb/hdr_left_00551.png", + "transform_matrix": [ + [ + -0.8539407253265381, + 0.37407585978507996, + 0.3617352247238159, + -11.546870231628418 + ], + [ + -0.3624965250492096, + 0.07110507786273956, + -0.9292687177658081, + -10.687325477600098 + ], + [ + -0.3733382225036621, + -0.9246682524681091, + 0.0748816430568695, + -4.188945770263672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 551, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638854_542266607", + "mask_path": "../../mask/hdr_left_00551.png" + }, + { + "file_path": "../../rgb/hdr_left_00553.png", + "transform_matrix": [ + [ + -0.8534650802612305, + 0.35786673426628113, + 0.37885192036628723, + -11.642190933227539 + ], + [ + -0.3600110113620758, + 0.12076692283153534, + -0.9250985383987427, + -10.74106502532959 + ], + [ + -0.37681475281715393, + -0.9259302616119385, + 0.02576564997434616, + -4.247315883636475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 553, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638854_742267131", + "mask_path": "../../mask/hdr_left_00553.png" + }, + { + "file_path": "../../rgb/hdr_left_00555.png", + "transform_matrix": [ + [ + -0.8490018248558044, + 0.36153820157051086, + 0.38533899188041687, + -11.71020221710205 + ], + [ + -0.3576008379459381, + 0.1437368243932724, + -0.9227466583251953, + -10.772096633911133 + ], + [ + -0.38899552822113037, + -0.9212111234664917, + 0.00725358072668314, + -4.284890174865723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 555, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638854_942267179", + "mask_path": "../../mask/hdr_left_00555.png" + }, + { + "file_path": "../../rgb/hdr_left_00556.png", + "transform_matrix": [ + [ + -0.8511918783187866, + 0.3596222996711731, + 0.3822880685329437, + -11.776541709899902 + ], + [ + -0.35579758882522583, + 0.14009970426559448, + -0.9240021705627441, + -10.794894218444824 + ], + [ + -0.3858502209186554, + -0.9225204586982727, + 0.00870101060718298, + -4.329983234405518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 556, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638855_42267084", + "mask_path": "../../mask/hdr_left_00556.png" + }, + { + "file_path": "../../rgb/hdr_left_00557.png", + "transform_matrix": [ + [ + -0.8459011912345886, + 0.3864119350910187, + 0.3676096796989441, + -11.830835342407227 + ], + [ + -0.3473708927631378, + 0.12384895980358124, + -0.9295132756233215, + -10.818599700927734 + ], + [ + -0.4047030806541443, + -0.9139733910560608, + 0.029464280232787132, + -4.333189964294434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 557, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638855_142267227", + "mask_path": "../../mask/hdr_left_00557.png" + }, + { + "file_path": "../../rgb/hdr_left_00559.png", + "transform_matrix": [ + [ + -0.8531373739242554, + 0.3687865436077118, + 0.3689892888069153, + -11.915199279785156 + ], + [ + -0.3443729877471924, + 0.13318853080272675, + -0.9293374419212341, + -10.89569091796875 + ], + [ + -0.39187225699424744, + -0.9199224710464478, + 0.013372013345360756, + -4.369227409362793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 559, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638855_342267036", + "mask_path": "../../mask/hdr_left_00559.png" + }, + { + "file_path": "../../rgb/hdr_left_00564.png", + "transform_matrix": [ + [ + -0.857384443283081, + 0.30307736992836, + 0.4159758687019348, + -11.930830001831055 + ], + [ + -0.39450690150260925, + 0.13206185400485992, + -0.9093536138534546, + -10.980624198913574 + ], + [ + -0.3305390179157257, + -0.9437711238861084, + 0.006338323932141066, + -4.2872843742370605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 564, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638855_842267990", + "mask_path": "../../mask/hdr_left_00564.png" + }, + { + "file_path": "../../rgb/hdr_left_00570.png", + "transform_matrix": [ + [ + -0.8108804225921631, + 0.3044227063655853, + 0.49979978799819946, + -11.883792877197266 + ], + [ + -0.4852522313594818, + 0.12762054800987244, + -0.8650105595588684, + -11.034087181091309 + ], + [ + -0.3271135687828064, + -0.9439491033554077, + 0.04423680528998375, + -4.2797532081604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 570, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638856_442268848", + "mask_path": "../../mask/hdr_left_00570.png" + }, + { + "file_path": "../../rgb/hdr_left_00574.png", + "transform_matrix": [ + [ + -0.8207700252532959, + 0.30368947982788086, + 0.48384833335876465, + -11.871161460876465 + ], + [ + -0.444671630859375, + 0.19205938279628754, + -0.8748601675033569, + -11.013253211975098 + ], + [ + -0.3586134612560272, + -0.9332126975059509, + -0.022594476118683815, + -4.325331687927246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 574, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638856_842267274", + "mask_path": "../../mask/hdr_left_00574.png" + }, + { + "file_path": "../../rgb/hdr_left_00585.png", + "transform_matrix": [ + [ + -0.8567662835121155, + 0.2928459942340851, + 0.4244909882545471, + -11.933477401733398 + ], + [ + -0.3784279227256775, + 0.20218639075756073, + -0.9032789468765259, + -10.993130683898926 + ], + [ + -0.35034793615341187, + -0.9345383644104004, + -0.062405381351709366, + -4.339786052703857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 585, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638857_942267894", + "mask_path": "../../mask/hdr_left_00585.png" + }, + { + "file_path": "../../rgb/hdr_left_00588.png", + "transform_matrix": [ + [ + -0.8760882616043091, + 0.28369224071502686, + 0.38985636830329895, + -11.97823429107666 + ], + [ + -0.339162141084671, + 0.2120959609746933, + -0.9165065288543701, + -11.016938209533691 + ], + [ + -0.3426927626132965, + -0.935165286064148, + -0.08959713578224182, + -4.34930944442749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 588, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638858_242268562", + "mask_path": "../../mask/hdr_left_00588.png" + }, + { + "file_path": "../../rgb/hdr_left_00594.png", + "transform_matrix": [ + [ + -0.8763490915298462, + 0.2976742088794708, + 0.3786848783493042, + -12.104049682617188 + ], + [ + -0.34334585070610046, + 0.16534368693828583, + -0.9245404601097107, + -11.144462585449219 + ], + [ + -0.3378249704837799, + -0.940240204334259, + -0.042693570256233215, + -4.45162296295166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 594, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638858_842267513", + "mask_path": "../../mask/hdr_left_00594.png" + }, + { + "file_path": "../../rgb/hdr_left_00595.png", + "transform_matrix": [ + [ + -0.8756480813026428, + 0.2968725264072418, + 0.38092905282974243, + -12.141321182250977 + ], + [ + -0.35027849674224854, + 0.1526135504245758, + -0.9241288304328918, + -11.17769718170166 + ], + [ + -0.33248335123062134, + -0.9426431059837341, + -0.02964770421385765, + -4.469971179962158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 595, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638858_942268848", + "mask_path": "../../mask/hdr_left_00595.png" + }, + { + "file_path": "../../rgb/hdr_left_00596.png", + "transform_matrix": [ + [ + -0.8786454796791077, + 0.2721048891544342, + 0.39235302805900574, + -12.190909385681152 + ], + [ + -0.3600935637950897, + 0.1619882434606552, + -0.9187449812889099, + -11.204662322998047 + ], + [ + -0.31355157494544983, + -0.9485350847244263, + -0.044347044080495834, + -4.503779411315918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 596, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638859_42267799", + "mask_path": "../../mask/hdr_left_00596.png" + }, + { + "file_path": "../../rgb/hdr_left_00597.png", + "transform_matrix": [ + [ + -0.8782550692558289, + 0.25045087933540344, + 0.40736016631126404, + -12.23451042175293 + ], + [ + -0.3722849488258362, + 0.17654041945934296, + -0.9111737012863159, + -11.229159355163574 + ], + [ + -0.3001197278499603, + -0.9518970251083374, + -0.06180844083428383, + -4.526820182800293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 597, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638859_142267465", + "mask_path": "../../mask/hdr_left_00597.png" + }, + { + "file_path": "../../rgb/hdr_left_00599.png", + "transform_matrix": [ + [ + -0.8591436743736267, + 0.2238546460866928, + 0.46017512679100037, + -12.296895980834961 + ], + [ + -0.42426881194114685, + 0.19120478630065918, + -0.8851194381713867, + -11.275017738342285 + ], + [ + -0.2861258089542389, + -0.9556829333305359, + -0.06929785758256912, + -4.563784599304199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 599, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638859_342267751", + "mask_path": "../../mask/hdr_left_00599.png" + }, + { + "file_path": "../../rgb/hdr_left_00601.png", + "transform_matrix": [ + [ + -0.8215799331665039, + 0.21642285585403442, + 0.5274158716201782, + -12.33240795135498 + ], + [ + -0.4964267313480377, + 0.18327203392982483, + -0.8485115170478821, + -11.345481872558594 + ], + [ + -0.2802978754043579, + -0.9589434266090393, + -0.04313452169299126, + -4.583827018737793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 601, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638859_542267084", + "mask_path": "../../mask/hdr_left_00601.png" + }, + { + "file_path": "../../rgb/hdr_left_00603.png", + "transform_matrix": [ + [ + -0.7722578644752502, + 0.2030404806137085, + 0.601990282535553, + -12.357527732849121 + ], + [ + -0.5653895735740662, + 0.2125055193901062, + -0.7969793081283569, + -11.437705993652344 + ], + [ + -0.2897452712059021, + -0.9558326601982117, + -0.04931206628680229, + -4.611118316650391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 603, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638859_742267131", + "mask_path": "../../mask/hdr_left_00603.png" + }, + { + "file_path": "../../rgb/hdr_left_00606.png", + "transform_matrix": [ + [ + -0.7372441291809082, + 0.19602906703948975, + 0.646562933921814, + -12.390296936035156 + ], + [ + -0.6086977124214172, + 0.22256286442279816, + -0.76154625415802, + -11.498888969421387 + ], + [ + -0.29318612813949585, + -0.955007016658783, + -0.04476071521639824, + -4.651088714599609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 606, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638860_42267322", + "mask_path": "../../mask/hdr_left_00606.png" + }, + { + "file_path": "../../rgb/hdr_left_00608.png", + "transform_matrix": [ + [ + -0.738531231880188, + 0.21875952184200287, + 0.637742817401886, + -12.446184158325195 + ], + [ + -0.6061224341392517, + 0.19883263111114502, + -0.7701177000999451, + -11.558576583862305 + ], + [ + -0.29527461528778076, + -0.9553061723709106, + -0.014249041676521301, + -4.6777024269104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 608, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638860_242267608", + "mask_path": "../../mask/hdr_left_00608.png" + }, + { + "file_path": "../../rgb/hdr_left_00611.png", + "transform_matrix": [ + [ + -0.740138828754425, + 0.21246008574962616, + 0.638008713722229, + -12.510008811950684 + ], + [ + -0.5982304811477661, + 0.22526895999908447, + -0.7690085172653198, + -11.675835609436035 + ], + [ + -0.30710721015930176, + -0.9508494138717651, + -0.03963020443916321, + -4.704660892486572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 611, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638860_542268753", + "mask_path": "../../mask/hdr_left_00611.png" + }, + { + "file_path": "../../rgb/hdr_left_00614.png", + "transform_matrix": [ + [ + -0.7356274724006653, + 0.21279191970825195, + 0.6430954933166504, + -12.577035903930664 + ], + [ + -0.6038885116577148, + 0.22407744824886322, + -0.7649234533309937, + -11.770105361938477 + ], + [ + -0.3068726658821106, + -0.9510567784309387, + -0.036334916949272156, + -4.766818046569824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 614, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638860_842267990", + "mask_path": "../../mask/hdr_left_00614.png" + }, + { + "file_path": "../../rgb/hdr_left_00615.png", + "transform_matrix": [ + [ + -0.7376359701156616, + 0.20470640063285828, + 0.6434195041656494, + -12.627269744873047 + ], + [ + -0.6056883335113525, + 0.22051185369491577, + -0.7645365595817566, + -11.81280517578125 + ], + [ + -0.2983871400356293, + -0.9536612629890442, + -0.03866918012499809, + -4.770980358123779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 615, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638860_942268371", + "mask_path": "../../mask/hdr_left_00615.png" + }, + { + "file_path": "../../rgb/hdr_left_00616.png", + "transform_matrix": [ + [ + -0.7426352500915527, + 0.2000819891691208, + 0.6391087770462036, + -12.663315773010254 + ], + [ + -0.6014121770858765, + 0.2205752730369568, + -0.7678865790367126, + -11.846372604370117 + ], + [ + -0.2946118414402008, + -0.9546275734901428, + -0.0434751994907856, + -4.780222415924072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 616, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638861_42267560", + "mask_path": "../../mask/hdr_left_00616.png" + }, + { + "file_path": "../../rgb/hdr_left_00618.png", + "transform_matrix": [ + [ + -0.7548922300338745, + 0.18510577082633972, + 0.6291848421096802, + -12.738757133483887 + ], + [ + -0.594232439994812, + 0.21292133629322052, + -0.7755979895591736, + -11.939865112304688 + ], + [ + -0.27753451466560364, + -0.9593750238418579, + -0.05073678120970726, + -4.819176197052002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 618, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638861_242266416", + "mask_path": "../../mask/hdr_left_00618.png" + }, + { + "file_path": "../../rgb/hdr_left_00619.png", + "transform_matrix": [ + [ + -0.7497395873069763, + 0.1820952445268631, + 0.6361854076385498, + -12.772937774658203 + ], + [ + -0.6011670827865601, + 0.21437647938728333, + -0.769831657409668, + -11.993115425109863 + ], + [ + -0.2765658497810364, + -0.959627091884613, + -0.05125683546066284, + -4.838184833526611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 619, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638861_342266798", + "mask_path": "../../mask/hdr_left_00619.png" + }, + { + "file_path": "../../rgb/hdr_left_00621.png", + "transform_matrix": [ + [ + -0.7081485986709595, + 0.18324659764766693, + 0.6818695664405823, + -12.801301956176758 + ], + [ + -0.6497159004211426, + 0.20892639458179474, + -0.730902910232544, + -12.07005786895752 + ], + [ + -0.2763959765434265, + -0.960609495639801, + -0.028892705217003822, + -4.879921913146973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 621, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638861_542267322", + "mask_path": "../../mask/hdr_left_00621.png" + }, + { + "file_path": "../../rgb/hdr_left_00623.png", + "transform_matrix": [ + [ + -0.6604369878768921, + 0.20287778973579407, + 0.7229546904563904, + -12.836959838867188 + ], + [ + -0.6936324238777161, + 0.20389771461486816, + -0.6908687949180603, + -12.136167526245117 + ], + [ + -0.2875707447528839, + -0.9577402472496033, + 0.006061038002371788, + -4.911512851715088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 623, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638861_742266654", + "mask_path": "../../mask/hdr_left_00623.png" + }, + { + "file_path": "../../rgb/hdr_left_00627.png", + "transform_matrix": [ + [ + -0.6222814321517944, + 0.193051278591156, + 0.758615255355835, + -12.88809871673584 + ], + [ + -0.7170628309249878, + 0.24813996255397797, + -0.6513428092002869, + -12.269125938415527 + ], + [ + -0.31398528814315796, + -0.949293315410614, + -0.015982983633875847, + -4.940866947174072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 627, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638862_142267942", + "mask_path": "../../mask/hdr_left_00627.png" + }, + { + "file_path": "../../rgb/hdr_left_00629.png", + "transform_matrix": [ + [ + -0.6174595952033997, + 0.19719423353672028, + 0.7614841461181641, + -12.900683403015137 + ], + [ + -0.7113857269287109, + 0.2731163501739502, + -0.6475629210472107, + -12.320209503173828 + ], + [ + -0.3356694281101227, + -0.941552996635437, + -0.02835713140666485, + -4.964591026306152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 629, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638862_342268466", + "mask_path": "../../mask/hdr_left_00629.png" + }, + { + "file_path": "../../rgb/hdr_left_00631.png", + "transform_matrix": [ + [ + -0.6236633658409119, + 0.21469806134700775, + 0.7516307234764099, + -12.93045425415039 + ], + [ + -0.7068425416946411, + 0.2556987404823303, + -0.6595390439033508, + -12.387328147888184 + ], + [ + -0.3337927758693695, + -0.9426149725914001, + -0.007712217513471842, + -5.010963439941406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 631, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638862_542268514", + "mask_path": "../../mask/hdr_left_00631.png" + }, + { + "file_path": "../../rgb/hdr_left_00633.png", + "transform_matrix": [ + [ + -0.6346144676208496, + 0.2008620798587799, + 0.7462700009346008, + -12.9673490524292 + ], + [ + -0.7089797854423523, + 0.23301582038402557, + -0.6656209826469421, + -12.473307609558105 + ], + [ + -0.30759069323539734, + -0.9515031576156616, + -0.005468037445098162, + -5.004659175872803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 633, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638862_742268085", + "mask_path": "../../mask/hdr_left_00633.png" + }, + { + "file_path": "../../rgb/hdr_left_00634.png", + "transform_matrix": [ + [ + -0.639967143535614, + 0.18889714777469635, + 0.7448221445083618, + -12.989263534545898 + ], + [ + -0.7071024179458618, + 0.23460781574249268, + -0.6670573353767395, + -12.53300666809082 + ], + [ + -0.30074629187583923, + -0.9535602927207947, + -0.016571661457419395, + -5.025378704071045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 634, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638862_842267274", + "mask_path": "../../mask/hdr_left_00634.png" + }, + { + "file_path": "../../rgb/hdr_left_00639.png", + "transform_matrix": [ + [ + -0.6639465093612671, + 0.19778475165367126, + 0.721149206161499, + -13.090336799621582 + ], + [ + -0.6927302479743958, + 0.20048987865447998, + -0.6927688121795654, + -12.697991371154785 + ], + [ + -0.2816022038459778, + -0.9595233798027039, + 0.0038969204761087894, + -5.101474285125732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 639, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638863_342268705", + "mask_path": "../../mask/hdr_left_00639.png" + }, + { + "file_path": "../../rgb/hdr_left_00641.png", + "transform_matrix": [ + [ + -0.6724414229393005, + 0.1852349042892456, + 0.7165965437889099, + -13.132465362548828 + ], + [ + -0.6920347213745117, + 0.18603259325027466, + -0.6974810361862183, + -12.776684761047363 + ], + [ + -0.2625080943107605, + -0.9649248719215393, + 0.0030929672066122293, + -5.122919082641602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 641, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638863_542268276", + "mask_path": "../../mask/hdr_left_00641.png" + }, + { + "file_path": "../../rgb/hdr_left_00642.png", + "transform_matrix": [ + [ + -0.6784179210662842, + 0.17422138154506683, + 0.7137197852134705, + -13.165910720825195 + ], + [ + -0.6879423260688782, + 0.19030724465847015, + -0.700370192527771, + -12.828421592712402 + ], + [ + -0.2578454613685608, + -0.9661418199539185, + -0.009253579191863537, + -5.131612777709961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 642, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638863_642268657", + "mask_path": "../../mask/hdr_left_00642.png" + }, + { + "file_path": "../../rgb/hdr_left_00649.png", + "transform_matrix": [ + [ + -0.6397624611854553, + 0.14679108560085297, + 0.754424512386322, + -13.300237655639648 + ], + [ + -0.7346835732460022, + 0.17146380245685577, + -0.6563841700553894, + -13.070737838745117 + ], + [ + -0.22570781409740448, + -0.974193274974823, + -0.0018510905792936683, + -5.18794584274292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 649, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638864_342267274", + "mask_path": "../../mask/hdr_left_00649.png" + }, + { + "file_path": "../../rgb/hdr_left_00650.png", + "transform_matrix": [ + [ + -0.6410230994224548, + 0.1387653350830078, + 0.7548732161521912, + -13.31745719909668 + ], + [ + -0.7298168540000916, + 0.1942727118730545, + -0.6554581522941589, + -13.11886978149414 + ], + [ + -0.23760613799095154, + -0.9710831046104431, + -0.023260008543729782, + -5.1990275382995605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 650, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638864_442269563", + "mask_path": "../../mask/hdr_left_00650.png" + }, + { + "file_path": "../../rgb/hdr_left_00652.png", + "transform_matrix": [ + [ + -0.6229468584060669, + 0.14638297259807587, + 0.7684459686279297, + -13.326452255249023 + ], + [ + -0.74232017993927, + 0.199272021651268, + -0.6397275924682617, + -13.184653282165527 + ], + [ + -0.24677498638629913, + -0.9689492583274841, + -0.015472840517759323, + -5.22796106338501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 652, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638864_642267942", + "mask_path": "../../mask/hdr_left_00652.png" + }, + { + "file_path": "../../rgb/hdr_right_00341.png", + "transform_matrix": [ + [ + 0.32526373863220215, + 0.0624409019947052, + -0.9435595870018005, + -5.144876003265381 + ], + [ + 0.931584358215332, + 0.15014129877090454, + 0.3310714066028595, + -5.258242130279541 + ], + [ + 0.16233967244625092, + -0.9866907596588135, + -0.00933344941586256, + -1.5965923070907593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 341, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_842267751", + "mask_path": "../../mask/hdr_right_00341.png" + }, + { + "file_path": "../../rgb/hdr_right_00342.png", + "transform_matrix": [ + [ + 0.3267083466053009, + 0.0546865276992321, + -0.9435418248176575, + -5.187218189239502 + ], + [ + 0.9322313666343689, + 0.14569571614265442, + 0.33123642206192017, + -5.343350410461426 + ], + [ + 0.1555841714143753, + -0.9878168702125549, + -0.003380479523912072, + -1.6199266910552979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 342, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_942268133", + "mask_path": "../../mask/hdr_right_00342.png" + }, + { + "file_path": "../../rgb/hdr_right_00343.png", + "transform_matrix": [ + [ + 0.3138384222984314, + 0.04970751702785492, + -0.9481744170188904, + -5.231553077697754 + ], + [ + 0.9362712502479553, + 0.1497703343629837, + 0.3177502155303955, + -5.435434818267822 + ], + [ + 0.1578029841184616, + -0.9874705076217651, + 0.00046398150152526796, + -1.6422207355499268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 343, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_42268991", + "mask_path": "../../mask/hdr_right_00343.png" + }, + { + "file_path": "../../rgb/hdr_right_00344.png", + "transform_matrix": [ + [ + 0.29391953349113464, + 0.051450155675411224, + -0.9544445276260376, + -5.255313873291016 + ], + [ + 0.9427788257598877, + 0.1488453894853592, + 0.29835081100463867, + -5.513937950134277 + ], + [ + 0.15741483867168427, + -0.9875210523605347, + -0.004757546819746494, + -1.6573901176452637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 344, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_142268657", + "mask_path": "../../mask/hdr_right_00344.png" + }, + { + "file_path": "../../rgb/hdr_right_00345.png", + "transform_matrix": [ + [ + 0.2718961834907532, + 0.060140274465084076, + -0.9604455828666687, + -5.277807235717773 + ], + [ + 0.950519859790802, + 0.1390753835439682, + 0.27779480814933777, + -5.596026420593262 + ], + [ + 0.15028098225593567, + -0.9884539246559143, + -0.019350454211235046, + -1.6792900562286377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 345, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_242268562", + "mask_path": "../../mask/hdr_right_00345.png" + }, + { + "file_path": "../../rgb/hdr_right_00346.png", + "transform_matrix": [ + [ + 0.25558561086654663, + 0.0672246590256691, + -0.9644464254379272, + -5.3122782707214355 + ], + [ + 0.9539930820465088, + 0.1442151963710785, + 0.26286762952804565, + -5.682569980621338 + ], + [ + 0.15675899386405945, + -0.9872602224349976, + -0.027272524312138557, + -1.6928253173828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 346, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_342267513", + "mask_path": "../../mask/hdr_right_00346.png" + }, + { + "file_path": "../../rgb/hdr_right_00347.png", + "transform_matrix": [ + [ + 0.2448403686285019, + 0.06632264703512192, + -0.9672924280166626, + -5.343201637268066 + ], + [ + 0.9561825394630432, + 0.14865927398204803, + 0.25222113728523254, + -5.756353378295898 + ], + [ + 0.16052494943141937, + -0.986661970615387, + -0.027018768712878227, + -1.697471022605896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 347, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_442267417", + "mask_path": "../../mask/hdr_right_00347.png" + }, + { + "file_path": "../../rgb/hdr_right_00348.png", + "transform_matrix": [ + [ + 0.23824672400951385, + 0.06653251498937607, + -0.9689230918884277, + -5.363811492919922 + ], + [ + 0.9586473107337952, + 0.1438010334968567, + 0.24559439718723297, + -5.820242881774902 + ], + [ + 0.15567214787006378, + -0.987367570400238, + -0.029521090909838676, + -1.7099113464355469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 348, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_542267084", + "mask_path": "../../mask/hdr_right_00348.png" + }, + { + "file_path": "../../rgb/hdr_right_00349.png", + "transform_matrix": [ + [ + 0.23589067161083221, + 0.05901259183883667, + -0.9699862003326416, + -5.390707015991211 + ], + [ + 0.9604239463806152, + 0.13798969984054565, + 0.24196036159992218, + -5.897566795349121 + ], + [ + 0.14812681078910828, + -0.9886741042137146, + -0.024126620963215828, + -1.7226067781448364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 349, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_642267704", + "mask_path": "../../mask/hdr_right_00349.png" + }, + { + "file_path": "../../rgb/hdr_right_00350.png", + "transform_matrix": [ + [ + 0.22704483568668365, + 0.05218254774808884, + -0.9724853038787842, + -5.422241687774658 + ], + [ + 0.9619700312614441, + 0.14370125532150269, + 0.23230071365833282, + -5.987700462341309 + ], + [ + 0.15186941623687744, + -0.988244354724884, + -0.01757141575217247, + -1.744390606880188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 350, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_742268323", + "mask_path": "../../mask/hdr_right_00350.png" + }, + { + "file_path": "../../rgb/hdr_right_00351.png", + "transform_matrix": [ + [ + 0.21245509386062622, + 0.05194929614663124, + -0.975788950920105, + -5.439827919006348 + ], + [ + 0.96490877866745, + 0.14654657244682312, + 0.21788811683654785, + -6.061586856842041 + ], + [ + 0.15431764721870422, + -0.9878387451171875, + -0.018991759046912193, + -1.7650314569473267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 351, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_842267274", + "mask_path": "../../mask/hdr_right_00351.png" + }, + { + "file_path": "../../rgb/hdr_right_00352.png", + "transform_matrix": [ + [ + 0.19495879113674164, + 0.05693778768181801, + -0.9791573882102966, + -5.453962802886963 + ], + [ + 0.9691581726074219, + 0.14225025475025177, + 0.201239675283432, + -6.137956142425537 + ], + [ + 0.1507435441017151, + -0.9881917238235474, + -0.027448780834674835, + -1.7873493432998657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 352, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638835_942267179", + "mask_path": "../../mask/hdr_right_00352.png" + }, + { + "file_path": "../../rgb/hdr_right_00353.png", + "transform_matrix": [ + [ + 0.17934289574623108, + 0.060337863862514496, + -0.9819346070289612, + -5.47992467880249 + ], + [ + 0.9716107249259949, + 0.1456853598356247, + 0.1864093840122223, + -6.222740650177002 + ], + [ + 0.15430103242397308, + -0.9874892830848694, + -0.03249727562069893, + -1.810478925704956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 353, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_42267084", + "mask_path": "../../mask/hdr_right_00353.png" + }, + { + "file_path": "../../rgb/hdr_right_00354.png", + "transform_matrix": [ + [ + 0.17062856256961823, + 0.058868080377578735, + -0.9835754036903381, + -5.5093231201171875 + ], + [ + 0.972788393497467, + 0.14872850477695465, + 0.177658811211586, + -6.300589084625244 + ], + [ + 0.156744122505188, + -0.9871242642402649, + -0.03188885375857353, + -1.8154661655426025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 354, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_142264127", + "mask_path": "../../mask/hdr_right_00354.png" + }, + { + "file_path": "../../rgb/hdr_right_00355.png", + "transform_matrix": [ + [ + 0.16915974020957947, + 0.05700875446200371, + -0.983938455581665, + -5.531497478485107 + ], + [ + 0.9735445976257324, + 0.1459295004606247, + 0.17582792043685913, + -6.366545677185059 + ], + [ + 0.15360938012599945, + -0.9876510500907898, + -0.030815167352557182, + -1.8126879930496216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 355, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_242265224", + "mask_path": "../../mask/hdr_right_00355.png" + }, + { + "file_path": "../../rgb/hdr_right_00356.png", + "transform_matrix": [ + [ + 0.17035546898841858, + 0.049053650349378586, + -0.9841609597206116, + -5.563479900360107 + ], + [ + 0.9740296602249146, + 0.14279071986675262, + 0.17571890354156494, + -6.446691989898682 + ], + [ + 0.14914870262145996, + -0.988536536693573, + -0.02345453016459942, + -1.8342498540878296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 356, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_342267990", + "mask_path": "../../mask/hdr_right_00356.png" + }, + { + "file_path": "../../rgb/hdr_right_00357.png", + "transform_matrix": [ + [ + 0.15973000228405, + 0.04262450337409973, + -0.9862401485443115, + -5.595527172088623 + ], + [ + 0.9748951196670532, + 0.1501915156841278, + 0.16438378393650055, + -6.538392066955566 + ], + [ + 0.15513166785240173, + -0.9877376556396484, + -0.0175643227994442, + -1.8582080602645874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 357, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_442267179", + "mask_path": "../../mask/hdr_right_00357.png" + }, + { + "file_path": "../../rgb/hdr_right_00358.png", + "transform_matrix": [ + [ + 0.14177924394607544, + 0.038205891847610474, + -0.9891608357429504, + -5.614160537719727 + ], + [ + 0.9771044254302979, + 0.15473495423793793, + 0.1460278034210205, + -6.614790916442871 + ], + [ + 0.15863686800003052, + -0.9872170686721802, + -0.01539293397217989, + -1.874807596206665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 358, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_542267322", + "mask_path": "../../mask/hdr_right_00358.png" + }, + { + "file_path": "../../rgb/hdr_right_00359.png", + "transform_matrix": [ + [ + 0.12206999212503433, + 0.04049455374479294, + -0.9916951060295105, + -5.628241062164307 + ], + [ + 0.9803804755210876, + 0.150884747505188, + 0.12683847546577454, + -6.691336154937744 + ], + [ + 0.15476791560649872, + -0.9877216219902039, + -0.021281566470861435, + -1.8878651857376099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 359, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_642267227", + "mask_path": "../../mask/hdr_right_00359.png" + }, + { + "file_path": "../../rgb/hdr_right_00360.png", + "transform_matrix": [ + [ + 0.10696827620267868, + 0.04320313781499863, + -0.9933233857154846, + -5.652502536773682 + ], + [ + 0.9818511009216309, + 0.15277375280857086, + 0.11237756907939911, + -6.7772016525268555 + ], + [ + 0.15660880506038666, + -0.987316370010376, + -0.02607709914445877, + -1.9087697267532349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 360, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_742265462", + "mask_path": "../../mask/hdr_right_00360.png" + }, + { + "file_path": "../../rgb/hdr_right_00361.png", + "transform_matrix": [ + [ + 0.09874650090932846, + 0.043635424226522446, + -0.9941554665565491, + -5.67983341217041 + ], + [ + 0.9826086759567261, + 0.15360035002231598, + 0.10434143990278244, + -6.856743335723877 + ], + [ + 0.1572556048631668, + -0.9871691465377808, + -0.027709051966667175, + -1.9145020246505737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 361, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_842267990", + "mask_path": "../../mask/hdr_right_00361.png" + }, + { + "file_path": "../../rgb/hdr_right_00362.png", + "transform_matrix": [ + [ + 0.09554082900285721, + 0.043291375041007996, + -0.9944837093353271, + -5.697500705718994 + ], + [ + 0.983618974685669, + 0.1493099182844162, + 0.10099675506353378, + -6.919467926025391 + ], + [ + 0.15285857021808624, + -0.9878422617912292, + -0.028317023068666458, + -1.9215631484985352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 362, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638836_942267179", + "mask_path": "../../mask/hdr_right_00362.png" + }, + { + "file_path": "../../rgb/hdr_right_00363.png", + "transform_matrix": [ + [ + 0.09727821499109268, + 0.035893719643354416, + -0.9946098327636719, + -5.719736099243164 + ], + [ + 0.9846625328063965, + 0.14195780456066132, + 0.10142834484577179, + -6.993734359741211 + ], + [ + 0.1448332667350769, + -0.9892216920852661, + -0.02153380587697029, + -1.9447011947631836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 363, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_42267322", + "mask_path": "../../mask/hdr_right_00363.png" + }, + { + "file_path": "../../rgb/hdr_right_00364.png", + "transform_matrix": [ + [ + 0.09082425385713577, + 0.03115251660346985, + -0.995379626750946, + -5.740656852722168 + ], + [ + 0.9848374128341675, + 0.14553581178188324, + 0.09441722184419632, + -7.0893754959106445 + ], + [ + 0.14780470728874207, + -0.9888623952865601, + -0.017461976036429405, + -1.956868290901184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 364, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_142265319", + "mask_path": "../../mask/hdr_right_00364.png" + }, + { + "file_path": "../../rgb/hdr_right_00365.png", + "transform_matrix": [ + [ + 0.08521663397550583, + 0.03327154368162155, + -0.9958068132400513, + -5.751619338989258 + ], + [ + 0.9851646423339844, + 0.1466061919927597, + 0.08920428901910782, + -7.164776802062988 + ], + [ + 0.14895938336849213, + -0.988635241985321, + -0.020284663885831833, + -1.9708027839660645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 365, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_242268323", + "mask_path": "../../mask/hdr_right_00365.png" + }, + { + "file_path": "../../rgb/hdr_right_00366.png", + "transform_matrix": [ + [ + 0.0819452777504921, + 0.03926016390323639, + -0.9958632588386536, + -5.759651184082031 + ], + [ + 0.9863911867141724, + 0.13971488177776337, + 0.08667384088039398, + -7.2349348068237305 + ], + [ + 0.14253973960876465, + -0.9894131422042847, + -0.0272768996655941, + -1.9849339723587036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 366, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_342267513", + "mask_path": "../../mask/hdr_right_00366.png" + }, + { + "file_path": "../../rgb/hdr_right_00367.png", + "transform_matrix": [ + [ + 0.08166465163230896, + 0.043629251420497894, + -0.9957044720649719, + -5.773499965667725 + ], + [ + 0.9859355688095093, + 0.1426267772912979, + 0.08711297065019608, + -7.319807052612305 + ], + [ + 0.14581480622291565, + -0.9888144731521606, + -0.03136806935071945, + -2.001251697540283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 367, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_442267179", + "mask_path": "../../mask/hdr_right_00367.png" + }, + { + "file_path": "../../rgb/hdr_right_00368.png", + "transform_matrix": [ + [ + 0.08794932067394257, + 0.04300782084465027, + -0.9951961040496826, + -5.795383453369141 + ], + [ + 0.9849839806556702, + 0.1452486217021942, + 0.09332377463579178, + -7.407286643981934 + ], + [ + 0.14856453239917755, + -0.9884600043296814, + -0.029587507247924805, + -2.009437322616577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 368, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_542266368", + "mask_path": "../../mask/hdr_right_00368.png" + }, + { + "file_path": "../../rgb/hdr_right_00369.png", + "transform_matrix": [ + [ + 0.09704775363206863, + 0.04320927709341049, + -0.9943414330482483, + -5.813600540161133 + ], + [ + 0.9847122430801392, + 0.14103049039840698, + 0.10223647952079773, + -7.484604358673096 + ], + [ + 0.14464998245239258, + -0.9890618324279785, + -0.028862006962299347, + -2.018292188644409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 369, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_642267942", + "mask_path": "../../mask/hdr_right_00369.png" + }, + { + "file_path": "../../rgb/hdr_right_00370.png", + "transform_matrix": [ + [ + 0.10993043333292007, + 0.03338973596692085, + -0.9933783411979675, + -5.834798812866211 + ], + [ + 0.9844162464141846, + 0.13436031341552734, + 0.11345486342906952, + -7.578098297119141 + ], + [ + 0.1372588723897934, + -0.9903698563575745, + -0.01809910498559475, + -2.0363636016845703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 370, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_742266893", + "mask_path": "../../mask/hdr_right_00370.png" + }, + { + "file_path": "../../rgb/hdr_right_00371.png", + "transform_matrix": [ + [ + 0.11527705192565918, + 0.025465670973062515, + -0.9930068254470825, + -5.859744548797607 + ], + [ + 0.9835501909255981, + 0.13703010976314545, + 0.1176934465765953, + -7.682931423187256 + ], + [ + 0.13906899094581604, + -0.9902395009994507, + -0.009250336326658726, + -2.052605628967285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 371, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_842267274", + "mask_path": "../../mask/hdr_right_00371.png" + }, + { + "file_path": "../../rgb/hdr_right_00372.png", + "transform_matrix": [ + [ + 0.11212316900491714, + 0.02612038142979145, + -0.9933509826660156, + -5.870936870574951 + ], + [ + 0.9838472008705139, + 0.13746458292007446, + 0.11466510593891144, + -7.766615390777588 + ], + [ + 0.13954567909240723, + -0.990162193775177, + -0.01028550136834383, + -2.06887149810791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 372, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638837_942267417", + "mask_path": "../../mask/hdr_right_00372.png" + }, + { + "file_path": "../../rgb/hdr_right_00373.png", + "transform_matrix": [ + [ + 0.10663675516843796, + 0.03286639600992203, + -0.9937547445297241, + -5.878737449645996 + ], + [ + 0.9852598309516907, + 0.13096119463443756, + 0.11005645990371704, + -7.848606109619141 + ], + [ + 0.1337604820728302, + -0.9908425807952881, + -0.01841665804386139, + -2.085498094558716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 373, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_42267560", + "mask_path": "../../mask/hdr_right_00373.png" + }, + { + "file_path": "../../rgb/hdr_right_00374.png", + "transform_matrix": [ + [ + 0.10836884379386902, + 0.03600985184311867, + -0.9934583306312561, + -5.901564598083496 + ], + [ + 0.9843478202819824, + 0.13582542538642883, + 0.11229830980300903, + -7.940540790557861 + ], + [ + 0.13898074626922607, + -0.9900780916213989, + -0.020726976916193962, + -2.0974154472351074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 374, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_142266988", + "mask_path": "../../mask/hdr_right_00374.png" + }, + { + "file_path": "../../rgb/hdr_right_00375.png", + "transform_matrix": [ + [ + 0.11497755348682404, + 0.03129368647933006, + -0.9928750395774841, + -5.9289679527282715 + ], + [ + 0.9833129644393921, + 0.13826677203178406, + 0.11822815984487534, + -8.024419784545898 + ], + [ + 0.14098142087459564, + -0.9899004697799683, + -0.014873909763991833, + -2.1049728393554688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 375, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_242267847", + "mask_path": "../../mask/hdr_right_00375.png" + }, + { + "file_path": "../../rgb/hdr_right_00376.png", + "transform_matrix": [ + [ + 0.1245511993765831, + 0.02808617241680622, + -0.9918156266212463, + -5.94952917098999 + ], + [ + 0.9829269051551819, + 0.1329464614391327, + 0.12719975411891937, + -8.097617149353027 + ], + [ + 0.13543091714382172, + -0.9907251596450806, + -0.01104801520705223, + -2.1122961044311523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 376, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_342267036", + "mask_path": "../../mask/hdr_right_00376.png" + }, + { + "file_path": "../../rgb/hdr_right_00377.png", + "transform_matrix": [ + [ + 0.13685153424739838, + 0.019616201519966125, + -0.9903973340988159, + -5.981277942657471 + ], + [ + 0.982298731803894, + 0.12641222774982452, + 0.13823625445365906, + -8.19057846069336 + ], + [ + 0.12791000306606293, + -0.9917837977409363, + -0.0019692606292665005, + -2.13240385055542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 377, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_442267656", + "mask_path": "../../mask/hdr_right_00377.png" + }, + { + "file_path": "../../rgb/hdr_right_00378.png", + "transform_matrix": [ + [ + 0.14308737218379974, + 0.012419470585882664, + -0.989632248878479, + -6.011151313781738 + ], + [ + 0.9810904860496521, + 0.12990114092826843, + 0.14348255097866058, + -8.28920841217041 + ], + [ + 0.13033631443977356, + -0.9914491772651672, + 0.0064025879837572575, + -2.1451425552368164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 378, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_542267799", + "mask_path": "../../mask/hdr_right_00378.png" + }, + { + "file_path": "../../rgb/hdr_right_00379.png", + "transform_matrix": [ + [ + 0.14372655749320984, + 0.011995907872915268, + -0.9895447492599487, + -6.035490036010742 + ], + [ + 0.9807620644569397, + 0.13174237310886383, + 0.14404802024364471, + -8.369271278381348 + ], + [ + 0.13209296762943268, + -0.9912114143371582, + 0.007169744465500116, + -2.1642796993255615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 379, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_642268180", + "mask_path": "../../mask/hdr_right_00379.png" + }, + { + "file_path": "../../rgb/hdr_right_00380.png", + "transform_matrix": [ + [ + 0.14370551705360413, + 0.016977054998278618, + -0.989474892616272, + -6.06287956237793 + ], + [ + 0.9814733862876892, + 0.12558849155902863, + 0.14469824731349945, + -8.44998836517334 + ], + [ + 0.12672320008277893, + -0.9919371008872986, + 0.001385233597829938, + -2.190443277359009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 380, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_742267847", + "mask_path": "../../mask/hdr_right_00380.png" + }, + { + "file_path": "../../rgb/hdr_right_00381.png", + "transform_matrix": [ + [ + 0.14926554262638092, + 0.01915811188519001, + -0.9886115193367004, + -6.100592136383057 + ], + [ + 0.9800523519515991, + 0.12980979681015015, + 0.15048879384994507, + -8.54113483428955 + ], + [ + 0.13121457397937775, + -0.9913537502288818, + 0.0006001807050779462, + -2.200147867202759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 381, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_842267751", + "mask_path": "../../mask/hdr_right_00381.png" + }, + { + "file_path": "../../rgb/hdr_right_00382.png", + "transform_matrix": [ + [ + 0.15886959433555603, + 0.019718756899237633, + -0.987102746963501, + -6.137195587158203 + ], + [ + 0.9779466390609741, + 0.13414974510669708, + 0.160075843334198, + -8.621249198913574 + ], + [ + 0.1355760395526886, + -0.990764856338501, + 0.0020284259226173162, + -2.2038698196411133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 382, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638838_942267656", + "mask_path": "../../mask/hdr_right_00382.png" + }, + { + "file_path": "../../rgb/hdr_right_00383.png", + "transform_matrix": [ + [ + 0.17291490733623505, + 0.02141168713569641, + -0.9847040176391602, + -6.163033962249756 + ], + [ + 0.9760764837265015, + 0.1300741732120514, + 0.17422828078269958, + -8.689831733703613 + ], + [ + 0.1318150907754898, + -0.991273045539856, + 0.0015923210885375738, + -2.2091522216796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 383, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_42268276", + "mask_path": "../../mask/hdr_right_00383.png" + }, + { + "file_path": "../../rgb/hdr_right_00384.png", + "transform_matrix": [ + [ + 0.18527595698833466, + 0.01559830829501152, + -0.9825627207756042, + -6.197249412536621 + ], + [ + 0.9741395115852356, + 0.12867140769958496, + 0.18573032319545746, + -8.780499458312988 + ], + [ + 0.12932483851909637, + -0.9915646910667419, + 0.008644787594676018, + -2.235684871673584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 384, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_142267227", + "mask_path": "../../mask/hdr_right_00384.png" + }, + { + "file_path": "../../rgb/hdr_right_00385.png", + "transform_matrix": [ + [ + 0.18413740396499634, + 0.0107360128313303, + -0.9828418493270874, + -6.225136756896973 + ], + [ + 0.973687469959259, + 0.1345970630645752, + 0.18389257788658142, + -8.874356269836426 + ], + [ + 0.13426189124584198, + -0.9908422231674194, + 0.014330833218991756, + -2.259068727493286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 385, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_242268323", + "mask_path": "../../mask/hdr_right_00385.png" + }, + { + "file_path": "../../rgb/hdr_right_00386.png", + "transform_matrix": [ + [ + 0.17515549063682556, + 0.012822956778109074, + -0.9844573140144348, + -6.239563465118408 + ], + [ + 0.975212037563324, + 0.13506297767162323, + 0.17526984214782715, + -8.956134796142578 + ], + [ + 0.13521119952201843, + -0.9907540678977966, + 0.011151923798024654, + -2.274341344833374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 386, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_342268705", + "mask_path": "../../mask/hdr_right_00386.png" + }, + { + "file_path": "../../rgb/hdr_right_00387.png", + "transform_matrix": [ + [ + 0.1653905063867569, + 0.02022649347782135, + -0.9860207438468933, + -6.257290840148926 + ], + [ + 0.977506697177887, + 0.12930616736412048, + 0.16661491990089417, + -9.043968200683594 + ], + [ + 0.130868598818779, + -0.9913983941078186, + 0.0016144789988175035, + -2.29799222946167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 387, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_442267417", + "mask_path": "../../mask/hdr_right_00387.png" + }, + { + "file_path": "../../rgb/hdr_right_00388.png", + "transform_matrix": [ + [ + 0.1669442057609558, + 0.02373914048075676, + -0.9856805801391602, + -6.276951789855957 + ], + [ + 0.9757672548294067, + 0.1394432932138443, + 0.16862355172634125, + -9.134056091308594 + ], + [ + 0.14144952595233917, + -0.9899454116821289, + 0.00011537602404132485, + -2.3086605072021484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 388, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_542268514", + "mask_path": "../../mask/hdr_right_00388.png" + }, + { + "file_path": "../../rgb/hdr_right_00389.png", + "transform_matrix": [ + [ + 0.17514896392822266, + 0.02670389786362648, + -0.9841797351837158, + -6.301305770874023 + ], + [ + 0.9733354449272156, + 0.14569854736328125, + 0.17717236280441284, + -9.21638011932373 + ], + [ + 0.14812475442886353, + -0.9889686107635498, + -0.0004728931235149503, + -2.3056554794311523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 389, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_642268657", + "mask_path": "../../mask/hdr_right_00389.png" + }, + { + "file_path": "../../rgb/hdr_right_00390.png", + "transform_matrix": [ + [ + 0.18581244349479675, + 0.03067406825721264, + -0.9821063280105591, + -6.320926189422607 + ], + [ + 0.9720533490180969, + 0.14021185040473938, + 0.18828965723514557, + -9.292092323303223 + ], + [ + 0.14347857236862183, + -0.9896462559700012, + -0.003763723187148571, + -2.310689687728882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 390, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_742268562", + "mask_path": "../../mask/hdr_right_00390.png" + }, + { + "file_path": "../../rgb/hdr_right_00391.png", + "transform_matrix": [ + [ + 0.19431833922863007, + 0.02392129972577095, + -0.9806467294692993, + -6.352736949920654 + ], + [ + 0.9705786108970642, + 0.14021989703178406, + 0.19574373960494995, + -9.395771026611328 + ], + [ + 0.1421886384487152, + -0.9898313879966736, + 0.004029794130474329, + -2.3352723121643066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 391, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_842267513", + "mask_path": "../../mask/hdr_right_00391.png" + }, + { + "file_path": "../../rgb/hdr_right_00392.png", + "transform_matrix": [ + [ + 0.1959543079137802, + 0.01885179802775383, + -0.980431854724884, + -6.381590843200684 + ], + [ + 0.9695111513137817, + 0.14629609882831573, + 0.19658468663692474, + -9.491238594055176 + ], + [ + 0.14713932573795319, + -0.989061176776886, + 0.010390321724116802, + -2.363525152206421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 392, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638839_942267417", + "mask_path": "../../mask/hdr_right_00392.png" + }, + { + "file_path": "../../rgb/hdr_right_00393.png", + "transform_matrix": [ + [ + 0.19365543127059937, + 0.02264164574444294, + -0.9808083772659302, + -6.399590492248535 + ], + [ + 0.9701108932495117, + 0.14458981156349182, + 0.1948811113834381, + -9.570121765136719 + ], + [ + 0.14622734487056732, + -0.98923259973526, + 0.006035699509084225, + -2.380732297897339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 393, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_42267322", + "mask_path": "../../mask/hdr_right_00393.png" + }, + { + "file_path": "../../rgb/hdr_right_00394.png", + "transform_matrix": [ + [ + 0.19297048449516296, + 0.03163190558552742, + -0.9806945323944092, + -6.426623821258545 + ], + [ + 0.9699557423591614, + 0.14475885033607483, + 0.1955266147851944, + -9.655553817749023 + ], + [ + 0.14814910292625427, + -0.9889612197875977, + -0.0027473585214465857, + -2.4029500484466553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 394, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_142267704", + "mask_path": "../../mask/hdr_right_00394.png" + }, + { + "file_path": "../../rgb/hdr_right_00395.png", + "transform_matrix": [ + [ + 0.19920994341373444, + 0.032536253333091736, + -0.97941654920578, + -6.464385032653809 + ], + [ + 0.9676335453987122, + 0.15147243440151215, + 0.20184524357318878, + -9.737815856933594 + ], + [ + 0.15492191910743713, + -0.9879258275032043, + -0.00130834907758981, + -2.4130074977874756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 395, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_242267131", + "mask_path": "../../mask/hdr_right_00395.png" + }, + { + "file_path": "../../rgb/hdr_right_00396.png", + "transform_matrix": [ + [ + 0.20920950174331665, + 0.03247129172086716, + -0.9773316383361816, + -6.499708652496338 + ], + [ + 0.965287446975708, + 0.15296295285224915, + 0.21171341836452484, + -9.807526588439941 + ], + [ + 0.1563701033592224, + -0.9876983165740967, + 0.0006571762496605515, + -2.421341896057129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 396, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_342267513", + "mask_path": "../../mask/hdr_right_00396.png" + }, + { + "file_path": "../../rgb/hdr_right_00397.png", + "transform_matrix": [ + [ + 0.2227034568786621, + 0.034059587866067886, + -0.9742910861968994, + -6.531665325164795 + ], + [ + 0.9626020789146423, + 0.15046893060207367, + 0.22529178857803345, + -9.876579284667969 + ], + [ + 0.1542738974094391, + -0.9880278706550598, + 0.0007241343846544623, + -2.4311957359313965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 397, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_442266941", + "mask_path": "../../mask/hdr_right_00397.png" + }, + { + "file_path": "../../rgb/hdr_right_00398.png", + "transform_matrix": [ + [ + 0.23139230906963348, + 0.029463812708854675, + -0.9724143147468567, + -6.5753350257873535 + ], + [ + 0.9591140747070312, + 0.16052618622779846, + 0.2330913543701172, + -9.968022346496582 + ], + [ + 0.16296572983264923, + -0.9865916967391968, + 0.008885365910828114, + -2.4626359939575195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 398, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_542268991", + "mask_path": "../../mask/hdr_right_00398.png" + }, + { + "file_path": "../../rgb/hdr_right_00399.png", + "transform_matrix": [ + [ + 0.23327681422233582, + 0.02639615163207054, + -0.9720520377159119, + -6.609743118286133 + ], + [ + 0.9557822346687317, + 0.1778479516506195, + 0.23420186340808868, + -10.049217224121094 + ], + [ + 0.17905950546264648, + -0.9837038516998291, + 0.01625884138047695, + -2.4952828884124756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 399, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_642267465", + "mask_path": "../../mask/hdr_right_00399.png" + }, + { + "file_path": "../../rgb/hdr_right_00400.png", + "transform_matrix": [ + [ + 0.23091430962085724, + 0.029857637360692024, + -0.972515881061554, + -6.63239049911499 + ], + [ + 0.9555143117904663, + 0.181545689702034, + 0.2324512004852295, + -10.117032051086426 + ], + [ + 0.18349651992321014, + -0.9829291105270386, + 0.013392099179327488, + -2.514012336730957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 400, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_742268085", + "mask_path": "../../mask/hdr_right_00400.png" + }, + { + "file_path": "../../rgb/hdr_right_00401.png", + "transform_matrix": [ + [ + 0.22718669474124908, + 0.042888883501291275, + -0.9729064106941223, + -6.668755054473877 + ], + [ + 0.955810546875, + 0.1815849095582962, + 0.2311994582414627, + -10.195815086364746 + ], + [ + 0.18658100068569183, + -0.9824395775794983, + 0.00026002852246165276, + -2.5396111011505127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 401, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_842267513", + "mask_path": "../../mask/hdr_right_00401.png" + }, + { + "file_path": "../../rgb/hdr_right_00402.png", + "transform_matrix": [ + [ + 0.22798088192939758, + 0.052183378487825394, + -0.9722662568092346, + -6.709001541137695 + ], + [ + 0.9521427750587463, + 0.19684751331806183, + 0.23382742702960968, + -10.275328636169434 + ], + [ + 0.20359009504318237, + -0.9790444374084473, + -0.004808566067367792, + -2.5721659660339355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 402, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638840_942267656", + "mask_path": "../../mask/hdr_right_00402.png" + }, + { + "file_path": "../../rgb/hdr_right_00403.png", + "transform_matrix": [ + [ + 0.23305809497833252, + 0.05931519716978073, + -0.9706522226333618, + -6.741970062255859 + ], + [ + 0.9486613869667053, + 0.20561359822750092, + 0.24034279584884644, + -10.340370178222656 + ], + [ + 0.21383528411388397, + -0.9768341183662415, + -0.00835011899471283, + -2.593916177749634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 403, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_42267560", + "mask_path": "../../mask/hdr_right_00403.png" + }, + { + "file_path": "../../rgb/hdr_right_00404.png", + "transform_matrix": [ + [ + 0.24044060707092285, + 0.06514505296945572, + -0.968475341796875, + -6.769222736358643 + ], + [ + 0.9470819234848022, + 0.20284833014011383, + 0.24877402186393738, + -10.407574653625488 + ], + [ + 0.21265999972820282, + -0.9770408272743225, + -0.012924724258482456, + -2.607642650604248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 404, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_142267704", + "mask_path": "../../mask/hdr_right_00404.png" + }, + { + "file_path": "../../rgb/hdr_right_00405.png", + "transform_matrix": [ + [ + 0.24834394454956055, + 0.06041499972343445, + -0.9667862057685852, + -6.809054374694824 + ], + [ + 0.9444136619567871, + 0.2068585753440857, + 0.2555237412452698, + -10.498002052307129 + ], + [ + 0.21542544662952423, + -0.9765037298202515, + -0.005684676580131054, + -2.6384201049804688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 405, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_242267847", + "mask_path": "../../mask/hdr_right_00405.png" + }, + { + "file_path": "../../rgb/hdr_right_00406.png", + "transform_matrix": [ + [ + 0.2535141408443451, + 0.056841228157281876, + -0.9656602740287781, + -6.84440803527832 + ], + [ + 0.9424164295196533, + 0.2105967104434967, + 0.2598082423210144, + -10.583386421203613 + ], + [ + 0.21813268959522247, + -0.9759190678596497, + -0.00017885840497910976, + -2.662053108215332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 406, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_342268705", + "mask_path": "../../mask/hdr_right_00406.png" + }, + { + "file_path": "../../rgb/hdr_right_00407.png", + "transform_matrix": [ + [ + 0.2550979256629944, + 0.05989601090550423, + -0.9650583863258362, + -6.868037700653076 + ], + [ + 0.9429963827133179, + 0.20521318912506104, + 0.2620026767253876, + -10.657167434692383 + ], + [ + 0.21373561024665833, + -0.976882815361023, + -0.0041322554461658, + -2.6755752563476562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 407, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_442268371", + "mask_path": "../../mask/hdr_right_00407.png" + }, + { + "file_path": "../../rgb/hdr_right_00408.png", + "transform_matrix": [ + [ + 0.2534453570842743, + 0.06532343477010727, + -0.9651416540145874, + -6.90030574798584 + ], + [ + 0.9448173642158508, + 0.19737063348293304, + 0.2614668905735016, + -10.738829612731934 + ], + [ + 0.20757050812244415, + -0.9781501293182373, + -0.0116960434243083, + -2.7022857666015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 408, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_542268753", + "mask_path": "../../mask/hdr_right_00408.png" + }, + { + "file_path": "../../rgb/hdr_right_00409.png", + "transform_matrix": [ + [ + 0.2582067549228668, + 0.08375757932662964, + -0.9624520540237427, + -6.93349552154541 + ], + [ + 0.9396860599517822, + 0.20954525470733643, + 0.27033481001853943, + -10.818199157714844 + ], + [ + 0.22431986033916473, + -0.974204957485199, + -0.02459983341395855, + -2.714859962463379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 409, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_642268180", + "mask_path": "../../mask/hdr_right_00409.png" + }, + { + "file_path": "../../rgb/hdr_right_00410.png", + "transform_matrix": [ + [ + 0.26699021458625793, + 0.084244005382061, + -0.9600099325180054, + -6.9701714515686035 + ], + [ + 0.9367961287498474, + 0.21104875206947327, + 0.2790543735027313, + -10.886807441711426 + ], + [ + 0.2261175513267517, + -0.9738385677337646, + -0.022571517154574394, + -2.714979648590088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 410, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_742268323", + "mask_path": "../../mask/hdr_right_00410.png" + }, + { + "file_path": "../../rgb/hdr_right_00411.png", + "transform_matrix": [ + [ + 0.2748338282108307, + 0.07805223762989044, + -0.9583184719085693, + -7.008626461029053 + ], + [ + 0.9367049336433411, + 0.2031182050704956, + 0.2851787805557251, + -10.952486991882324 + ], + [ + 0.21691076457500458, + -0.9760383367538452, + -0.017288148403167725, + -2.7334330081939697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 411, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_842268466", + "mask_path": "../../mask/hdr_right_00411.png" + }, + { + "file_path": "../../rgb/hdr_right_00412.png", + "transform_matrix": [ + [ + 0.2830093204975128, + 0.07432245463132858, + -0.9562332034111023, + -7.055401802062988 + ], + [ + 0.9376126527786255, + 0.18849782645702362, + 0.2921491861343384, + -11.035704612731934 + ], + [ + 0.20196111500263214, + -0.9792572855949402, + -0.016339026391506195, + -2.761629104614258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 412, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638841_942271709", + "mask_path": "../../mask/hdr_right_00412.png" + }, + { + "file_path": "../../rgb/hdr_right_00413.png", + "transform_matrix": [ + [ + 0.2851923406124115, + 0.06657551974058151, + -0.9561554193496704, + -7.100837230682373 + ], + [ + 0.9394749999046326, + 0.17820526659488678, + 0.29262521862983704, + -11.120405197143555 + ], + [ + 0.189873605966568, + -0.9817386269569397, + -0.011723254807293415, + -2.7757720947265625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 413, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_42264938", + "mask_path": "../../mask/hdr_right_00413.png" + }, + { + "file_path": "../../rgb/hdr_right_00414.png", + "transform_matrix": [ + [ + 0.2831592261791229, + 0.06439465284347534, + -0.9569087028503418, + -7.133991241455078 + ], + [ + 0.9426217079162598, + 0.16532206535339355, + 0.29005685448646545, + -11.199309349060059 + ], + [ + 0.1768762320280075, + -0.984135091304779, + -0.013887329958379269, + -2.7844955921173096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 414, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_142264842", + "mask_path": "../../mask/hdr_right_00414.png" + }, + { + "file_path": "../../rgb/hdr_right_00415.png", + "transform_matrix": [ + [ + 0.28126010298728943, + 0.06781578063964844, + -0.9572323560714722, + -7.174338340759277 + ], + [ + 0.945579469203949, + 0.15049387514591217, + 0.28849804401397705, + -11.280088424682617 + ], + [ + 0.16362231969833374, + -0.9862821698188782, + -0.021797284483909607, + -2.80440354347229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 415, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_242266893", + "mask_path": "../../mask/hdr_right_00415.png" + }, + { + "file_path": "../../rgb/hdr_right_00416.png", + "transform_matrix": [ + [ + 0.28657302260398865, + 0.06820673495531082, + -0.9556273818016052, + -7.224610328674316 + ], + [ + 0.945147693157196, + 0.14307379722595215, + 0.29364213347435, + -11.364336013793945 + ], + [ + 0.15675361454486847, + -0.9873589277267456, + -0.023464355617761612, + -2.8102574348449707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 416, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_342267274", + "mask_path": "../../mask/hdr_right_00416.png" + }, + { + "file_path": "../../rgb/hdr_right_00417.png", + "transform_matrix": [ + [ + 0.29683682322502136, + 0.06690806895494461, + -0.9525813460350037, + -7.2673492431640625 + ], + [ + 0.9429137706756592, + 0.137204110622406, + 0.30346134305000305, + -11.439685821533203 + ], + [ + 0.15100209414958954, + -0.9882805347442627, + -0.02236129902303219, + -2.812394142150879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 417, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_442266941", + "mask_path": "../../mask/hdr_right_00417.png" + }, + { + "file_path": "../../rgb/hdr_right_00418.png", + "transform_matrix": [ + [ + 0.31196892261505127, + 0.05981900542974472, + -0.9482073187828064, + -7.305666446685791 + ], + [ + 0.9395222663879395, + 0.12903234362602234, + 0.31725162267684937, + -11.512933731079102 + ], + [ + 0.14132708311080933, + -0.9898344874382019, + -0.015947207808494568, + -2.8192241191864014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 418, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_542266607", + "mask_path": "../../mask/hdr_right_00418.png" + }, + { + "file_path": "../../rgb/hdr_right_00419.png", + "transform_matrix": [ + [ + 0.3204289674758911, + 0.04828523099422455, + -0.9460411667823792, + -7.353307723999023 + ], + [ + 0.9371996521949768, + 0.12909585237503052, + 0.3240233063697815, + -11.60527229309082 + ], + [ + 0.13777552545070648, + -0.9904558658599854, + -0.0038868580013513565, + -2.8371036052703857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 419, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_642266988", + "mask_path": "../../mask/hdr_right_00419.png" + }, + { + "file_path": "../../rgb/hdr_right_00420.png", + "transform_matrix": [ + [ + 0.32145410776138306, + 0.043181318789720535, + -0.9459401369094849, + -7.391532897949219 + ], + [ + 0.9371864795684814, + 0.12839257717132568, + 0.32434049248695374, + -11.690603256225586 + ], + [ + 0.1354571431875229, + -0.9907828569412231, + 0.0008033779449760914, + -2.8553502559661865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 420, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_742266893", + "mask_path": "../../mask/hdr_right_00420.png" + }, + { + "file_path": "../../rgb/hdr_right_00421.png", + "transform_matrix": [ + [ + 0.3189984858036041, + 0.04507974162697792, + -0.9466825723648071, + -7.418359279632568 + ], + [ + 0.9391525387763977, + 0.11924294382333755, + 0.32213929295539856, + -11.768465042114258 + ], + [ + 0.12740717828273773, + -0.991841197013855, + -0.004298437852412462, + -2.866276979446411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 421, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_842268705", + "mask_path": "../../mask/hdr_right_00421.png" + }, + { + "file_path": "../../rgb/hdr_right_00422.png", + "transform_matrix": [ + [ + 0.3190946877002716, + 0.05116920545697212, + -0.9463405013084412, + -7.45700216293335 + ], + [ + 0.9391899108886719, + 0.11661992967128754, + 0.3229893743991852, + -11.854080200195312 + ], + [ + 0.12688927352428436, + -0.9918575882911682, + -0.010844800621271133, + -2.879694938659668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 422, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638842_942266941", + "mask_path": "../../mask/hdr_right_00422.png" + }, + { + "file_path": "../../rgb/hdr_right_00423.png", + "transform_matrix": [ + [ + 0.32672521471977234, + 0.051393188536167145, + -0.9437211155891418, + -7.507370471954346 + ], + [ + 0.93654465675354, + 0.11659496277570724, + 0.33059021830558777, + -11.935140609741211 + ], + [ + 0.12702319025993347, + -0.9918489456176758, + -0.0100374985486269, + -2.8799002170562744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 423, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_42268037", + "mask_path": "../../mask/hdr_right_00423.png" + }, + { + "file_path": "../../rgb/hdr_right_00424.png", + "transform_matrix": [ + [ + 0.3380524516105652, + 0.0492817685008049, + -0.9398361444473267, + -7.549534320831299 + ], + [ + 0.933249831199646, + 0.11138330399990082, + 0.34152400493621826, + -12.005426406860352 + ], + [ + 0.12151294946670532, + -0.9925548434257507, + -0.008338802494108677, + -2.881298780441284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 424, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_142267227", + "mask_path": "../../mask/hdr_right_00424.png" + }, + { + "file_path": "../../rgb/hdr_right_00425.png", + "transform_matrix": [ + [ + 0.3531762957572937, + 0.04214007407426834, + -0.9346072673797607, + -7.598146915435791 + ], + [ + 0.9286555051803589, + 0.10532554239034653, + 0.35567623376846313, + -12.079497337341309 + ], + [ + 0.11342623084783554, + -0.9935445189476013, + -0.0019351249793544412, + -2.8926751613616943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 425, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_242268085", + "mask_path": "../../mask/hdr_right_00425.png" + }, + { + "file_path": "../../rgb/hdr_right_00426.png", + "transform_matrix": [ + [ + 0.35832837224006653, + 0.03635631874203682, + -0.9328874945640564, + -7.65255069732666 + ], + [ + 0.9263779520988464, + 0.11016593873500824, + 0.36012139916419983, + -12.165804862976074 + ], + [ + 0.11586511135101318, + -0.9932480454444885, + 0.005795888602733612, + -2.9102087020874023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 426, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_342267751", + "mask_path": "../../mask/hdr_right_00426.png" + }, + { + "file_path": "../../rgb/hdr_right_00427.png", + "transform_matrix": [ + [ + 0.3574069142341614, + 0.03488711267709732, + -0.9332969188690186, + -7.690454959869385 + ], + [ + 0.9264901280403137, + 0.11279700696468353, + 0.35901665687561035, + -12.245003700256348 + ], + [ + 0.11779815703630447, + -0.9930054545402527, + 0.007991867139935493, + -2.926710605621338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 427, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_442267894", + "mask_path": "../../mask/hdr_right_00427.png" + }, + { + "file_path": "../../rgb/hdr_right_00428.png", + "transform_matrix": [ + [ + 0.3578626811504364, + 0.03708716481924057, + -0.933037519454956, + -7.71942138671875 + ], + [ + 0.9269490838050842, + 0.10648093372583389, + 0.359760046005249, + -12.31915283203125 + ], + [ + 0.1126931682229042, + -0.9936228394508362, + 0.003727640025317669, + -2.937840461730957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 428, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_542266845", + "mask_path": "../../mask/hdr_right_00428.png" + }, + { + "file_path": "../../rgb/hdr_right_00429.png", + "transform_matrix": [ + [ + 0.3744335472583771, + 0.04633535072207451, + -0.9260953068733215, + -7.7681474685668945 + ], + [ + 0.9198549389839172, + 0.10735678672790527, + 0.37728187441825867, + -12.393121719360352 + ], + [ + 0.11690410226583481, + -0.9931402206420898, + -0.0024238196201622486, + -2.9501593112945557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 429, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_642267465", + "mask_path": "../../mask/hdr_right_00429.png" + }, + { + "file_path": "../../rgb/hdr_right_00430.png", + "transform_matrix": [ + [ + 0.4044778048992157, + 0.04624588415026665, + -0.9133778214454651, + -7.8281145095825195 + ], + [ + 0.9064198732376099, + 0.11258435994386673, + 0.40709686279296875, + -12.454545974731445 + ], + [ + 0.12165861576795578, + -0.9925654530525208, + 0.003619686234742403, + -2.9533157348632812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 430, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_742267608", + "mask_path": "../../mask/hdr_right_00430.png" + }, + { + "file_path": "../../rgb/hdr_right_00431.png", + "transform_matrix": [ + [ + 0.44215142726898193, + 0.0448722243309021, + -0.8958172798156738, + -7.875310897827148 + ], + [ + 0.8891171216964722, + 0.10969719290733337, + 0.44433924555778503, + -12.499932289123535 + ], + [ + 0.11820713430643082, + -0.9929516911506653, + 0.008606106974184513, + -2.9527368545532227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 431, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638843_842267751", + "mask_path": "../../mask/hdr_right_00431.png" + }, + { + "file_path": "../../rgb/hdr_right_00433.png", + "transform_matrix": [ + [ + 0.5383704900741577, + 0.04322686418890953, + -0.8415988683700562, + -7.970980167388916 + ], + [ + 0.8349995613098145, + 0.10740899294614792, + 0.5396657586097717, + -12.581443786621094 + ], + [ + 0.11372333019971848, + -0.9932747483253479, + 0.021731434389948845, + -2.959641695022583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 433, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_42268037", + "mask_path": "../../mask/hdr_right_00433.png" + }, + { + "file_path": "../../rgb/hdr_right_00434.png", + "transform_matrix": [ + [ + 0.5791581273078918, + 0.04003993794322014, + -0.8142312169075012, + -8.016365051269531 + ], + [ + 0.8070132732391357, + 0.11316447705030441, + 0.5795889496803284, + -12.614757537841797 + ], + [ + 0.11534877121448517, + -0.992769181728363, + 0.03322736918926239, + -2.9734325408935547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 434, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_142267227", + "mask_path": "../../mask/hdr_right_00434.png" + }, + { + "file_path": "../../rgb/hdr_right_00436.png", + "transform_matrix": [ + [ + 0.652116596698761, + 0.0355006568133831, + -0.7572870850563049, + -8.082246780395508 + ], + [ + 0.7496711015701294, + 0.11850811541080475, + 0.6511138677597046, + -12.659845352172852 + ], + [ + 0.11285962909460068, + -0.9923182725906372, + 0.050667308270931244, + -2.9938101768493652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 436, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_342266798", + "mask_path": "../../mask/hdr_right_00436.png" + }, + { + "file_path": "../../rgb/hdr_right_00438.png", + "transform_matrix": [ + [ + 0.7341508269309998, + 0.04816397279500961, + -0.677276074886322, + -8.16201400756836 + ], + [ + 0.668821394443512, + 0.12065741419792175, + 0.7335665822029114, + -12.694513320922852 + ], + [ + 0.11704985797405243, + -0.9915251135826111, + 0.0563676543533802, + -3.00297212600708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 438, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_542267322", + "mask_path": "../../mask/hdr_right_00438.png" + }, + { + "file_path": "../../rgb/hdr_right_00440.png", + "transform_matrix": [ + [ + 0.8260052800178528, + 0.06068716570734978, + -0.5603860020637512, + -8.259723663330078 + ], + [ + 0.552082896232605, + 0.1133776381611824, + 0.8260449171066284, + -12.692276000976562 + ], + [ + 0.11366556584835052, + -0.991696834564209, + 0.060146182775497437, + -3.0033133029937744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 440, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_742268800", + "mask_path": "../../mask/hdr_right_00440.png" + }, + { + "file_path": "../../rgb/hdr_right_00442.png", + "transform_matrix": [ + [ + 0.9011868834495544, + 0.06777799129486084, + -0.42809852957725525, + -8.369088172912598 + ], + [ + 0.41930603981018066, + 0.11376184225082397, + 0.9006890654563904, + -12.679232597351074 + ], + [ + 0.10974817723035812, + -0.991193413734436, + 0.07410096377134323, + -3.0057194232940674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 442, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638844_942267894", + "mask_path": "../../mask/hdr_right_00442.png" + }, + { + "file_path": "../../rgb/hdr_right_00444.png", + "transform_matrix": [ + [ + 0.9532862901687622, + 0.07232227176427841, + -0.2932828962802887, + -8.455924034118652 + ], + [ + 0.28396719694137573, + 0.11648731678724289, + 0.9517317414283752, + -12.640795707702637 + ], + [ + 0.1029951423406601, + -0.9905555248260498, + 0.0905086025595665, + -3.0203254222869873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 444, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638845_142267704", + "mask_path": "../../mask/hdr_right_00444.png" + }, + { + "file_path": "../../rgb/hdr_right_00452.png", + "transform_matrix": [ + [ + 0.9309011101722717, + 0.11675061285495758, + 0.34611061215400696, + -8.746203422546387 + ], + [ + -0.355253666639328, + 0.068989597260952, + 0.9322206974029541, + -12.290103912353516 + ], + [ + 0.08495930582284927, + -0.9907621741294861, + 0.10569857805967331, + -3.0497326850891113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 452, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638845_942268610", + "mask_path": "../../mask/hdr_right_00452.png" + }, + { + "file_path": "../../rgb/hdr_right_00453.png", + "transform_matrix": [ + [ + 0.8982312679290771, + 0.11681372672319412, + 0.42371585965156555, + -8.7781400680542 + ], + [ + -0.432059645652771, + 0.05776851996779442, + 0.8999930024147034, + -12.23281192779541 + ], + [ + 0.0806540921330452, + -0.9914723634719849, + 0.10235998779535294, + -3.0453810691833496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 453, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638846_42267560", + "mask_path": "../../mask/hdr_right_00453.png" + }, + { + "file_path": "../../rgb/hdr_right_00455.png", + "transform_matrix": [ + [ + 0.8182653784751892, + 0.11629048734903336, + 0.5629550814628601, + -8.803807258605957 + ], + [ + -0.570375919342041, + 0.042429447174072266, + 0.8202871084213257, + -12.138124465942383 + ], + [ + 0.07150571048259735, + -0.9923085570335388, + 0.10104783624410629, + -3.0521812438964844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 455, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638846_242267608", + "mask_path": "../../mask/hdr_right_00455.png" + }, + { + "file_path": "../../rgb/hdr_right_00459.png", + "transform_matrix": [ + [ + 0.7811307907104492, + 0.12141701579093933, + 0.6124481558799744, + -8.9245023727417 + ], + [ + -0.6177974343299866, + 0.008376576006412506, + 0.7862926721572876, + -11.948111534118652 + ], + [ + 0.09033908694982529, + -0.9925662279129028, + 0.08155431598424911, + -3.090510845184326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 459, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638846_642266750", + "mask_path": "../../mask/hdr_right_00459.png" + }, + { + "file_path": "../../rgb/hdr_right_00460.png", + "transform_matrix": [ + [ + 0.7775049805641174, + 0.11991177499294281, + 0.6173388957977295, + -8.956207275390625 + ], + [ + -0.6218798160552979, + 0.0005743153160437942, + 0.7831125259399414, + -11.894864082336426 + ], + [ + 0.09354986250400543, + -0.9927843809127808, + 0.07501725852489471, + -3.0876190662384033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 460, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638846_742267847", + "mask_path": "../../mask/hdr_right_00460.png" + }, + { + "file_path": "../../rgb/hdr_right_00462.png", + "transform_matrix": [ + [ + 0.7630509734153748, + 0.12045935541391373, + 0.635013997554779, + -9.015365600585938 + ], + [ + -0.6384458541870117, + -0.0125938281416893, + 0.7695637345314026, + -11.78541374206543 + ], + [ + 0.10069841146469116, + -0.9926384091377258, + 0.06729703396558762, + -3.1086909770965576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 462, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638846_942267656", + "mask_path": "../../mask/hdr_right_00462.png" + }, + { + "file_path": "../../rgb/hdr_right_00463.png", + "transform_matrix": [ + [ + 0.7637432813644409, + 0.13630801439285278, + 0.6309647560119629, + -9.060503005981445 + ], + [ + -0.6346853375434875, + -0.019770413637161255, + 0.772517740726471, + -11.720264434814453 + ], + [ + 0.11777479201555252, + -0.9904692769050598, + 0.07141316682100296, + -3.1305086612701416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 463, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_42267560", + "mask_path": "../../mask/hdr_right_00463.png" + }, + { + "file_path": "../../rgb/hdr_right_00464.png", + "transform_matrix": [ + [ + 0.7658525705337524, + 0.14589837193489075, + 0.6262455582618713, + -9.09788703918457 + ], + [ + -0.6300207376480103, + -0.024554889649152756, + 0.7761900424957275, + -11.668649673461914 + ], + [ + 0.12862223386764526, + -0.988994836807251, + 0.0731135755777359, + -3.1553168296813965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 464, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_142267942", + "mask_path": "../../mask/hdr_right_00464.png" + }, + { + "file_path": "../../rgb/hdr_right_00465.png", + "transform_matrix": [ + [ + 0.768296480178833, + 0.14121566712856293, + 0.6243226528167725, + -9.14708137512207 + ], + [ + -0.6268876194953918, + -0.031104527413845062, + 0.7784885764122009, + -11.609055519104004 + ], + [ + 0.12935404479503632, + -0.9894900918006897, + 0.06462886929512024, + -3.176304578781128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 465, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_242267608", + "mask_path": "../../mask/hdr_right_00465.png" + }, + { + "file_path": "../../rgb/hdr_right_00466.png", + "transform_matrix": [ + [ + 0.7692322731018066, + 0.13821034133434296, + 0.623842716217041, + -9.208908081054688 + ], + [ + -0.6232026815414429, + -0.0532672144472599, + 0.7802442908287048, + -11.537057876586914 + ], + [ + 0.14106817543506622, + -0.9889695048332214, + 0.04515819624066353, + -3.196600914001465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 466, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_342268466", + "mask_path": "../../mask/hdr_right_00466.png" + }, + { + "file_path": "../../rgb/hdr_right_00467.png", + "transform_matrix": [ + [ + 0.7658277750015259, + 0.14129585027694702, + 0.6273303031921387, + -9.257001876831055 + ], + [ + -0.6242863535881042, + -0.07055366039276123, + 0.7780030369758606, + -11.478523254394531 + ], + [ + 0.15418903529644012, + -0.9874500632286072, + 0.03417712822556496, + -3.2117857933044434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 467, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_442269325", + "mask_path": "../../mask/hdr_right_00467.png" + }, + { + "file_path": "../../rgb/hdr_right_00468.png", + "transform_matrix": [ + [ + 0.7603892683982849, + 0.13793028891086578, + 0.6346521377563477, + -9.295356750488281 + ], + [ + -0.6297886967658997, + -0.0821319967508316, + 0.772412121295929, + -11.434480667114258 + ], + [ + 0.1586642861366272, + -0.9870306849479675, + 0.024414658546447754, + -3.230125665664673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 468, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_542268037", + "mask_path": "../../mask/hdr_right_00468.png" + }, + { + "file_path": "../../rgb/hdr_right_00469.png", + "transform_matrix": [ + [ + 0.7554548978805542, + 0.1380610466003418, + 0.6404897570610046, + -9.365031242370605 + ], + [ + -0.6355521082878113, + -0.083189956843853, + 0.7675630450248718, + -11.370119094848633 + ], + [ + 0.15925288200378418, + -0.9869237542152405, + 0.02489873394370079, + -3.255826234817505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 469, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_642267227", + "mask_path": "../../mask/hdr_right_00469.png" + }, + { + "file_path": "../../rgb/hdr_right_00470.png", + "transform_matrix": [ + [ + 0.7536256313323975, + 0.1429191678762436, + 0.641578197479248, + -9.436824798583984 + ], + [ + -0.635970413684845, + -0.08811305463314056, + 0.7666666507720947, + -11.306375503540039 + ], + [ + 0.16610276699066162, + -0.9858043789863586, + 0.024488097056746483, + -3.2753708362579346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 470, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_742268562", + "mask_path": "../../mask/hdr_right_00470.png" + }, + { + "file_path": "../../rgb/hdr_right_00471.png", + "transform_matrix": [ + [ + 0.7548355460166931, + 0.13891750574111938, + 0.6410345435142517, + -9.486272811889648 + ], + [ + -0.6339669227600098, + -0.09617958962917328, + 0.7673561573028564, + -11.267940521240234 + ], + [ + 0.16825363039970398, + -0.9856224060058594, + 0.015469338744878769, + -3.2927322387695312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 471, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_842267751", + "mask_path": "../../mask/hdr_right_00471.png" + }, + { + "file_path": "../../rgb/hdr_right_00472.png", + "transform_matrix": [ + [ + 0.7579211592674255, + 0.1281309276819229, + 0.6396390795707703, + -9.543450355529785 + ], + [ + -0.6310657858848572, + -0.10438869893550873, + 0.7686735391616821, + -11.23367691040039 + ], + [ + 0.16526192426681519, + -0.9862481951713562, + 0.0017406432889401913, + -3.313424825668335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 472, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638847_942267894", + "mask_path": "../../mask/hdr_right_00472.png" + }, + { + "file_path": "../../rgb/hdr_right_00473.png", + "transform_matrix": [ + [ + 0.7558283805847168, + 0.13120515644550323, + 0.6414894461631775, + -9.61239242553711 + ], + [ + -0.631154477596283, + -0.11475219577550888, + 0.7671219706535339, + -11.191039085388184 + ], + [ + 0.17426267266273499, + -0.9846913814544678, + -0.00392224220559001, + -3.332629919052124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 473, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_42268753", + "mask_path": "../../mask/hdr_right_00473.png" + }, + { + "file_path": "../../rgb/hdr_right_00474.png", + "transform_matrix": [ + [ + 0.7483089566230774, + 0.13713054358959198, + 0.6490215063095093, + -9.667064666748047 + ], + [ + -0.637472927570343, + -0.12194978445768356, + 0.7607603669166565, + -11.139517784118652 + ], + [ + 0.18347151577472687, + -0.9830175638198853, + -0.0038391028065234423, + -3.346158266067505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 474, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_142268419", + "mask_path": "../../mask/hdr_right_00474.png" + }, + { + "file_path": "../../rgb/hdr_right_00475.png", + "transform_matrix": [ + [ + 0.7383401393890381, + 0.13414981961250305, + 0.6609522700309753, + -9.708555221557617 + ], + [ + -0.6496716141700745, + -0.12162058055400848, + 0.7504233121871948, + -11.082000732421875 + ], + [ + 0.18105453252792358, + -0.9834694862365723, + -0.0026440361980348825, + -3.359530448913574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 475, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_242267608", + "mask_path": "../../mask/hdr_right_00475.png" + }, + { + "file_path": "../../rgb/hdr_right_00476.png", + "transform_matrix": [ + [ + 0.7264035940170288, + 0.13596884906291962, + 0.6736841797828674, + -9.762455940246582 + ], + [ + -0.6640387773513794, + -0.11384374648332596, + 0.7389804720878601, + -11.014284133911133 + ], + [ + 0.17717303335666656, + -0.9841504096984863, + 0.007592095527797937, + -3.3818247318267822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 476, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_342267990", + "mask_path": "../../mask/hdr_right_00476.png" + }, + { + "file_path": "../../rgb/hdr_right_00477.png", + "transform_matrix": [ + [ + 0.7181903719902039, + 0.1493058204650879, + 0.6796398162841797, + -9.832770347595215 + ], + [ + -0.6700767874717712, + -0.1149492859840393, + 0.7333375215530396, + -10.93839168548584 + ], + [ + 0.18761566281318665, + -0.9820867776870728, + 0.017490888014435768, + -3.4079079627990723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 477, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_442267894", + "mask_path": "../../mask/hdr_right_00477.png" + }, + { + "file_path": "../../rgb/hdr_right_00478.png", + "transform_matrix": [ + [ + 0.7132067084312439, + 0.15731337666511536, + 0.6830730438232422, + -9.878653526306152 + ], + [ + -0.6728730201721191, + -0.11940935254096985, + 0.7300570011138916, + -10.885611534118652 + ], + [ + 0.1964130401611328, + -0.9803029894828796, + 0.02068839967250824, + -3.429293394088745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 478, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_542267799", + "mask_path": "../../mask/hdr_right_00478.png" + }, + { + "file_path": "../../rgb/hdr_right_00479.png", + "transform_matrix": [ + [ + 0.7095775604248047, + 0.16119585931301117, + 0.6859413385391235, + -9.907747268676758 + ], + [ + -0.6763843894004822, + -0.11702630668878555, + 0.7271925210952759, + -10.838201522827148 + ], + [ + 0.19749358296394348, + -0.9799596071243286, + 0.025991136208176613, + -3.4470667839050293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 479, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_642267465", + "mask_path": "../../mask/hdr_right_00479.png" + }, + { + "file_path": "../../rgb/hdr_right_00480.png", + "transform_matrix": [ + [ + 0.7071027755737305, + 0.15457554161548615, + 0.6900088787078857, + -9.94587516784668 + ], + [ + -0.6793367862701416, + -0.12229904532432556, + 0.7235636711120605, + -10.764679908752441 + ], + [ + 0.19623269140720367, + -0.9803822040557861, + 0.018530869856476784, + -3.4721484184265137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 480, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_742266893", + "mask_path": "../../mask/hdr_right_00480.png" + }, + { + "file_path": "../../rgb/hdr_right_00481.png", + "transform_matrix": [ + [ + 0.7033094167709351, + 0.1540525257587433, + 0.6939911842346191, + -9.989590644836426 + ], + [ + -0.6817818880081177, + -0.1302940398454666, + 0.7198590040206909, + -10.691703796386719 + ], + [ + 0.20131897926330566, + -0.9794341921806335, + 0.013393225148320198, + -3.489637851715088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 481, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_842267990", + "mask_path": "../../mask/hdr_right_00481.png" + }, + { + "file_path": "../../rgb/hdr_right_00482.png", + "transform_matrix": [ + [ + 0.6978187561035156, + 0.15952011942863464, + 0.6982853412628174, + -10.011359214782715 + ], + [ + -0.6863794922828674, + -0.12978364527225494, + 0.7155693173408508, + -10.631563186645508 + ], + [ + 0.2047737091779709, + -0.9786263704299927, + 0.018925892189145088, + -3.499191999435425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 482, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638848_942267656", + "mask_path": "../../mask/hdr_right_00482.png" + }, + { + "file_path": "../../rgb/hdr_right_00483.png", + "transform_matrix": [ + [ + 0.691779613494873, + 0.15900924801826477, + 0.7043842077255249, + -10.030716896057129 + ], + [ + -0.6931421756744385, + -0.1272873431444168, + 0.7094730138778687, + -10.57163143157959 + ], + [ + 0.20247194170951843, + -0.979037344455719, + 0.02216123789548874, + -3.511354446411133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 483, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_42268276", + "mask_path": "../../mask/hdr_right_00483.png" + }, + { + "file_path": "../../rgb/hdr_right_00484.png", + "transform_matrix": [ + [ + 0.6857936978340149, + 0.16037876904010773, + 0.7099053859710693, + -10.06686019897461 + ], + [ + -0.6991266012191772, + -0.12590554356575012, + 0.7038251757621765, + -10.499164581298828 + ], + [ + 0.20225964486598969, + -0.9789925813674927, + 0.025779835879802704, + -3.5293376445770264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 484, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_142267704", + "mask_path": "../../mask/hdr_right_00484.png" + }, + { + "file_path": "../../rgb/hdr_right_00485.png", + "transform_matrix": [ + [ + 0.6847407817840576, + 0.1598520278930664, + 0.7110397219657898, + -10.113558769226074 + ], + [ + -0.7007700800895691, + -0.12350060790777206, + 0.7026157975196838, + -10.428414344787598 + ], + [ + 0.20012839138507843, + -0.9793849587440491, + 0.027453619986772537, + -3.543823003768921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 485, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_242267370", + "mask_path": "../../mask/hdr_right_00485.png" + }, + { + "file_path": "../../rgb/hdr_right_00486.png", + "transform_matrix": [ + [ + 0.6857681274414062, + 0.15378376841545105, + 0.7113878130912781, + -10.151158332824707 + ], + [ + -0.701795220375061, + -0.11932011693716049, + 0.7023150324821472, + -10.373954772949219 + ], + [ + 0.19288752973079681, + -0.9808736443519592, + 0.02609877660870552, + -3.5572586059570312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 486, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_342268228", + "mask_path": "../../mask/hdr_right_00486.png" + }, + { + "file_path": "../../rgb/hdr_right_00487.png", + "transform_matrix": [ + [ + 0.6857872009277344, + 0.1443488597869873, + 0.7133438587188721, + -10.174407958984375 + ], + [ + -0.7042354345321655, + -0.11578816175460815, + 0.7004610300064087, + -10.318553924560547 + ], + [ + 0.18370752036571503, + -0.9827290773391724, + 0.022249547764658928, + -3.5698649883270264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 487, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_442267656", + "mask_path": "../../mask/hdr_right_00487.png" + }, + { + "file_path": "../../rgb/hdr_right_00488.png", + "transform_matrix": [ + [ + 0.6842080354690552, + 0.1331063061952591, + 0.7170370817184448, + -10.203598022460938 + ], + [ + -0.7055131793022156, + -0.1281859427690506, + 0.6970075368881226, + -10.25545883178711 + ], + [ + 0.18469014763832092, + -0.9827772378921509, + 0.006202411372214556, + -3.5793793201446533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 488, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638849_542268276", + "mask_path": "../../mask/hdr_right_00488.png" + }, + { + "file_path": "../../rgb/hdr_right_00509.png", + "transform_matrix": [ + [ + 0.9910933971405029, + 0.10880310088396072, + -0.07678401470184326, + -10.514664649963379 + ], + [ + 0.08581052720546722, + -0.08085967600345612, + 0.9930248260498047, + -10.485197067260742 + ], + [ + 0.1018354520201683, + -0.9907692074775696, + -0.08947594463825226, + -3.6120362281799316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 509, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638851_642267704", + "mask_path": "../../mask/hdr_right_00509.png" + }, + { + "file_path": "../../rgb/hdr_right_00511.png", + "transform_matrix": [ + [ + 0.9876754879951477, + 0.131993368268013, + -0.08411242067813873, + -10.563323974609375 + ], + [ + 0.0932665765285492, + -0.06476613134145737, + 0.9935324192047119, + -10.483901023864746 + ], + [ + 0.12569205462932587, + -0.9891324639320374, + -0.07627849280834198, + -3.6368110179901123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 511, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638851_842267751", + "mask_path": "../../mask/hdr_right_00511.png" + }, + { + "file_path": "../../rgb/hdr_right_00513.png", + "transform_matrix": [ + [ + 0.9820484519004822, + 0.1657760739326477, + -0.08999551832675934, + -10.66076946258545 + ], + [ + 0.10320965945720673, + -0.07288515567779541, + 0.9919856786727905, + -10.501472473144531 + ], + [ + 0.15788815915584564, + -0.9834663271903992, + -0.08868644386529922, + -3.6800520420074463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 513, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638852_42268991", + "mask_path": "../../mask/hdr_right_00513.png" + }, + { + "file_path": "../../rgb/hdr_right_00516.png", + "transform_matrix": [ + [ + 0.9729353189468384, + 0.21291373670101166, + -0.08980312943458557, + -10.798197746276855 + ], + [ + 0.1045902818441391, + -0.05921369418501854, + 0.9927510619163513, + -10.502408981323242 + ], + [ + 0.2060527354478836, + -0.9752750992774963, + -0.07987980544567108, + -3.7334749698638916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 516, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638852_342267513", + "mask_path": "../../mask/hdr_right_00516.png" + }, + { + "file_path": "../../rgb/hdr_right_00517.png", + "transform_matrix": [ + [ + 0.9650797247886658, + 0.23655939102172852, + -0.1125202476978302, + -10.84284496307373 + ], + [ + 0.12464597076177597, + -0.03689464554190636, + 0.9915151000022888, + -10.511011123657227 + ], + [ + 0.23040080070495605, + -0.970916211605072, + -0.06509244441986084, + -3.7578988075256348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 517, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638852_442268133", + "mask_path": "../../mask/hdr_right_00517.png" + }, + { + "file_path": "../../rgb/hdr_right_00519.png", + "transform_matrix": [ + [ + 0.9481849670410156, + 0.2677421271800995, + -0.17105351388454437, + -10.890028953552246 + ], + [ + 0.17999570071697235, + -0.009025566279888153, + 0.9836260080337524, + -10.525040626525879 + ], + [ + 0.26181426644325256, + -0.9634483456611633, + -0.0567503422498703, + -3.803129196166992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 519, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638852_642267227", + "mask_path": "../../mask/hdr_right_00519.png" + }, + { + "file_path": "../../rgb/hdr_right_00524.png", + "transform_matrix": [ + [ + 0.8965528011322021, + 0.33625730872154236, + -0.2883125841617584, + -11.05019474029541 + ], + [ + 0.29187291860580444, + 0.041112203150987625, + 0.9555730819702148, + -10.576462745666504 + ], + [ + 0.3331715762615204, + -0.940872311592102, + -0.06128512695431709, + -3.9296042919158936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 524, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_142267465", + "mask_path": "../../mask/hdr_right_00524.png" + }, + { + "file_path": "../../rgb/hdr_right_00525.png", + "transform_matrix": [ + [ + 0.87958163022995, + 0.371073454618454, + -0.2977259159088135, + -11.083063125610352 + ], + [ + 0.2920186519622803, + 0.072937972843647, + 0.953627347946167, + -10.585058212280273 + ], + [ + 0.375581294298172, + -0.9257345795631409, + -0.04420545697212219, + -3.964740514755249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 525, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_242266893", + "mask_path": "../../mask/hdr_right_00525.png" + }, + { + "file_path": "../../rgb/hdr_right_00527.png", + "transform_matrix": [ + [ + 0.8631412982940674, + 0.4053851068019867, + -0.30108144879341125, + -11.146313667297363 + ], + [ + 0.2919307351112366, + 0.0859055146574974, + 0.9525737762451172, + -10.59985637664795 + ], + [ + 0.41202372312545776, + -0.9101005792617798, + -0.044195756316185, + -4.0191850662231445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 527, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_442266941", + "mask_path": "../../mask/hdr_right_00527.png" + }, + { + "file_path": "../../rgb/hdr_right_00528.png", + "transform_matrix": [ + [ + 0.8557097911834717, + 0.4201023280620575, + -0.30211716890335083, + -11.203418731689453 + ], + [ + 0.30324867367744446, + 0.06595458835363388, + 0.9506261944770813, + -10.611684799194336 + ], + [ + 0.4192862808704376, + -0.905076801776886, + -0.07095746695995331, + -4.0448317527771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 528, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_542268276", + "mask_path": "../../mask/hdr_right_00528.png" + }, + { + "file_path": "../../rgb/hdr_right_00531.png", + "transform_matrix": [ + [ + 0.8378772139549255, + 0.39687228202819824, + -0.37477222084999084, + -11.327170372009277 + ], + [ + 0.3768555819988251, + 0.07611590623855591, + 0.9231393933296204, + -10.658717155456543 + ], + [ + 0.3948945701122284, + -0.9147124290466309, + -0.08578775823116302, + -4.086792469024658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 531, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_842267751", + "mask_path": "../../mask/hdr_right_00531.png" + }, + { + "file_path": "../../rgb/hdr_right_00532.png", + "transform_matrix": [ + [ + 0.8210391998291016, + 0.38922059535980225, + -0.4176146984100342, + -11.360757827758789 + ], + [ + 0.42365455627441406, + 0.07490075379610062, + 0.9027218222618103, + -10.690139770507812 + ], + [ + 0.3826375901699066, + -0.9180943369865417, + -0.1033986285328865, + -4.117772579193115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 532, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638853_942269086", + "mask_path": "../../mask/hdr_right_00532.png" + }, + { + "file_path": "../../rgb/hdr_right_00534.png", + "transform_matrix": [ + [ + 0.7720217108726501, + 0.3827193081378937, + -0.5074527859687805, + -11.383708953857422 + ], + [ + 0.5218304991722107, + 0.07415148615837097, + 0.8498203754425049, + -10.748030662536621 + ], + [ + 0.36287105083465576, + -0.9208840131759644, + -0.14246806502342224, + -4.14247989654541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 534, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638854_142266750", + "mask_path": "../../mask/hdr_right_00534.png" + }, + { + "file_path": "../../rgb/hdr_right_00536.png", + "transform_matrix": [ + [ + 0.7163794040679932, + 0.37692660093307495, + -0.5871344208717346, + -11.415392875671387 + ], + [ + 0.610740602016449, + 0.06809481978416443, + 0.7888972759246826, + -10.820018768310547 + ], + [ + 0.3373371958732605, + -0.9237367510795593, + -0.18142268061637878, + -4.155517578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 536, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638854_342267036", + "mask_path": "../../mask/hdr_right_00536.png" + }, + { + "file_path": "../../rgb/hdr_right_00538.png", + "transform_matrix": [ + [ + 0.6804468631744385, + 0.3654555082321167, + -0.6351647973060608, + -11.442768096923828 + ], + [ + 0.6580141186714172, + 0.07674878090620041, + 0.7490841746330261, + -10.864289283752441 + ], + [ + 0.32250508666038513, + -0.9276593327522278, + -0.18825140595436096, + -4.161561489105225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 538, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638854_542266607", + "mask_path": "../../mask/hdr_right_00538.png" + }, + { + "file_path": "../../rgb/hdr_right_00540.png", + "transform_matrix": [ + [ + 0.6741093397140503, + 0.3491033911705017, + -0.6509251594543457, + -11.534626960754395 + ], + [ + 0.6544097661972046, + 0.12638793885707855, + 0.7455024719238281, + -10.917211532592773 + ], + [ + 0.34252649545669556, + -0.9285218715667725, + -0.14325742423534393, + -4.2298383712768555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 540, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638854_742267131", + "mask_path": "../../mask/hdr_right_00540.png" + }, + { + "file_path": "../../rgb/hdr_right_00542.png", + "transform_matrix": [ + [ + 0.6677119731903076, + 0.35274767875671387, + -0.6555377840995789, + -11.601466178894043 + ], + [ + 0.6514134407043457, + 0.1493518203496933, + 0.7438781261444092, + -10.947824478149414 + ], + [ + 0.3603070080280304, + -0.9237224459648132, + -0.13006055355072021, + -4.270761013031006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 542, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638854_942267179", + "mask_path": "../../mask/hdr_right_00542.png" + }, + { + "file_path": "../../rgb/hdr_right_00543.png", + "transform_matrix": [ + [ + 0.6708056330680847, + 0.35084396600723267, + -0.6533975601196289, + -11.668354988098145 + ], + [ + 0.6501353979110718, + 0.14573730528354645, + 0.7457107901573181, + -10.97094440460205 + ], + [ + 0.35685256123542786, + -0.9250239133834839, + -0.13033467531204224, + -4.315670490264893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 543, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638855_42267084", + "mask_path": "../../mask/hdr_right_00543.png" + }, + { + "file_path": "../../rgb/hdr_right_00544.png", + "transform_matrix": [ + [ + 0.6709239482879639, + 0.3777921497821808, + -0.6380706429481506, + -11.725801467895508 + ], + [ + 0.6440439820289612, + 0.1295890212059021, + 0.7539324760437012, + -10.996086120605469 + ], + [ + 0.36751672625541687, + -0.9167768955230713, + -0.1563703864812851, + -4.313969612121582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 544, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638855_142267227", + "mask_path": "../../mask/hdr_right_00544.png" + }, + { + "file_path": "../../rgb/hdr_right_00546.png", + "transform_matrix": [ + [ + 0.6772002577781677, + 0.3601093888282776, + -0.6416549682617188, + -11.809648513793945 + ], + [ + 0.6411951184272766, + 0.1389458179473877, + 0.7546939849853516, + -11.073237419128418 + ], + [ + 0.36092767119407654, + -0.9225048422813416, + -0.13680621981620789, + -4.353747367858887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 546, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638855_342267036", + "mask_path": "../../mask/hdr_right_00546.png" + }, + { + "file_path": "../../rgb/hdr_right_00551.png", + "transform_matrix": [ + [ + 0.66495680809021, + 0.2939732074737549, + -0.6865946650505066, + -11.815607070922852 + ], + [ + 0.6814990043640137, + 0.13732515275478363, + 0.7188192009925842, + -11.152338027954102 + ], + [ + 0.30560028553009033, + -0.9458972215652466, + -0.10902713984251022, + -4.275409698486328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 551, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638855_842267990", + "mask_path": "../../mask/hdr_right_00551.png" + }, + { + "file_path": "../../rgb/hdr_right_00557.png", + "transform_matrix": [ + [ + 0.5926483273506165, + 0.29489779472351074, + -0.749535322189331, + -11.753081321716309 + ], + [ + 0.751656174659729, + 0.13191965222358704, + 0.6462278366088867, + -11.19357967376709 + ], + [ + 0.2894496023654938, + -0.9463786482810974, + -0.14347977936267853, + -4.260261535644531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 557, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638856_442268848", + "mask_path": "../../mask/hdr_right_00557.png" + }, + { + "file_path": "../../rgb/hdr_right_00561.png", + "transform_matrix": [ + [ + 0.6073846220970154, + 0.29423800110816956, + -0.7379077672958374, + -11.743361473083496 + ], + [ + 0.7170720100402832, + 0.19670036435127258, + 0.6686679124832153, + -11.176109313964844 + ], + [ + 0.341894268989563, + -0.9352716207504272, + -0.09151705354452133, + -4.318370819091797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 561, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638856_842267274", + "mask_path": "../../mask/hdr_right_00561.png" + }, + { + "file_path": "../../rgb/hdr_right_00572.png", + "transform_matrix": [ + [ + 0.6614386439323425, + 0.2836732864379883, + -0.694282591342926, + -11.816549301147461 + ], + [ + 0.664530873298645, + 0.20749691128730774, + 0.7178744673728943, + -11.164094924926758 + ], + [ + 0.34770336747169495, + -0.9362021684646606, + -0.05126320198178291, + -4.341243743896484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 572, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638857_942267894", + "mask_path": "../../mask/hdr_right_00572.png" + }, + { + "file_path": "../../rgb/hdr_right_00575.png", + "transform_matrix": [ + [ + 0.691389262676239, + 0.27469316124916077, + -0.6682249307632446, + -11.86771011352539 + ], + [ + 0.632165253162384, + 0.21777205169200897, + 0.7436010241508484, + -11.19196605682373 + ], + [ + 0.3497828543186188, + -0.9365463256835938, + -0.023086197674274445, + -4.356586456298828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 575, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638858_242268562", + "mask_path": "../../mask/hdr_right_00575.png" + }, + { + "file_path": "../../rgb/hdr_right_00581.png", + "transform_matrix": [ + [ + 0.6954895853996277, + 0.28876858949661255, + -0.6579567193984985, + -11.995782852172852 + ], + [ + 0.6386931538581848, + 0.17106454074382782, + 0.7502053380012512, + -11.32103157043457 + ], + [ + 0.329188734292984, + -0.9419923424720764, + -0.0654609277844429, + -4.44950008392334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 581, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638858_842267513", + "mask_path": "../../mask/hdr_right_00581.png" + }, + { + "file_path": "../../rgb/hdr_right_00582.png", + "transform_matrix": [ + [ + 0.6940624117851257, + 0.287952184677124, + -0.6598187685012817, + -12.032620429992676 + ], + [ + 0.6450296640396118, + 0.15828701853752136, + 0.7475841045379639, + -11.35395336151123 + ], + [ + 0.3197092115879059, + -0.9444727897644043, + -0.0758766233921051, + -4.46537446975708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 582, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638858_942268848", + "mask_path": "../../mask/hdr_right_00582.png" + }, + { + "file_path": "../../rgb/hdr_right_00583.png", + "transform_matrix": [ + [ + 0.6929051280021667, + 0.26306861639022827, + -0.6713250875473022, + -12.079797744750977 + ], + [ + 0.6524481177330017, + 0.16755180060863495, + 0.7390790581703186, + -11.379467010498047 + ], + [ + 0.3069102466106415, + -0.9501164555549622, + -0.05554109439253807, + -4.502851486206055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 583, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638859_42267799", + "mask_path": "../../mask/hdr_right_00583.png" + }, + { + "file_path": "../../rgb/hdr_right_00584.png", + "transform_matrix": [ + [ + 0.6873504519462585, + 0.24128948152065277, + -0.6850757002830505, + -12.12037181854248 + ], + [ + 0.6613701581954956, + 0.18195971846580505, + 0.727653980255127, + -11.401976585388184 + ], + [ + 0.300231397151947, + -0.9532418251037598, + -0.03451152890920639, + -4.529930591583252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 584, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638859_142267465", + "mask_path": "../../mask/hdr_right_00584.png" + }, + { + "file_path": "../../rgb/hdr_right_00586.png", + "transform_matrix": [ + [ + 0.6512836217880249, + 0.2143642008304596, + -0.7279269695281982, + -12.172670364379883 + ], + [ + 0.7013911008834839, + 0.19606515765190125, + 0.6852801442146301, + -11.440682411193848 + ], + [ + 0.28962063789367676, + -0.9568732380867004, + -0.022659115493297577, + -4.568917274475098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 586, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638859_342267751", + "mask_path": "../../mask/hdr_right_00586.png" + }, + { + "file_path": "../../rgb/hdr_right_00588.png", + "transform_matrix": [ + [ + 0.5930094718933105, + 0.20659707486629486, + -0.7782398462295532, + -12.19577693939209 + ], + [ + 0.7567043900489807, + 0.18735437095165253, + 0.6263360977172852, + -11.501157760620117 + ], + [ + 0.2752058804035187, + -0.9603207111358643, + -0.04522998258471489, + -4.583825588226318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 588, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638859_542267084", + "mask_path": "../../mask/hdr_right_00588.png" + }, + { + "file_path": "../../rgb/hdr_right_00590.png", + "transform_matrix": [ + [ + 0.5211621522903442, + 0.19289235770702362, + -0.8313738703727722, + -12.20741081237793 + ], + [ + 0.8040383458137512, + 0.21570010483264923, + 0.5540722608566284, + -11.580419540405273 + ], + [ + 0.2862037420272827, + -0.9572178721427917, + -0.04267812892794609, + -4.612044334411621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 590, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638859_742267131", + "mask_path": "../../mask/hdr_right_00590.png" + }, + { + "file_path": "../../rgb/hdr_right_00593.png", + "transform_matrix": [ + [ + 0.4730202555656433, + 0.18572384119033813, + -0.8612540364265442, + -12.232312202453613 + ], + [ + 0.8326898813247681, + 0.22517403960227966, + 0.5058895349502563, + -11.632843017578125 + ], + [ + 0.2878878116607666, + -0.9564535021781921, + -0.048138465732336044, + -4.650964260101318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 593, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638860_42267322", + "mask_path": "../../mask/hdr_right_00593.png" + }, + { + "file_path": "../../rgb/hdr_right_00595.png", + "transform_matrix": [ + [ + 0.4773102104663849, + 0.20852044224739075, + -0.853635847568512, + -12.28993034362793 + ], + [ + 0.8331195712089539, + 0.20153535902500153, + 0.5150684714317322, + -11.694396018981934 + ], + [ + 0.2794400751590729, + -0.9570280909538269, + -0.07752756774425507, + -4.671276569366455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 595, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638860_242267608", + "mask_path": "../../mask/hdr_right_00595.png" + }, + { + "file_path": "../../rgb/hdr_right_00598.png", + "transform_matrix": [ + [ + 0.47871094942092896, + 0.2022087275981903, + -0.854369580745697, + -12.353652000427246 + ], + [ + 0.8254051804542542, + 0.22801139950752258, + 0.5164467096328735, + -11.811676979064941 + ], + [ + 0.2992360293865204, + -0.9524297118186951, + -0.057752568274736404, + -4.702998161315918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 598, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638860_542268753", + "mask_path": "../../mask/hdr_right_00598.png" + }, + { + "file_path": "../../rgb/hdr_right_00601.png", + "transform_matrix": [ + [ + 0.4727359414100647, + 0.20252589881420135, + -0.8576153516769409, + -12.419797897338867 + ], + [ + 0.8293261528015137, + 0.2267484813928604, + 0.5106890201568604, + -11.904914855957031 + ], + [ + 0.29789066314697266, + -0.9526638388633728, + -0.06076787784695625, + -4.764491081237793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 601, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638860_842267990", + "mask_path": "../../mask/hdr_right_00601.png" + }, + { + "file_path": "../../rgb/hdr_right_00602.png", + "transform_matrix": [ + [ + 0.47448810935020447, + 0.19442513585090637, + -0.8585219979286194, + -12.469902992248535 + ], + [ + 0.8308749198913574, + 0.22316819429397583, + 0.5097479224205017, + -11.947477340698242 + ], + [ + 0.29070261120796204, + -0.9551935791969299, + -0.05565231665968895, + -4.769428730010986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 602, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638860_942268371", + "mask_path": "../../mask/hdr_right_00602.png" + }, + { + "file_path": "../../rgb/hdr_right_00603.png", + "transform_matrix": [ + [ + 0.48064374923706055, + 0.18980585038661957, + -0.8561281561851501, + -12.506659507751465 + ], + [ + 0.8279985189437866, + 0.22328786551952362, + 0.5143548846244812, + -11.981878280639648 + ], + [ + 0.28879058361053467, + -0.9560942053794861, + -0.04983705282211304, + -4.77978515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 603, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638861_42267560", + "mask_path": "../../mask/hdr_right_00603.png" + }, + { + "file_path": "../../rgb/hdr_right_00605.png", + "transform_matrix": [ + [ + 0.49550437927246094, + 0.1748368740081787, + -0.8508275747299194, + -12.58371353149414 + ], + [ + 0.823856770992279, + 0.21574677526950836, + 0.5241311192512512, + -12.077204704284668 + ], + [ + 0.275200754404068, + -0.960669219493866, + -0.03713707998394966, + -4.820824146270752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 605, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638861_242266416", + "mask_path": "../../mask/hdr_right_00605.png" + }, + { + "file_path": "../../rgb/hdr_right_00606.png", + "transform_matrix": [ + [ + 0.4882630705833435, + 0.17179955542087555, + -0.8556191325187683, + -12.61664867401123 + ], + [ + 0.8284124732017517, + 0.21710771322250366, + 0.5163304209709167, + -12.129033088684082 + ], + [ + 0.2744668424129486, + -0.9609106183052063, + -0.03631521016359329, + -4.839972496032715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 606, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638861_342266798", + "mask_path": "../../mask/hdr_right_00606.png" + }, + { + "file_path": "../../rgb/hdr_right_00608.png", + "transform_matrix": [ + [ + 0.43358492851257324, + 0.17282606661319733, + -0.8843840956687927, + -12.637139320373535 + ], + [ + 0.8607491850852966, + 0.21101140975952148, + 0.4632332921028137, + -12.196335792541504 + ], + [ + 0.2666739225387573, + -0.9620838761329651, + -0.05726853758096695, + -4.877151012420654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 608, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638861_542267322", + "mask_path": "../../mask/hdr_right_00608.png" + }, + { + "file_path": "../../rgb/hdr_right_00610.png", + "transform_matrix": [ + [ + 0.3747800886631012, + 0.19241023063659668, + -0.9069279432296753, + -12.666058540344238 + ], + [ + 0.8883559703826904, + 0.20535677671432495, + 0.4106730818748474, + -12.252741813659668 + ], + [ + 0.2652614712715149, + -0.9595867991447449, + -0.09396515041589737, + -4.901212215423584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 610, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638861_742266654", + "mask_path": "../../mask/hdr_right_00610.png" + }, + { + "file_path": "../../rgb/hdr_right_00614.png", + "transform_matrix": [ + [ + 0.3267167806625366, + 0.18252350389957428, + -0.9273302555084229, + -12.711260795593262 + ], + [ + 0.8970326781272888, + 0.24910637736320496, + 0.3650732636451721, + -12.376765251159668 + ], + [ + 0.29763829708099365, + -0.9511209726333618, + -0.08234231919050217, + -4.934134483337402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 614, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638862_142267942", + "mask_path": "../../mask/hdr_right_00614.png" + }, + { + "file_path": "../../rgb/hdr_right_00616.png", + "transform_matrix": [ + [ + 0.3212184011936188, + 0.18667259812355042, + -0.9284245371818542, + -12.723424911499023 + ], + [ + 0.8904845118522644, + 0.2740853726863861, + 0.36320045590400696, + -12.427249908447266 + ], + [ + 0.3222671449184418, + -0.9434143304824829, + -0.07818778604269028, + -4.959618091583252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 616, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638862_342268466", + "mask_path": "../../mask/hdr_right_00616.png" + }, + { + "file_path": "../../rgb/hdr_right_00618.png", + "transform_matrix": [ + [ + 0.33046627044677734, + 0.20422011613845825, + -0.9214587211608887, + -12.754971504211426 + ], + [ + 0.8902456760406494, + 0.2568008303642273, + 0.3761862516403198, + -12.496990203857422 + ], + [ + 0.3134561777114868, + -0.9446414709091187, + -0.09694205224514008, + -5.001842498779297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 618, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638862_542268514", + "mask_path": "../../mask/hdr_right_00618.png" + }, + { + "file_path": "../../rgb/hdr_right_00620.png", + "transform_matrix": [ + [ + 0.34254610538482666, + 0.19036053121089935, + -0.9200136661529541, + -12.79259204864502 + ], + [ + 0.894258975982666, + 0.23415769636631012, + 0.38140669465065, + -12.584160804748535 + ], + [ + 0.28803303837776184, + -0.9533798694610596, + -0.09002182632684708, + -4.996005535125732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 620, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638862_742268085", + "mask_path": "../../mask/hdr_right_00620.png" + }, + { + "file_path": "../../rgb/hdr_right_00621.png", + "transform_matrix": [ + [ + 0.34803423285484314, + 0.1783742904663086, + -0.9203559160232544, + -12.814627647399902 + ], + [ + 0.8929892182350159, + 0.2357739955186844, + 0.3833809494972229, + -12.644216537475586 + ], + [ + 0.2853812575340271, + -0.9552974700927734, + -0.07722889631986618, + -5.019233703613281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 621, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638862_842267274", + "mask_path": "../../mask/hdr_right_00621.png" + }, + { + "file_path": "../../rgb/hdr_right_00626.png", + "transform_matrix": [ + [ + 0.37867915630340576, + 0.18731041252613068, + -0.9063757061958313, + -12.919686317443848 + ], + [ + 0.8881454467773438, + 0.20197124779224396, + 0.41280174255371094, + -12.81498908996582 + ], + [ + 0.2603839039802551, + -0.9613128304481506, + -0.08987659215927124, + -5.09182596206665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 626, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638863_342268705", + "mask_path": "../../mask/hdr_right_00626.png" + }, + { + "file_path": "../../rgb/hdr_right_00628.png", + "transform_matrix": [ + [ + 0.38817837834358215, + 0.17474575340747833, + -0.9048655033111572, + -12.9624605178833 + ], + [ + 0.8890543580055237, + 0.18755973875522614, + 0.41761672496795654, + -12.894683837890625 + ], + [ + 0.24269303679466248, + -0.9665843844413757, + -0.08255181461572647, + -5.114108562469482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 628, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638863_542268276", + "mask_path": "../../mask/hdr_right_00628.png" + }, + { + "file_path": "../../rgb/hdr_right_00629.png", + "transform_matrix": [ + [ + 0.39474353194236755, + 0.16371911764144897, + -0.9040871858596802, + -12.996294975280762 + ], + [ + 0.8862066268920898, + 0.19188527762889862, + 0.421684592962265, + -12.947148323059082 + ], + [ + 0.2425188273191452, + -0.9676652550697327, + -0.06934349238872528, + -5.125486850738525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 629, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638863_642268657", + "mask_path": "../../mask/hdr_right_00629.png" + }, + { + "file_path": "../../rgb/hdr_right_00636.png", + "transform_matrix": [ + [ + 0.3444344401359558, + 0.1361895203590393, + -0.9288795590400696, + -13.123692512512207 + ], + [ + 0.9150770902633667, + 0.17236456274986267, + 0.3645879626274109, + -13.17887020111084 + ], + [ + 0.20975898206233978, + -0.9755730628967285, + -0.06525561213493347, + -5.181440830230713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 636, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638864_342267274", + "mask_path": "../../mask/hdr_right_00636.png" + }, + { + "file_path": "../../rgb/hdr_right_00637.png", + "transform_matrix": [ + [ + 0.34544140100479126, + 0.1281522810459137, + -0.9296489953994751, + -13.14078426361084 + ], + [ + 0.9102575182914734, + 0.1951955258846283, + 0.3651435971260071, + -13.226959228515625 + ], + [ + 0.22825731337070465, + -0.9723557233810425, + -0.04922296851873398, + -5.196474075317383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 637, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638864_442269563", + "mask_path": "../../mask/hdr_right_00637.png" + }, + { + "file_path": "../../rgb/hdr_right_00639.png", + "transform_matrix": [ + [ + 0.3238428235054016, + 0.13576918840408325, + -0.9363186955451965, + -13.147632598876953 + ], + [ + 0.9166592359542847, + 0.1999790370464325, + 0.34604090452194214, + -13.28908920288086 + ], + [ + 0.234225794672966, + -0.9703478813171387, + -0.059692300856113434, + -5.2234954833984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 639, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638864_642267942", + "mask_path": "../../mask/hdr_right_00639.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/5d9a25b2/mesh.ply b/2024-11-03-13-59-54/splats/5d9a25b2/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..0f177010f6b7c5fe6e04e19ed2fa9132ca40dafd --- /dev/null +++ b/2024-11-03-13-59-54/splats/5d9a25b2/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57c9f9d6a1ee2ef397ccb332666e33a03427b03dc423ba664ea4de8a0648f2d7 +size 68745108 diff --git a/2024-11-03-13-59-54/splats/5d9a25b2/mesh_filled_decimated.ply b/2024-11-03-13-59-54/splats/5d9a25b2/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..4b9b614f5fa9c9292e5e77fcdd0f1799b2660cc5 --- /dev/null +++ b/2024-11-03-13-59-54/splats/5d9a25b2/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:094babdcaac013b52429b97bb5d1dfc7082dc743bab8036d359a8b25fe9ade84 +size 1578867 diff --git a/2024-11-03-13-59-54/splats/5d9a25b2/splatfacto/config.yml b/2024-11-03-13-59-54/splats/5d9a25b2/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..b16670f55f353b7f8f1145be797f0cdf20654522 --- /dev/null +++ b/2024-11-03-13-59-54/splats/5d9a25b2/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-03-13-59-54_nerfstudio +- slices +- slice_5d9a25b2 +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-03-13-59-54_nerfstudio + - slices + - slice_5d9a25b2 + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-03-13-59-54/splats/5d9a25b2/splatfacto/dataparser_transforms.json b/2024-11-03-13-59-54/splats/5d9a25b2/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..57db3390cfbf2f12005c2296f7fe7a8e0061a1f8 --- /dev/null +++ b/2024-11-03-13-59-54/splats/5d9a25b2/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + -0.06126046180725098, + 0.9816254377365112, + -0.18071763217449188, + 4.7617645263671875 + ], + [ + 0.9816254377365112, + 0.09203392267227173, + 0.1671569049358368, + 55.9655647277832 + ], + [ + 0.18071763217449188, + -0.1671569049358368, + -0.969226598739624, + -15.024933815002441 + ] + ], + "scale": 0.28444444444444444 +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/5d9a25b2/splatfacto/splat.ply b/2024-11-03-13-59-54/splats/5d9a25b2/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..e969a035e5d0ee7bac2053e9e7875d47d2314a3d --- /dev/null +++ b/2024-11-03-13-59-54/splats/5d9a25b2/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce4df400b4bedbb1271b99d2936773924fdaeecc027e53febb2a5acb6dd30039 +size 373194474 diff --git a/2024-11-03-13-59-54/splats/5d9a25b2/transforms.json b/2024-11-03-13-59-54/splats/5d9a25b2/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a079b55a03d09e0eb80919a1b967da19a87f4c1e --- /dev/null +++ b/2024-11-03-13-59-54/splats/5d9a25b2/transforms.json @@ -0,0 +1,13488 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_03074.png", + "transform_matrix": [ + [ + -0.6356427669525146, + 0.017563622444868088, + 0.7717835307121277, + -48.45908737182617 + ], + [ + -0.7714657783508301, + -0.05105195194482803, + -0.6342194080352783, + -14.771684646606445 + ], + [ + 0.028261864557862282, + -0.998541533946991, + 0.046000536531209946, + -21.825454711914062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3074, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_342267036", + "mask_path": "../../mask/hdr_front_03074.png" + }, + { + "file_path": "../../rgb/hdr_front_03075.png", + "transform_matrix": [ + [ + -0.6096769571304321, + 0.020526478067040443, + 0.792384147644043, + -48.515193939208984 + ], + [ + -0.7922818660736084, + -0.04624443128705025, + -0.608400285243988, + -14.747913360595703 + ], + [ + 0.024155037477612495, + -0.9987192153930664, + 0.04445691779255867, + -21.83631134033203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3075, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_442266702", + "mask_path": "../../mask/hdr_front_03075.png" + }, + { + "file_path": "../../rgb/hdr_front_03077.png", + "transform_matrix": [ + [ + -0.5503703355789185, + 0.02716900035738945, + 0.8344784379005432, + -48.60686492919922 + ], + [ + -0.834537923336029, + -0.04815976321697235, + -0.548841655254364, + -14.735437393188477 + ], + [ + 0.025276804342865944, + -0.99847012758255, + 0.04917927086353302, + -21.84659767150879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3077, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_642267227", + "mask_path": "../../mask/hdr_front_03077.png" + }, + { + "file_path": "../../rgb/hdr_front_03078.png", + "transform_matrix": [ + [ + -0.5405372381210327, + 0.027167106047272682, + 0.8408814072608948, + -48.65114212036133 + ], + [ + -0.8408123850822449, + -0.05216145142912865, + -0.5388076305389404, + -14.712312698364258 + ], + [ + 0.029223745688796043, + -0.9982691407203674, + 0.05103764310479164, + -21.840822219848633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3078, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_742268562", + "mask_path": "../../mask/hdr_front_03078.png" + }, + { + "file_path": "../../rgb/hdr_front_03080.png", + "transform_matrix": [ + [ + -0.5280345678329468, + 0.01668516732752323, + 0.849058985710144, + -48.74911117553711 + ], + [ + -0.8485658168792725, + -0.049690309911966324, + -0.5267513990402222, + -14.663715362548828 + ], + [ + 0.033401064574718475, + -0.9986253380775452, + 0.040396664291620255, + -21.837505340576172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3080, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_942267417", + "mask_path": "../../mask/hdr_front_03080.png" + }, + { + "file_path": "../../rgb/hdr_front_03081.png", + "transform_matrix": [ + [ + -0.5004818439483643, + 0.021196812391281128, + 0.8654875159263611, + -48.814231872558594 + ], + [ + -0.8653743267059326, + -0.0415835864841938, + -0.499397873878479, + -14.647150993347168 + ], + [ + 0.02540442906320095, + -0.9989101886749268, + 0.039155006408691406, + -21.847810745239258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3081, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639110_42268514", + "mask_path": "../../mask/hdr_front_03081.png" + }, + { + "file_path": "../../rgb/hdr_front_03084.png", + "transform_matrix": [ + [ + -0.43372806906700134, + 0.035389192402362823, + 0.9003486037254333, + -48.949710845947266 + ], + [ + -0.9008885622024536, + -0.0355832502245903, + -0.4325895607471466, + -14.598316192626953 + ], + [ + 0.01672833412885666, + -0.9987399578094482, + 0.04731517285108566, + -21.855180740356445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3084, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639110_342267513", + "mask_path": "../../mask/hdr_front_03084.png" + }, + { + "file_path": "../../rgb/hdr_front_03086.png", + "transform_matrix": [ + [ + -0.4274007976055145, + 0.0311978068202734, + 0.903523862361908, + -49.022403717041016 + ], + [ + -0.9039065837860107, + -0.03329445421695709, + -0.42643222212791443, + -14.55595588684082 + ], + [ + 0.016778580844402313, + -0.9989585280418396, + 0.04242997616529465, + -21.854331970214844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3086, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639110_542267799", + "mask_path": "../../mask/hdr_front_03086.png" + }, + { + "file_path": "../../rgb/hdr_front_03088.png", + "transform_matrix": [ + [ + -0.4063946008682251, + 0.036791831254959106, + 0.9129566550254822, + -49.12208557128906 + ], + [ + -0.913644552230835, + -0.027134722098708153, + -0.4056073725223541, + -14.520514488220215 + ], + [ + 0.009849787689745426, + -0.9989545345306396, + 0.04464206472039223, + -21.865093231201172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3088, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639110_742267608", + "mask_path": "../../mask/hdr_front_03088.png" + }, + { + "file_path": "../../rgb/hdr_front_03090.png", + "transform_matrix": [ + [ + -0.39814865589141846, + 0.044242013245821, + 0.916253387928009, + -49.223670959472656 + ], + [ + -0.9172795414924622, + -0.028684629127383232, + -0.3972095251083374, + -14.485677719116211 + ], + [ + 0.008709040470421314, + -0.9986090064048767, + 0.05200303718447685, + -21.883548736572266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3090, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639110_942267417", + "mask_path": "../../mask/hdr_front_03090.png" + }, + { + "file_path": "../../rgb/hdr_front_03091.png", + "transform_matrix": [ + [ + -0.40399062633514404, + 0.0475633479654789, + 0.9135258197784424, + -49.29540252685547 + ], + [ + -0.9146761894226074, + -0.034772053360939026, + -0.4026889204978943, + -14.46163558959961 + ], + [ + 0.012611936777830124, + -0.998262882232666, + 0.05755264684557915, + -21.889644622802734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3091, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_42266845", + "mask_path": "../../mask/hdr_front_03091.png" + }, + { + "file_path": "../../rgb/hdr_front_03092.png", + "transform_matrix": [ + [ + -0.4157748222351074, + 0.04315952956676483, + 0.9084429144859314, + -49.35501480102539 + ], + [ + -0.9093555808067322, + -0.035399481654167175, + -0.4145108163356781, + -14.43178653717041 + ], + [ + 0.014268320985138416, + -0.9984408617019653, + 0.05396556854248047, + -21.886018753051758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3092, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_142266035", + "mask_path": "../../mask/hdr_front_03092.png" + }, + { + "file_path": "../../rgb/hdr_front_03093.png", + "transform_matrix": [ + [ + -0.42205095291137695, + 0.04479898139834404, + 0.9054645299911499, + -49.43655776977539 + ], + [ + -0.9065430164337158, + -0.028853144496679306, + -0.421126127243042, + -14.396158218383789 + ], + [ + 0.007259478326886892, + -0.9985793232917786, + 0.05278969928622246, + -21.888648986816406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3093, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_242265939", + "mask_path": "../../mask/hdr_front_03093.png" + }, + { + "file_path": "../../rgb/hdr_front_03094.png", + "transform_matrix": [ + [ + -0.4204995632171631, + 0.04944555461406708, + 0.9059444069862366, + -49.51781463623047 + ], + [ + -0.9072901010513306, + -0.020493464544415474, + -0.4200056791305542, + -14.369380950927734 + ], + [ + -0.0022014721762388945, + -0.9985665678977966, + 0.05347895249724388, + -21.911128997802734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3094, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_342267274", + "mask_path": "../../mask/hdr_front_03094.png" + }, + { + "file_path": "../../rgb/hdr_front_03095.png", + "transform_matrix": [ + [ + -0.4169871509075165, + 0.04776466637849808, + 0.9076564908027649, + -49.58195495605469 + ], + [ + -0.9089016914367676, + -0.01707366667687893, + -0.41666069626808167, + -14.342630386352539 + ], + [ + -0.0044046370312571526, + -0.9987127184867859, + 0.05053288862109184, + -21.918869018554688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3095, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_442268133", + "mask_path": "../../mask/hdr_front_03095.png" + }, + { + "file_path": "../../rgb/hdr_front_03096.png", + "transform_matrix": [ + [ + -0.42167285084724426, + 0.05638624727725983, + 0.9049931168556213, + -49.65070343017578 + ], + [ + -0.9067478775978088, + -0.02578633651137352, + -0.4208838641643524, + -14.311800003051758 + ], + [ + -0.00039559995639137924, + -0.9980760812759399, + 0.062001507729291916, + -21.931015014648438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3096, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_542266845", + "mask_path": "../../mask/hdr_front_03096.png" + }, + { + "file_path": "../../rgb/hdr_front_03097.png", + "transform_matrix": [ + [ + -0.43272820115089417, + 0.07414776086807251, + 0.8984699845314026, + -49.716583251953125 + ], + [ + -0.9015241265296936, + -0.034759826958179474, + -0.43133050203323364, + -14.277036666870117 + ], + [ + -0.0007515299366787076, + -0.9966413378715515, + 0.08188755810260773, + -21.956270217895508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3097, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_642268657", + "mask_path": "../../mask/hdr_front_03097.png" + }, + { + "file_path": "../../rgb/hdr_front_03098.png", + "transform_matrix": [ + [ + -0.44436877965927124, + 0.08062537014484406, + 0.892208456993103, + -49.76980209350586 + ], + [ + -0.8958434462547302, + -0.03893541172146797, + -0.4426608085632324, + -14.243399620056152 + ], + [ + -0.0009511880343779922, + -0.9959838390350342, + 0.08952938765287399, + -21.975788116455078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3098, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_742267608", + "mask_path": "../../mask/hdr_front_03098.png" + }, + { + "file_path": "../../rgb/hdr_front_03099.png", + "transform_matrix": [ + [ + -0.4532380700111389, + 0.08783575892448425, + 0.8870514035224915, + -49.842262268066406 + ], + [ + -0.8913448452949524, + -0.034707020968198776, + -0.45199519395828247, + -14.201461791992188 + ], + [ + -0.008914425037801266, + -0.9955301880836487, + 0.09402249753475189, + -21.985774993896484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3099, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_842268228", + "mask_path": "../../mask/hdr_front_03099.png" + }, + { + "file_path": "../../rgb/hdr_front_03100.png", + "transform_matrix": [ + [ + -0.4564198851585388, + 0.10055828094482422, + 0.8840638995170593, + -49.928001403808594 + ], + [ + -0.8895342350006104, + -0.02896970510482788, + -0.45594894886016846, + -14.16243839263916 + ], + [ + -0.020238379016518593, + -0.9945094585418701, + 0.10267239063978195, + -22.01219367980957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3100, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_942267179", + "mask_path": "../../mask/hdr_front_03100.png" + }, + { + "file_path": "../../rgb/hdr_front_03101.png", + "transform_matrix": [ + [ + -0.45697471499443054, + 0.10835198312997818, + 0.8828555941581726, + -49.99291229248047 + ], + [ + -0.8890411257743835, + -0.024477483704686165, + -0.4571723937988281, + -14.12981128692627 + ], + [ + -0.02792545221745968, + -0.9938112497329712, + 0.10751497000455856, + -22.034196853637695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3101, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_42266845", + "mask_path": "../../mask/hdr_front_03101.png" + }, + { + "file_path": "../../rgb/hdr_front_03102.png", + "transform_matrix": [ + [ + -0.4571475684642792, + 0.10764000564813614, + 0.8828531503677368, + -50.06459045410156 + ], + [ + -0.8888028860092163, + -0.019200392067432404, + -0.4578873813152313, + -14.080327033996582 + ], + [ + -0.03233586996793747, + -0.9940045475959778, + 0.10444815456867218, + -22.0477352142334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3102, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_142266511", + "mask_path": "../../mask/hdr_front_03102.png" + }, + { + "file_path": "../../rgb/hdr_front_03103.png", + "transform_matrix": [ + [ + -0.4625602066516876, + 0.11359596997499466, + 0.8792803287506104, + -50.155845642089844 + ], + [ + -0.8863176703453064, + -0.03476575389504433, + -0.46177083253860474, + -14.022422790527344 + ], + [ + -0.02188645303249359, + -0.9929186105728149, + 0.11676336824893951, + -22.05499267578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3103, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_242266654", + "mask_path": "../../mask/hdr_front_03103.png" + }, + { + "file_path": "../../rgb/hdr_front_03104.png", + "transform_matrix": [ + [ + -0.47163867950439453, + 0.11765771359205246, + 0.8739070892333984, + -50.219627380371094 + ], + [ + -0.8815943002700806, + -0.04193774610757828, + -0.47014114260673523, + -13.979276657104492 + ], + [ + -0.018666038289666176, + -0.9921683073043823, + 0.12350583076477051, + -22.05714225769043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3104, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_342267513", + "mask_path": "../../mask/hdr_front_03104.png" + }, + { + "file_path": "../../rgb/hdr_front_03105.png", + "transform_matrix": [ + [ + -0.4821968078613281, + 0.11398326605558395, + 0.8686162233352661, + -50.26789093017578 + ], + [ + -0.8758873343467712, + -0.042875565588474274, + -0.48060697317123413, + -13.951263427734375 + ], + [ + -0.017538737505674362, + -0.9925571084022522, + 0.12051095813512802, + -22.060623168945312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3105, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_442267179", + "mask_path": "../../mask/hdr_front_03105.png" + }, + { + "file_path": "../../rgb/hdr_front_03106.png", + "transform_matrix": [ + [ + -0.49136367440223694, + 0.09516231715679169, + 0.8657400608062744, + -50.32976531982422 + ], + [ + -0.8709071278572083, + -0.043318651616573334, + -0.4895347058773041, + -13.92207145690918 + ], + [ + -0.009082566015422344, + -0.9945188164710999, + 0.10416276007890701, + -22.06581687927246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3106, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_542266845", + "mask_path": "../../mask/hdr_front_03106.png" + }, + { + "file_path": "../../rgb/hdr_front_03107.png", + "transform_matrix": [ + [ + -0.4873434007167816, + 0.08689717203378677, + 0.8688759207725525, + -50.409461975097656 + ], + [ + -0.8731730580329895, + -0.039287108927965164, + -0.48582443594932556, + -13.895808219909668 + ], + [ + -0.008081150241196156, + -0.9954423308372498, + 0.09502258151769638, + -22.06739616394043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3107, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_642265319", + "mask_path": "../../mask/hdr_front_03107.png" + }, + { + "file_path": "../../rgb/hdr_front_03108.png", + "transform_matrix": [ + [ + -0.47777265310287476, + 0.08342856913805008, + 0.8745130300521851, + -50.46107864379883 + ], + [ + -0.8784452676773071, + -0.03608496114611626, + -0.4764784872531891, + -13.884862899780273 + ], + [ + -0.008195152506232262, + -0.9958601593971252, + 0.09052784740924835, + -22.07564353942871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3108, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_742267370", + "mask_path": "../../mask/hdr_front_03108.png" + }, + { + "file_path": "../../rgb/hdr_front_03110.png", + "transform_matrix": [ + [ + -0.4885208308696747, + 0.07125356793403625, + 0.8696380853652954, + -50.55335998535156 + ], + [ + -0.8725494742393494, + -0.04242534562945366, + -0.48668012022972107, + -13.843782424926758 + ], + [ + 0.00221699639223516, + -0.9965556263923645, + 0.08289793133735657, + -22.092527389526367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3110, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_942267179", + "mask_path": "../../mask/hdr_front_03110.png" + }, + { + "file_path": "../../rgb/hdr_front_03111.png", + "transform_matrix": [ + [ + -0.5151106119155884, + 0.06905817240476608, + 0.8543371558189392, + -50.5962028503418 + ], + [ + -0.8571147322654724, + -0.036948103457689285, + -0.513798713684082, + -13.802956581115723 + ], + [ + -0.0039158593863248825, + -0.9969282150268555, + 0.07822313904762268, + -22.08326530456543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3111, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639113_42263031", + "mask_path": "../../mask/hdr_front_03111.png" + }, + { + "file_path": "../../rgb/hdr_front_03114.png", + "transform_matrix": [ + [ + -0.6131637096405029, + 0.06824150681495667, + 0.7870027422904968, + -50.70232009887695 + ], + [ + -0.7895877957344055, + -0.022535735741257668, + -0.613223671913147, + -13.688111305236816 + ], + [ + -0.02411162108182907, + -0.9974142909049988, + 0.06770075857639313, + -22.083232879638672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3114, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639113_342267274", + "mask_path": "../../mask/hdr_front_03114.png" + }, + { + "file_path": "../../rgb/hdr_front_03115.png", + "transform_matrix": [ + [ + -0.6364731788635254, + 0.06783230602741241, + 0.7683102488517761, + -50.74059295654297 + ], + [ + -0.770743727684021, + -0.018151383846998215, + -0.6368866562843323, + -13.657709121704102 + ], + [ + -0.029255593195557594, + -0.9975315928459167, + 0.06383419781923294, + -22.097328186035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3115, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639113_442268610", + "mask_path": "../../mask/hdr_front_03115.png" + }, + { + "file_path": "../../rgb/hdr_front_03117.png", + "transform_matrix": [ + [ + -0.6809067130088806, + 0.07844210416078568, + 0.7281572818756104, + -50.78303527832031 + ], + [ + -0.7313382029533386, + -0.02006417140364647, + -0.6817198395729065, + -13.597140312194824 + ], + [ + -0.03886566311120987, + -0.9967167973518372, + 0.07102952897548676, + -22.12236785888672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3117, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639113_642269134", + "mask_path": "../../mask/hdr_front_03117.png" + }, + { + "file_path": "../../rgb/hdr_front_03119.png", + "transform_matrix": [ + [ + -0.7217864990234375, + 0.08845628798007965, + 0.6864399313926697, + -50.84461975097656 + ], + [ + -0.6913636326789856, + -0.04591946303844452, + -0.7210463285446167, + -13.533622741699219 + ], + [ + -0.03226012364029884, + -0.9950211048126221, + 0.09429950267076492, + -22.14545249938965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3119, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639113_842268466", + "mask_path": "../../mask/hdr_front_03119.png" + }, + { + "file_path": "../../rgb/hdr_front_03121.png", + "transform_matrix": [ + [ + -0.7540777921676636, + 0.10198687016963959, + 0.6488184928894043, + -50.90000915527344 + ], + [ + -0.65546053647995, + -0.05414986237883568, + -0.7532857060432434, + -13.449971199035645 + ], + [ + -0.041691817343235016, + -0.9933108687400818, + 0.10768157243728638, + -22.17763328552246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3121, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_42268276", + "mask_path": "../../mask/hdr_front_03121.png" + }, + { + "file_path": "../../rgb/hdr_front_03122.png", + "transform_matrix": [ + [ + -0.7578176259994507, + 0.10868487507104874, + 0.6433506608009338, + -50.94113540649414 + ], + [ + -0.6508967876434326, + -0.05757700279355049, + -0.7569797039031982, + -13.413991928100586 + ], + [ + -0.045230042189359665, + -0.9924074411392212, + 0.1143755093216896, + -22.18684196472168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3122, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_142268180", + "mask_path": "../../mask/hdr_front_03122.png" + }, + { + "file_path": "../../rgb/hdr_front_03124.png", + "transform_matrix": [ + [ + -0.7541719675064087, + 0.11818833649158478, + 0.6459537148475647, + -50.98838806152344 + ], + [ + -0.6550624966621399, + -0.06646574288606644, + -0.7526456117630005, + -13.34660816192627 + ], + [ + -0.04602013900876045, + -0.990764319896698, + 0.12754733860492706, + -22.225141525268555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3124, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_342268466", + "mask_path": "../../mask/hdr_front_03124.png" + }, + { + "file_path": "../../rgb/hdr_front_03125.png", + "transform_matrix": [ + [ + -0.7569618225097656, + 0.12412991374731064, + 0.641560971736908, + -51.0163459777832 + ], + [ + -0.652856707572937, + -0.1015123799443245, + -0.7506486773490906, + -13.310722351074219 + ], + [ + -0.028051577508449554, + -0.9870598912239075, + 0.1578800231218338, + -22.255870819091797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3125, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_442270040", + "mask_path": "../../mask/hdr_front_03125.png" + }, + { + "file_path": "../../rgb/hdr_front_03127.png", + "transform_matrix": [ + [ + -0.7701169848442078, + 0.1464608758687973, + 0.6208614706993103, + -51.042564392089844 + ], + [ + -0.6374014019966125, + -0.13810445368289948, + -0.7580544352531433, + -13.265817642211914 + ], + [ + -0.025281567126512527, + -0.9795286655426025, + 0.19971096515655518, + -22.284732818603516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3127, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_642267704", + "mask_path": "../../mask/hdr_front_03127.png" + }, + { + "file_path": "../../rgb/hdr_front_03129.png", + "transform_matrix": [ + [ + -0.7705291509628296, + 0.1628606915473938, + 0.6162477731704712, + -51.11211395263672 + ], + [ + -0.6367431282997131, + -0.15263144671916962, + -0.7558185458183289, + -13.203841209411621 + ], + [ + -0.02903437241911888, + -0.9747717976570129, + 0.2213074117898941, + -22.32235336303711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3129, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_842268466", + "mask_path": "../../mask/hdr_front_03129.png" + }, + { + "file_path": "../../rgb/hdr_front_03132.png", + "transform_matrix": [ + [ + -0.7678558230400085, + 0.20300425589084625, + 0.6076072454452515, + -51.18413543701172 + ], + [ + -0.6388418674468994, + -0.1719789206981659, + -0.7498695254325867, + -13.121950149536133 + ], + [ + -0.04773103445768356, + -0.9639567732810974, + 0.2617426812648773, + -22.396677017211914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3132, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_142267227", + "mask_path": "../../mask/hdr_front_03132.png" + }, + { + "file_path": "../../rgb/hdr_front_03133.png", + "transform_matrix": [ + [ + -0.7675140500068665, + 0.20581409335136414, + 0.6070938110351562, + -51.227046966552734 + ], + [ + -0.6394968628883362, + -0.18032439053058624, + -0.7473465800285339, + -13.06549072265625 + ], + [ + -0.04434061050415039, + -0.9618335366249084, + 0.27001896500587463, + -22.438364028930664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3133, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_242268323", + "mask_path": "../../mask/hdr_front_03133.png" + }, + { + "file_path": "../../rgb/hdr_front_03134.png", + "transform_matrix": [ + [ + -0.7715393900871277, + 0.21264874935150146, + 0.5995895862579346, + -51.25887680053711 + ], + [ + -0.6344029903411865, + -0.1867467761039734, + -0.750105619430542, + -13.024611473083496 + ], + [ + -0.04753759503364563, + -0.9591173529624939, + 0.2789875566959381, + -22.45823097229004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3134, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_342268228", + "mask_path": "../../mask/hdr_front_03134.png" + }, + { + "file_path": "../../rgb/hdr_front_03136.png", + "transform_matrix": [ + [ + -0.779190719127655, + 0.2212284356355667, + 0.5864468216896057, + -51.34128189086914 + ], + [ + -0.6240116953849792, + -0.18585248291492462, + -0.7589916586875916, + -12.919742584228516 + ], + [ + -0.05891794338822365, + -0.9573488831520081, + 0.2828636169433594, + -22.532894134521484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3136, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_542267322", + "mask_path": "../../mask/hdr_front_03136.png" + }, + { + "file_path": "../../rgb/hdr_front_03137.png", + "transform_matrix": [ + [ + -0.7761769890785217, + 0.2623857855796814, + 0.5733264088630676, + -51.401611328125 + ], + [ + -0.6258108019828796, + -0.20972348749637604, + -0.7512502074241638, + -12.85910415649414 + ], + [ + -0.07687739282846451, + -0.9418969750404358, + 0.3269863724708557, + -22.58589744567871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3137, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_642267942", + "mask_path": "../../mask/hdr_front_03137.png" + }, + { + "file_path": "../../rgb/hdr_front_03140.png", + "transform_matrix": [ + [ + -0.7784507870674133, + 0.28927746415138245, + 0.5570752620697021, + -51.48833465576172 + ], + [ + -0.6243696808815002, + -0.26546722650527954, + -0.7346357703208923, + -12.725638389587402 + ], + [ + -0.06462836265563965, + -0.9196987748146057, + 0.3872692286968231, + -22.685840606689453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3140, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_942267179", + "mask_path": "../../mask/hdr_front_03140.png" + }, + { + "file_path": "../../rgb/hdr_front_03141.png", + "transform_matrix": [ + [ + -0.7860283851623535, + 0.2860570251941681, + 0.5480242967605591, + -51.52403259277344 + ], + [ + -0.6160091757774353, + -0.28803494572639465, + -0.7331907153129578, + -12.674164772033691 + ], + [ + -0.05188421159982681, + -0.9138967990875244, + 0.4026174247264862, + -22.7274112701416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3141, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_42267084", + "mask_path": "../../mask/hdr_front_03141.png" + }, + { + "file_path": "../../rgb/hdr_front_03142.png", + "transform_matrix": [ + [ + -0.7919108867645264, + 0.28486520051956177, + 0.5401192307472229, + -51.54547882080078 + ], + [ + -0.6088199019432068, + -0.3001531660556793, + -0.7343340516090393, + -12.634760856628418 + ], + [ + -0.04706769436597824, + -0.9103625416755676, + 0.41112619638442993, + -22.76130485534668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3142, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_142267227", + "mask_path": "../../mask/hdr_front_03142.png" + }, + { + "file_path": "../../rgb/hdr_front_03143.png", + "transform_matrix": [ + [ + -0.7975662350654602, + 0.28344520926475525, + 0.5324912667274475, + -51.58774185180664 + ], + [ + -0.601474940776825, + -0.3063535988330841, + -0.7378180027008057, + -12.589163780212402 + ], + [ + -0.04600033164024353, + -0.9087388515472412, + 0.414822518825531, + -22.814369201660156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3143, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_242267131", + "mask_path": "../../mask/hdr_front_03143.png" + }, + { + "file_path": "../../rgb/hdr_front_03144.png", + "transform_matrix": [ + [ + -0.8048471212387085, + 0.2707241475582123, + 0.5281376838684082, + -51.6650276184082 + ], + [ + -0.5919634103775024, + -0.3025791049003601, + -0.7470108866691589, + -12.499283790588379 + ], + [ + -0.04243045300245285, + -0.9138678312301636, + 0.4037887156009674, + -22.858678817749023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3144, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_342268228", + "mask_path": "../../mask/hdr_front_03144.png" + }, + { + "file_path": "../../rgb/hdr_front_03145.png", + "transform_matrix": [ + [ + -0.8084703087806702, + 0.2579650580883026, + 0.5289893746376038, + -51.72227478027344 + ], + [ + -0.5874606966972351, + -0.29938387870788574, + -0.7518372535705566, + -12.42746353149414 + ], + [ + -0.03557682782411575, + -0.9185987114906311, + 0.39358729124069214, + -22.887561798095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3145, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_442267656", + "mask_path": "../../mask/hdr_front_03145.png" + }, + { + "file_path": "../../rgb/hdr_front_03146.png", + "transform_matrix": [ + [ + -0.8053709268569946, + 0.24226060509681702, + 0.5410058498382568, + -51.76986312866211 + ], + [ + -0.5923614501953125, + -0.29499876499176025, + -0.7497223615646362, + -12.380997657775879 + ], + [ + -0.022032110020518303, + -0.9242757558822632, + 0.3810892701148987, + -22.913875579833984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3146, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_542267322", + "mask_path": "../../mask/hdr_front_03146.png" + }, + { + "file_path": "../../rgb/hdr_front_03147.png", + "transform_matrix": [ + [ + -0.7945076823234558, + 0.22882942855358124, + 0.5624896287918091, + -51.820865631103516 + ], + [ + -0.6072012782096863, + -0.2871531844139099, + -0.7408440113067627, + -12.330253601074219 + ], + [ + -0.008006186224520206, + -0.9301506280899048, + 0.36709097027778625, + -22.940628051757812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3147, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_642267704", + "mask_path": "../../mask/hdr_front_03147.png" + }, + { + "file_path": "../../rgb/hdr_front_03148.png", + "transform_matrix": [ + [ + -0.7770887017250061, + 0.2312743365764618, + 0.5853591561317444, + -51.87123489379883 + ], + [ + -0.6293556690216064, + -0.2756859064102173, + -0.7265732288360596, + -12.272871971130371 + ], + [ + -0.00666250241920352, + -0.933010995388031, + 0.3597862422466278, + -22.96886444091797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3148, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_742267847", + "mask_path": "../../mask/hdr_front_03148.png" + }, + { + "file_path": "../../rgb/hdr_front_03149.png", + "transform_matrix": [ + [ + -0.7578303217887878, + 0.23733727633953094, + 0.6077534556388855, + -51.914005279541016 + ], + [ + -0.6524357199668884, + -0.2691313326358795, + -0.7084461450576782, + -12.237850189208984 + ], + [ + -0.004575177561491728, + -0.9334020614624023, + 0.3588032126426697, + -22.982629776000977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3149, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_842269420", + "mask_path": "../../mask/hdr_front_03149.png" + }, + { + "file_path": "../../rgb/hdr_front_03151.png", + "transform_matrix": [ + [ + -0.7151294350624084, + 0.2332298755645752, + 0.6589337587356567, + -51.96315383911133 + ], + [ + -0.6986769437789917, + -0.2668056786060333, + -0.6638262271881104, + -12.212501525878906 + ], + [ + 0.020983202382922173, + -0.9351035356521606, + 0.3537529408931732, + -23.006858825683594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3151, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_42267322", + "mask_path": "../../mask/hdr_front_03151.png" + }, + { + "file_path": "../../rgb/hdr_front_03153.png", + "transform_matrix": [ + [ + -0.6909422278404236, + 0.23444770276546478, + 0.6838371753692627, + -52.03852844238281 + ], + [ + -0.7222312092781067, + -0.26485610008239746, + -0.6389315128326416, + -12.150177001953125 + ], + [ + 0.03132243454456329, + -0.9353532195091248, + 0.3523256778717041, + -23.049345016479492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3153, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_242268085", + "mask_path": "../../mask/hdr_front_03153.png" + }, + { + "file_path": "../../rgb/hdr_front_03154.png", + "transform_matrix": [ + [ + -0.6818346977233887, + 0.23711952567100525, + 0.6920086145401001, + -52.101375579833984 + ], + [ + -0.7307462692260742, + -0.26390254497528076, + -0.6295756101608276, + -12.109169960021973 + ], + [ + 0.03333817049860954, + -0.9349490404129028, + 0.3532121181488037, + -23.103633880615234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3154, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_342267274", + "mask_path": "../../mask/hdr_front_03154.png" + }, + { + "file_path": "../../rgb/hdr_front_03155.png", + "transform_matrix": [ + [ + -0.6836448311805725, + 0.23732586205005646, + 0.6901494264602661, + -52.146728515625 + ], + [ + -0.7290293574333191, + -0.2659344971179962, + -0.6307100057601929, + -12.070318222045898 + ], + [ + 0.033850740641355515, + -0.9343208074569702, + 0.3548222482204437, + -23.14773941040039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3155, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_442268371", + "mask_path": "../../mask/hdr_front_03155.png" + }, + { + "file_path": "../../rgb/hdr_front_03156.png", + "transform_matrix": [ + [ + -0.686043381690979, + 0.2350289672613144, + 0.6885534524917603, + -52.18058395385742 + ], + [ + -0.7266920208930969, + -0.2675842046737671, + -0.6327064037322998, + -12.047216415405273 + ], + [ + 0.03554171696305275, + -0.9344303607940674, + 0.35436806082725525, + -23.182483673095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3156, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_542267560", + "mask_path": "../../mask/hdr_front_03156.png" + }, + { + "file_path": "../../rgb/hdr_front_03157.png", + "transform_matrix": [ + [ + -0.6881862282752991, + 0.22751963138580322, + 0.6889373064041138, + -52.22712326049805 + ], + [ + -0.7241838574409485, + -0.2733125388622284, + -0.6331335306167603, + -12.010924339294434 + ], + [ + 0.0442449226975441, + -0.9346309900283813, + 0.35285598039627075, + -23.213186264038086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3157, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_642267465", + "mask_path": "../../mask/hdr_front_03157.png" + }, + { + "file_path": "../../rgb/hdr_front_03158.png", + "transform_matrix": [ + [ + -0.6890293955802917, + 0.22344517707824707, + 0.6894278526306152, + -52.28456115722656 + ], + [ + -0.7231907248497009, + -0.2740200161933899, + -0.6339622735977173, + -11.952540397644043 + ], + [ + 0.047261208295822144, + -0.9354065656661987, + 0.3504013121128082, + -23.24513053894043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3158, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_742267370", + "mask_path": "../../mask/hdr_front_03158.png" + }, + { + "file_path": "../../rgb/hdr_front_03159.png", + "transform_matrix": [ + [ + -0.6970681548118591, + 0.22528871893882751, + 0.6806915402412415, + -52.35387420654297 + ], + [ + -0.713950514793396, + -0.3056245446205139, + -0.629974901676178, + -11.874405860900879 + ], + [ + 0.06610982865095139, + -0.9251154661178589, + 0.3738861680030823, + -23.284189224243164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3159, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_842268466", + "mask_path": "../../mask/hdr_front_03159.png" + }, + { + "file_path": "../../rgb/hdr_front_03162.png", + "transform_matrix": [ + [ + -0.7125553488731384, + 0.24362364411354065, + 0.6579607129096985, + -52.48664855957031 + ], + [ + -0.699535608291626, + -0.3188503086566925, + -0.6395188570022583, + -11.761003494262695 + ], + [ + 0.053989071398973465, + -0.9159596562385559, + 0.39762189984321594, + -23.349178314208984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3162, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_142268419", + "mask_path": "../../mask/hdr_front_03162.png" + }, + { + "file_path": "../../rgb/hdr_front_03163.png", + "transform_matrix": [ + [ + -0.7162599563598633, + 0.23176464438438416, + 0.6582225561141968, + -52.56502914428711 + ], + [ + -0.6954523921012878, + -0.31492671370506287, + -0.6458848118782043, + -11.697002410888672 + ], + [ + 0.05759859085083008, + -0.9203838109970093, + 0.3867506980895996, + -23.37558937072754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3163, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_242268085", + "mask_path": "../../mask/hdr_front_03163.png" + }, + { + "file_path": "../../rgb/hdr_front_03164.png", + "transform_matrix": [ + [ + -0.7163171172142029, + 0.22335487604141235, + 0.6610615849494934, + -52.614322662353516 + ], + [ + -0.6946065425872803, + -0.31842857599258423, + -0.6450775861740112, + -11.666577339172363 + ], + [ + 0.06641969829797745, + -0.9212577939033508, + 0.3832395672798157, + -23.408893585205078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3164, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_342266559", + "mask_path": "../../mask/hdr_front_03164.png" + }, + { + "file_path": "../../rgb/hdr_front_03165.png", + "transform_matrix": [ + [ + -0.7113984227180481, + 0.21779444813728333, + 0.6681899428367615, + -52.653621673583984 + ], + [ + -0.6985515356063843, + -0.32338181138038635, + -0.6383180618286133, + -11.641247749328613 + ], + [ + 0.0770583376288414, + -0.9208635687828064, + 0.38219398260116577, + -23.442115783691406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3165, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_442268133", + "mask_path": "../../mask/hdr_front_03165.png" + }, + { + "file_path": "../../rgb/hdr_front_03166.png", + "transform_matrix": [ + [ + -0.6982093453407288, + 0.22514544427394867, + 0.6795684099197388, + -52.701961517333984 + ], + [ + -0.7130494117736816, + -0.303245484828949, + -0.6321414709091187, + -11.596203804016113 + ], + [ + 0.06375228613615036, + -0.9259328842163086, + 0.3722686469554901, + -23.481828689575195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3166, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_542268991", + "mask_path": "../../mask/hdr_front_03166.png" + }, + { + "file_path": "../../rgb/hdr_front_03167.png", + "transform_matrix": [ + [ + -0.6790602803230286, + 0.23191086947917938, + 0.696487307548523, + -52.75618362426758 + ], + [ + -0.7321191430091858, + -0.28330162167549133, + -0.6194689273834229, + -11.543274879455566 + ], + [ + 0.05365438386797905, + -0.9305683970451355, + 0.36216527223587036, + -23.515588760375977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3167, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_642267942", + "mask_path": "../../mask/hdr_front_03167.png" + }, + { + "file_path": "../../rgb/hdr_front_03170.png", + "transform_matrix": [ + [ + -0.6257244348526001, + 0.23496469855308533, + 0.7438148856163025, + -52.892112731933594 + ], + [ + -0.7785013318061829, + -0.2480531930923462, + -0.5765461325645447, + -11.460036277770996 + ], + [ + 0.04903766140341759, + -0.9398197531700134, + 0.3381332755088806, + -23.573135375976562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3170, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_942267417", + "mask_path": "../../mask/hdr_front_03170.png" + }, + { + "file_path": "../../rgb/hdr_front_03171.png", + "transform_matrix": [ + [ + -0.6092345118522644, + 0.2531259059906006, + 0.7515054941177368, + -52.960548400878906 + ], + [ + -0.7920487523078918, + -0.24040251970291138, + -0.5611287355422974, + -11.422637939453125 + ], + [ + 0.03862759470939636, + -0.9370880722999573, + 0.3469495475292206, + -23.59917449951172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3171, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_42268753", + "mask_path": "../../mask/hdr_front_03171.png" + }, + { + "file_path": "../../rgb/hdr_front_03174.png", + "transform_matrix": [ + [ + -0.6010710597038269, + 0.26420873403549194, + 0.7542595267295837, + -53.07966232299805 + ], + [ + -0.7982227802276611, + -0.24502012133598328, + -0.5502777695655823, + -11.349119186401367 + ], + [ + 0.03942054510116577, + -0.9328231811523438, + 0.3581719398498535, + -23.67743682861328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3174, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_342266559", + "mask_path": "../../mask/hdr_front_03174.png" + }, + { + "file_path": "../../rgb/hdr_front_03175.png", + "transform_matrix": [ + [ + -0.6009480953216553, + 0.27342700958251953, + 0.751065194606781, + -53.134098052978516 + ], + [ + -0.7987489104270935, + -0.23994383215904236, + -0.5517491102218628, + -11.295693397521973 + ], + [ + 0.029350358992815018, + -0.9314852356910706, + 0.3625933527946472, + -23.715524673461914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3175, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_442266941", + "mask_path": "../../mask/hdr_front_03175.png" + }, + { + "file_path": "../../rgb/hdr_front_03176.png", + "transform_matrix": [ + [ + -0.6033999919891357, + 0.28136110305786133, + 0.7461529970169067, + -53.17058181762695 + ], + [ + -0.7971608638763428, + -0.23751887679100037, + -0.5550850033760071, + -11.253002166748047 + ], + [ + 0.0210461113601923, + -0.9297422766685486, + 0.3676089942455292, + -23.742250442504883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3176, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_542267322", + "mask_path": "../../mask/hdr_front_03176.png" + }, + { + "file_path": "../../rgb/hdr_front_03178.png", + "transform_matrix": [ + [ + -0.6072478890419006, + 0.28176209330558777, + 0.7428728938102722, + -53.265586853027344 + ], + [ + -0.7944440245628357, + -0.2276037335395813, + -0.5630765557289124, + -11.165534973144531 + ], + [ + 0.010427026078104973, + -0.9320980906486511, + 0.36205607652664185, + -23.795486450195312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3178, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_742268323", + "mask_path": "../../mask/hdr_front_03178.png" + }, + { + "file_path": "../../rgb/hdr_front_03179.png", + "transform_matrix": [ + [ + -0.6049647331237793, + 0.2868784964084625, + 0.7427775263786316, + -53.350826263427734 + ], + [ + -0.7962053418159485, + -0.22806964814662933, + -0.5603939890861511, + -11.10538101196289 + ], + [ + 0.008640041574835777, + -0.9304219484329224, + 0.3663882911205292, + -23.84694480895996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3179, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_842267990", + "mask_path": "../../mask/hdr_front_03179.png" + }, + { + "file_path": "../../rgb/hdr_front_03180.png", + "transform_matrix": [ + [ + -0.605705201625824, + 0.2908724844455719, + 0.7406176328659058, + -53.41636657714844 + ], + [ + -0.7956300973892212, + -0.23274068534374237, + -0.559289276599884, + -11.06289291381836 + ], + [ + 0.009689980186522007, + -0.9280220866203308, + 0.37239915132522583, + -23.89958381652832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3180, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_942270040", + "mask_path": "../../mask/hdr_front_03180.png" + }, + { + "file_path": "../../rgb/hdr_front_03181.png", + "transform_matrix": [ + [ + -0.6074705719947815, + 0.2853536009788513, + 0.7413182854652405, + -53.46234893798828 + ], + [ + -0.7941840887069702, + -0.2367928922176361, + -0.5596433281898499, + -11.035451889038086 + ], + [ + 0.01584266871213913, + -0.9287101030349731, + 0.37046805024147034, + -23.933616638183594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3181, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_42268276", + "mask_path": "../../mask/hdr_front_03181.png" + }, + { + "file_path": "../../rgb/hdr_front_03182.png", + "transform_matrix": [ + [ + -0.6091095209121704, + 0.27617886662483215, + 0.7434452176094055, + -53.51886749267578 + ], + [ + -0.7927860617637634, + -0.23781642317771912, + -0.561189591884613, + -10.995491981506348 + ], + [ + 0.02181478589773178, + -0.9312188625335693, + 0.36380699276924133, + -23.963951110839844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3182, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_142267942", + "mask_path": "../../mask/hdr_front_03182.png" + }, + { + "file_path": "../../rgb/hdr_front_03183.png", + "transform_matrix": [ + [ + -0.611738920211792, + 0.2728424370288849, + 0.7425177097320557, + -53.58648681640625 + ], + [ + -0.7906997799873352, + -0.23921050131320953, + -0.5635353922843933, + -10.927979469299316 + ], + [ + 0.023861659690737724, + -0.9318451881408691, + 0.362070769071579, + -23.999784469604492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3183, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_242268085", + "mask_path": "../../mask/hdr_front_03183.png" + }, + { + "file_path": "../../rgb/hdr_front_03184.png", + "transform_matrix": [ + [ + -0.6170967817306519, + 0.27450990676879883, + 0.7374522089958191, + -53.648773193359375 + ], + [ + -0.7865666747093201, + -0.2419351041316986, + -0.5681374669075012, + -10.86556339263916 + ], + [ + 0.022456232458353043, + -0.9306512475013733, + 0.36521774530410767, + -24.016538619995117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3184, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_342268943", + "mask_path": "../../mask/hdr_front_03184.png" + }, + { + "file_path": "../../rgb/hdr_front_03185.png", + "transform_matrix": [ + [ + -0.6224508881568909, + 0.2759990990161896, + 0.7323793172836304, + -53.68568801879883 + ], + [ + -0.7822370529174805, + -0.25010204315185547, + -0.5705735683441162, + -10.836089134216309 + ], + [ + 0.02569175697863102, + -0.9280482530593872, + 0.37157294154167175, + -24.035356521606445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3185, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_442267656", + "mask_path": "../../mask/hdr_front_03185.png" + }, + { + "file_path": "../../rgb/hdr_front_03187.png", + "transform_matrix": [ + [ + -0.633470892906189, + 0.27657946944236755, + 0.7226468324661255, + -53.81076431274414 + ], + [ + -0.7734905481338501, + -0.2512938976287842, + -0.5818623304367065, + -10.741281509399414 + ], + [ + 0.020665589720010757, + -0.9275533556938171, + 0.37311896681785583, + -24.098529815673828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3187, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_642267704", + "mask_path": "../../mask/hdr_front_03187.png" + }, + { + "file_path": "../../rgb/hdr_front_03188.png", + "transform_matrix": [ + [ + -0.6382779479026794, + 0.26886826753616333, + 0.7213259935379028, + -53.87521743774414 + ], + [ + -0.7694528698921204, + -0.25120431184768677, + -0.5872296690940857, + -10.696168899536133 + ], + [ + 0.023312773555517197, + -0.9298420548439026, + 0.36721962690353394, + -24.124902725219727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3188, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_742267847", + "mask_path": "../../mask/hdr_front_03188.png" + }, + { + "file_path": "../../rgb/hdr_front_03189.png", + "transform_matrix": [ + [ + -0.6419296264648438, + 0.2584420442581177, + 0.7218961119651794, + -53.92397689819336 + ], + [ + -0.7662304639816284, + -0.2513138949871063, + -0.5913814902305603, + -10.667412757873535 + ], + [ + 0.028584709390997887, + -0.9327642321586609, + 0.3593520224094391, + -24.15219497680664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3189, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_842269182", + "mask_path": "../../mask/hdr_front_03189.png" + }, + { + "file_path": "../../rgb/hdr_front_03190.png", + "transform_matrix": [ + [ + -0.6460534334182739, + 0.2523859441280365, + 0.7203584909439087, + -53.97868347167969 + ], + [ + -0.7625232934951782, + -0.2557559013366699, + -0.594261884689331, + -10.620783805847168 + ], + [ + 0.0342525951564312, + -0.9332150220870972, + 0.35768213868141174, + -24.18368911743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3190, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_942267179", + "mask_path": "../../mask/hdr_front_03190.png" + }, + { + "file_path": "../../rgb/hdr_front_03191.png", + "transform_matrix": [ + [ + -0.648600161075592, + 0.2581605613231659, + 0.7160104513168335, + -54.03717803955078 + ], + [ + -0.7604711651802063, + -0.2589161992073059, + -0.5955216884613037, + -10.57388973236084 + ], + [ + 0.03164646774530411, + -0.9307607412338257, + 0.36425673961639404, + -24.231199264526367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3191, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_42268037", + "mask_path": "../../mask/hdr_front_03191.png" + }, + { + "file_path": "../../rgb/hdr_front_03192.png", + "transform_matrix": [ + [ + -0.650629997253418, + 0.26719751954078674, + 0.7108348608016968, + -54.07978439331055 + ], + [ + -0.7591546773910522, + -0.2524016201496124, + -0.5999813079833984, + -10.533716201782227 + ], + [ + 0.019102351740002632, + -0.9299994111061096, + 0.36706429719924927, + -24.254243850708008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3192, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_142267227", + "mask_path": "../../mask/hdr_front_03192.png" + }, + { + "file_path": "../../rgb/hdr_front_03194.png", + "transform_matrix": [ + [ + -0.6655020713806152, + 0.2704984247684479, + 0.6956562399864197, + -54.177669525146484 + ], + [ + -0.7463559508323669, + -0.23151710629463196, + -0.623981237411499, + -10.45552921295166 + ], + [ + -0.007729633245617151, + -0.9344680309295654, + 0.35596325993537903, + -24.315671920776367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3194, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_342271089", + "mask_path": "../../mask/hdr_front_03194.png" + }, + { + "file_path": "../../rgb/hdr_front_03195.png", + "transform_matrix": [ + [ + -0.6642294526100159, + 0.31068745255470276, + 0.6799063086509705, + -54.26182174682617 + ], + [ + -0.7460146546363831, + -0.21764880418777466, + -0.629357635974884, + -10.399734497070312 + ], + [ + -0.047552742063999176, + -0.9252579808235168, + 0.3763462007045746, + -24.361190795898438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3195, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_442267656", + "mask_path": "../../mask/hdr_front_03195.png" + }, + { + "file_path": "../../rgb/hdr_front_03198.png", + "transform_matrix": [ + [ + -0.6692162752151489, + 0.33324241638183594, + 0.664152979850769, + -54.37455368041992 + ], + [ + -0.7395604848861694, + -0.21196764707565308, + -0.6388427019119263, + -10.292219161987305 + ], + [ + -0.07211055606603622, + -0.9187052845954895, + 0.388305127620697, + -24.436708450317383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3198, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_742268085", + "mask_path": "../../mask/hdr_front_03198.png" + }, + { + "file_path": "../../rgb/hdr_front_03199.png", + "transform_matrix": [ + [ + -0.6711097359657288, + 0.32651659846305847, + 0.665581464767456, + -54.42886734008789 + ], + [ + -0.7377400398254395, + -0.20554684102535248, + -0.6430319547653198, + -10.231557846069336 + ], + [ + -0.07315243780612946, + -0.922571063041687, + 0.37882888317108154, + -24.45323944091797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3199, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_842268228", + "mask_path": "../../mask/hdr_front_03199.png" + }, + { + "file_path": "../../rgb/hdr_front_03200.png", + "transform_matrix": [ + [ + -0.6744338870048523, + 0.3209066689014435, + 0.6649496555328369, + -54.467708587646484 + ], + [ + -0.7343983054161072, + -0.19868817925453186, + -0.6489855647087097, + -10.185639381408691 + ], + [ + -0.0761461853981018, + -0.9260355830192566, + 0.3696753680706024, + -24.471025466918945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3200, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_942267656", + "mask_path": "../../mask/hdr_front_03200.png" + }, + { + "file_path": "../../rgb/hdr_front_03201.png", + "transform_matrix": [ + [ + -0.6793986558914185, + 0.31557247042655945, + 0.6624435186386108, + -54.5106086730957 + ], + [ + -0.7295594215393066, + -0.19394437968730927, + -0.6558418869972229, + -10.142868041992188 + ], + [ + -0.07848845422267914, + -0.9288700819015503, + 0.3619944751262665, + -24.502689361572266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3201, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_42268037", + "mask_path": "../../mask/hdr_front_03201.png" + }, + { + "file_path": "../../rgb/hdr_front_03202.png", + "transform_matrix": [ + [ + -0.6824532151222229, + 0.3010936379432678, + 0.666033148765564, + -54.584007263183594 + ], + [ + -0.7268778085708618, + -0.18376000225543976, + -0.6617256999015808, + -10.072856903076172 + ], + [ + -0.07685112953186035, + -0.9357215762138367, + 0.344265878200531, + -24.52745246887207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3202, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_142267227", + "mask_path": "../../mask/hdr_front_03202.png" + }, + { + "file_path": "../../rgb/hdr_front_03203.png", + "transform_matrix": [ + [ + -0.6835789084434509, + 0.2825472950935364, + 0.6729687452316284, + -54.64121627807617 + ], + [ + -0.7264695763587952, + -0.1744050830602646, + -0.6646989583969116, + -10.026185035705566 + ], + [ + -0.07043969631195068, + -0.9432655572891235, + 0.32448163628578186, + -24.541217803955078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3203, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_242268562", + "mask_path": "../../mask/hdr_front_03203.png" + }, + { + "file_path": "../../rgb/hdr_front_03205.png", + "transform_matrix": [ + [ + -0.6828622817993164, + 0.24409858882427216, + 0.6885600686073303, + -54.73741149902344 + ], + [ + -0.7287689447402954, + -0.16188965737819672, + -0.665347695350647, + -9.95050048828125 + ], + [ + -0.050939686596393585, + -0.9561420679092407, + 0.2884398400783539, + -24.56270980834961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3205, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_442267894", + "mask_path": "../../mask/hdr_front_03205.png" + }, + { + "file_path": "../../rgb/hdr_front_03206.png", + "transform_matrix": [ + [ + -0.6768913269042969, + 0.23347173631191254, + 0.6980752944946289, + -54.7944221496582 + ], + [ + -0.7349042296409607, + -0.16070519387722015, + -0.6588547229766846, + -9.894572257995605 + ], + [ + -0.04163961857557297, + -0.9589915871620178, + 0.28035932779312134, + -24.590190887451172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3206, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_542267799", + "mask_path": "../../mask/hdr_front_03206.png" + }, + { + "file_path": "../../rgb/hdr_front_03207.png", + "transform_matrix": [ + [ + -0.6755039691925049, + 0.23039385676383972, + 0.7004377841949463, + -54.83848190307617 + ], + [ + -0.7368274927139282, + -0.17494332790374756, + -0.6530544757843018, + -9.861929893493652 + ], + [ + -0.027922842651605606, + -0.9572426676750183, + 0.28793543577194214, + -24.586441040039062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3207, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_642268180", + "mask_path": "../../mask/hdr_front_03207.png" + }, + { + "file_path": "../../rgb/hdr_front_03209.png", + "transform_matrix": [ + [ + -0.66707843542099, + 0.21994131803512573, + 0.7117810249328613, + -54.8981819152832 + ], + [ + -0.744455099105835, + -0.160685196518898, + -0.6480485796928406, + -9.81173324584961 + ], + [ + -0.028159964829683304, + -0.962188184261322, + 0.27092602849006653, + -24.585784912109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3209, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_842268466", + "mask_path": "../../mask/hdr_front_03209.png" + }, + { + "file_path": "../../rgb/hdr_front_03210.png", + "transform_matrix": [ + [ + -0.6640313267707825, + 0.21032097935676575, + 0.71751469373703, + -54.9615364074707 + ], + [ + -0.7470163106918335, + -0.14544206857681274, + -0.6487013101577759, + -9.756399154663086 + ], + [ + -0.032078683376312256, + -0.9667531847953796, + 0.25369128584861755, + -24.603370666503906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3210, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_942267417", + "mask_path": "../../mask/hdr_front_03210.png" + }, + { + "file_path": "../../rgb/hdr_front_03211.png", + "transform_matrix": [ + [ + -0.6628888249397278, + 0.1982177048921585, + 0.7220029830932617, + -55.01300048828125 + ], + [ + -0.7480212450027466, + -0.13374343514442444, + -0.650059163570404, + -9.711874008178711 + ], + [ + -0.03229009360074997, + -0.9709904789924622, + 0.2369280755519867, + -24.617290496826172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3211, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639123_42268753", + "mask_path": "../../mask/hdr_front_03211.png" + }, + { + "file_path": "../../rgb/hdr_front_03213.png", + "transform_matrix": [ + [ + -0.6614405512809753, + 0.16949085891246796, + 0.7305951118469238, + -55.10387420654297 + ], + [ + -0.7497193813323975, + -0.12288656830787659, + -0.6502459645271301, + -9.639750480651855 + ], + [ + -0.02043040655553341, + -0.9778403639793396, + 0.208352729678154, + -24.645862579345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3213, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639123_242268562", + "mask_path": "../../mask/hdr_front_03213.png" + }, + { + "file_path": "../../rgb/hdr_front_03214.png", + "transform_matrix": [ + [ + -0.664253830909729, + 0.16550509631633759, + 0.7289546728134155, + -55.16073226928711 + ], + [ + -0.7473042011260986, + -0.12431321293115616, + -0.6527500748634338, + -9.584244728088379 + ], + [ + -0.017414772883057594, + -0.9783426523208618, + 0.20625817775726318, + -24.653247833251953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3214, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639123_342268228", + "mask_path": "../../mask/hdr_front_03214.png" + }, + { + "file_path": "../../rgb/hdr_front_03215.png", + "transform_matrix": [ + [ + -0.6692295074462891, + 0.16156411170959473, + 0.7252785563468933, + -55.208473205566406 + ], + [ + -0.7428073883056641, + -0.12022476643323898, + -0.6586222052574158, + -9.535552024841309 + ], + [ + -0.019213281571865082, + -0.9795116782188416, + 0.200468972325325, + -24.65742301940918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3215, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639123_442267656", + "mask_path": "../../mask/hdr_front_03215.png" + }, + { + "file_path": "../../rgb/hdr_front_03218.png", + "transform_matrix": [ + [ + -0.6805066466331482, + 0.13529162108898163, + 0.7201436758041382, + -55.340213775634766 + ], + [ + -0.731893002986908, + -0.0782071202993393, + -0.676916778087616, + -9.416165351867676 + ], + [ + -0.035260800272226334, + -0.987714409828186, + 0.15223945677280426, + -24.663230895996094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3218, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639123_742267847", + "mask_path": "../../mask/hdr_front_03218.png" + }, + { + "file_path": "../../rgb/hdr_front_03221.png", + "transform_matrix": [ + [ + -0.6751343011856079, + 0.1198686808347702, + 0.7278909087181091, + -55.44942092895508 + ], + [ + -0.7361078262329102, + -0.04478113725781441, + -0.6753812432289124, + -9.318327903747559 + ], + [ + -0.048361264169216156, + -0.9917793273925781, + 0.11846956610679626, + -24.673954010009766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3221, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639124_42267560", + "mask_path": "../../mask/hdr_front_03221.png" + }, + { + "file_path": "../../rgb/hdr_left_03099.png", + "transform_matrix": [ + [ + -0.6438806653022766, + 0.010225233621895313, + -0.7650576233863831, + -48.332862854003906 + ], + [ + 0.7632125616073608, + -0.06208723783493042, + -0.6431576013565063, + -14.742711067199707 + ], + [ + -0.054076749831438065, + -0.9980183243751526, + 0.03217274323105812, + -21.825843811035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3099, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_342267036", + "mask_path": "../../mask/hdr_left_03099.png" + }, + { + "file_path": "../../rgb/hdr_left_03100.png", + "transform_matrix": [ + [ + -0.6688305735588074, + 0.01355839055031538, + -0.7432911396026611, + -48.38999938964844 + ], + [ + 0.7416067719459534, + -0.057519666850566864, + -0.6683642268180847, + -14.71475887298584 + ], + [ + -0.05181580409407616, + -0.9982523322105408, + 0.028415918350219727, + -21.836402893066406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3100, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_442266702", + "mask_path": "../../mask/hdr_left_03100.png" + }, + { + "file_path": "../../rgb/hdr_left_03102.png", + "transform_matrix": [ + [ + -0.7209412455558777, + 0.02103996090590954, + -0.6926766037940979, + -48.48442459106445 + ], + [ + 0.6906757950782776, + -0.05991135165095329, + -0.7206785678863525, + -14.693243026733398 + ], + [ + -0.056662239134311676, + -0.9979820251464844, + 0.02866077609360218, + -21.8464298248291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3102, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_642267227", + "mask_path": "../../mask/hdr_left_03102.png" + }, + { + "file_path": "../../rgb/hdr_left_03103.png", + "transform_matrix": [ + [ + -0.7290185689926147, + 0.021176492795348167, + -0.6841663122177124, + -48.52920150756836 + ], + [ + 0.6819286942481995, + -0.06398182362318039, + -0.7286147475242615, + -14.668685913085938 + ], + [ + -0.05920371040701866, + -0.9977264404296875, + 0.032203078269958496, + -21.840913772583008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3103, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_742268562", + "mask_path": "../../mask/hdr_left_03103.png" + }, + { + "file_path": "../../rgb/hdr_left_03105.png", + "transform_matrix": [ + [ + -0.7393634915351868, + 0.01087153609842062, + -0.6732186675071716, + -48.6278190612793 + ], + [ + 0.6714847087860107, + -0.06159680709242821, + -0.7384539246559143, + -14.618337631225586 + ], + [ + -0.04949624091386795, + -0.9980419278144836, + 0.03824235871434212, + -21.838865280151367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3105, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_942267417", + "mask_path": "../../mask/hdr_left_03105.png" + }, + { + "file_path": "../../rgb/hdr_left_03106.png", + "transform_matrix": [ + [ + -0.7604918479919434, + 0.015768608078360558, + -0.6491559743881226, + -48.69446563720703 + ], + [ + 0.6476566195487976, + -0.05367536470293999, + -0.7600395083427429, + -14.597878456115723 + ], + [ + -0.04682844132184982, + -0.9984339475631714, + 0.030607033520936966, + -21.84844970703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3106, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639110_42268514", + "mask_path": "../../mask/hdr_left_03106.png" + }, + { + "file_path": "../../rgb/hdr_left_03109.png", + "transform_matrix": [ + [ + -0.8068090677261353, + 0.030887790024280548, + -0.5900042653083801, + -48.83401870727539 + ], + [ + 0.5884047150611877, + -0.04805327579379082, + -0.8071373701095581, + -14.54011344909668 + ], + [ + -0.05328232795000076, + -0.9983671307563782, + 0.020595300942659378, + -21.854284286499023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3109, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639110_342267513", + "mask_path": "../../mask/hdr_left_03109.png" + }, + { + "file_path": "../../rgb/hdr_left_03111.png", + "transform_matrix": [ + [ + -0.8110929131507874, + 0.026784561574459076, + -0.5843037962913513, + -48.90711975097656 + ], + [ + 0.582904040813446, + -0.04579612985253334, + -0.8112494349479675, + -14.496953964233398 + ], + [ + -0.04848780483007431, + -0.9985916614532471, + 0.02153208665549755, + -21.85382652282715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3111, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639110_542267799", + "mask_path": "../../mask/hdr_left_03111.png" + }, + { + "file_path": "../../rgb/hdr_left_03113.png", + "transform_matrix": [ + [ + -0.8241519331932068, + 0.03266804665327072, + -0.5654257535934448, + -49.00820541381836 + ], + [ + 0.5642094612121582, + -0.03973710536956787, + -0.8246748447418213, + -14.458860397338867 + ], + [ + -0.04940890148282051, + -0.998676061630249, + 0.014317795634269714, + -21.86370277404785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3113, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639110_742267608", + "mask_path": "../../mask/hdr_left_03113.png" + }, + { + "file_path": "../../rgb/hdr_left_03115.png", + "transform_matrix": [ + [ + -0.8288593292236328, + 0.04023083671927452, + -0.55800861120224, + -49.1103630065918 + ], + [ + 0.5566027760505676, + -0.04132341593503952, + -0.8297503590583801, + -14.422989845275879 + ], + [ + -0.05644037202000618, + -0.998335599899292, + 0.011858709156513214, + -21.881458282470703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3115, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639110_942267417", + "mask_path": "../../mask/hdr_left_03115.png" + }, + { + "file_path": "../../rgb/hdr_left_03116.png", + "transform_matrix": [ + [ + -0.8251067996025085, + 0.04347110167145729, + -0.5633018612861633, + -49.18170928955078 + ], + [ + 0.5614975690841675, + -0.04738340899348259, + -0.8261206150054932, + -14.399654388427734 + ], + [ + -0.06260354071855545, + -0.9979304671287537, + 0.014687458984553814, + -21.887516021728516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3116, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_42266845", + "mask_path": "../../mask/hdr_left_03116.png" + }, + { + "file_path": "../../rgb/hdr_left_03117.png", + "transform_matrix": [ + [ + -0.8179908990859985, + 0.038905296474695206, + -0.5739139318466187, + -49.24052047729492 + ], + [ + 0.5721583962440491, + -0.04795665666460991, + -0.8187397122383118, + -14.371285438537598 + ], + [ + -0.0593763031065464, + -0.9980915188789368, + 0.016968121752142906, + -21.884342193603516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3117, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_142266035", + "mask_path": "../../mask/hdr_left_03117.png" + }, + { + "file_path": "../../rgb/hdr_left_03118.png", + "transform_matrix": [ + [ + -0.8139194250106812, + 0.04045775532722473, + -0.5795673131942749, + -49.32164764404297 + ], + [ + 0.5781795382499695, + -0.04138278216123581, + -0.8148593902587891, + -14.336461067199707 + ], + [ + -0.05695148557424545, + -0.9983239769935608, + 0.010290403850376606, + -21.8863468170166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3118, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_242265939", + "mask_path": "../../mask/hdr_left_03118.png" + }, + { + "file_path": "../../rgb/hdr_left_03119.png", + "transform_matrix": [ + [ + -0.8146548867225647, + 0.04512504115700722, + -0.5781877636909485, + -49.40302276611328 + ], + [ + 0.5772440433502197, + -0.033032167702913284, + -0.8159033060073853, + -14.309510231018066 + ], + [ + -0.05591645836830139, + -0.9984350800514221, + 0.0008616616833023727, + -21.90780258178711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3119, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_342267274", + "mask_path": "../../mask/hdr_left_03119.png" + }, + { + "file_path": "../../rgb/hdr_left_03120.png", + "transform_matrix": [ + [ + -0.8169808387756348, + 0.04349296912550926, + -0.575022280216217, + -49.46739196777344 + ], + [ + 0.5742588639259338, + -0.029629388824105263, + -0.8181374073028564, + -14.282325744628906 + ], + [ + -0.052620779722929, + -0.9986143112182617, + -0.0007695798412896693, + -21.915550231933594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3120, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_442268133", + "mask_path": "../../mask/hdr_left_03120.png" + }, + { + "file_path": "../../rgb/hdr_left_03121.png", + "transform_matrix": [ + [ + -0.8134810924530029, + 0.05204835161566734, + -0.579257607460022, + -49.535858154296875 + ], + [ + 0.5779898762702942, + -0.03831861540675163, + -0.8151437640190125, + -14.252059936523438 + ], + [ + -0.06462323665618896, + -0.9979092478752136, + 0.0010880606714636087, + -21.927200317382812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3121, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_542266845", + "mask_path": "../../mask/hdr_left_03121.png" + }, + { + "file_path": "../../rgb/hdr_left_03122.png", + "transform_matrix": [ + [ + -0.8049981594085693, + 0.06965358555316925, + -0.589174211025238, + -49.60110092163086 + ], + [ + 0.5872846245765686, + -0.047236599028110504, + -0.8080008625984192, + -14.218667984008789 + ], + [ + -0.08411074429750443, + -0.996452271938324, + -0.002881101332604885, + -21.950843811035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3122, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_642268657", + "mask_path": "../../mask/hdr_left_03122.png" + }, + { + "file_path": "../../rgb/hdr_left_03123.png", + "transform_matrix": [ + [ + -0.7967085242271423, + 0.07596854120492935, + -0.5995700359344482, + -49.65361404418945 + ], + [ + 0.5973836183547974, + -0.05135227367281914, + -0.8003097772598267, + -14.186513900756836 + ], + [ + -0.09158764779567719, + -0.9957870841026306, + -0.004469564184546471, + -21.969738006591797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3123, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_742267608", + "mask_path": "../../mask/hdr_left_03123.png" + }, + { + "file_path": "../../rgb/hdr_left_03124.png", + "transform_matrix": [ + [ + -0.7900040745735168, + 0.08305428177118301, + -0.6074498891830444, + -49.725563049316406 + ], + [ + 0.6057649850845337, + -0.04707759618759155, + -0.7942495346069336, + -14.145770072937012 + ], + [ + -0.09456311166286469, + -0.995432436466217, + -0.013119874522089958, + -21.978551864624023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3124, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_842268228", + "mask_path": "../../mask/hdr_left_03124.png" + }, + { + "file_path": "../../rgb/hdr_left_03125.png", + "transform_matrix": [ + [ + -0.7864425778388977, + 0.09572964906692505, + -0.6101998686790466, + -49.81119918823242 + ], + [ + 0.6093469858169556, + -0.04132227227091789, + -0.7918261289596558, + -14.107239723205566 + ], + [ + -0.1010160818696022, + -0.9945494532585144, + -0.025834979489445686, + -22.003124237060547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3125, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_942267179", + "mask_path": "../../mask/hdr_left_03125.png" + }, + { + "file_path": "../../rgb/hdr_left_03126.png", + "transform_matrix": [ + [ + -0.7851247191429138, + 0.103513702750206, + -0.6106258630752563, + -49.87614059448242 + ], + [ + 0.6104776263237, + -0.036825601011514664, + -0.7911768555641174, + -14.074753761291504 + ], + [ + -0.10438431054353714, + -0.9939461350440979, + -0.03428011015057564, + -22.023954391479492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3126, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_42266845", + "mask_path": "../../mask/hdr_left_03126.png" + }, + { + "file_path": "../../rgb/hdr_left_03127.png", + "transform_matrix": [ + [ + -0.7850937247276306, + 0.10279949754476547, + -0.6107863783836365, + -49.94779968261719 + ], + [ + 0.6111573576927185, + -0.031546805053949356, + -0.7908802032470703, + -14.025344848632812 + ], + [ + -0.100570447742939, + -0.9942017793655396, + -0.03805946931242943, + -22.037282943725586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3127, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_142266511", + "mask_path": "../../mask/hdr_left_03127.png" + }, + { + "file_path": "../../rgb/hdr_left_03128.png", + "transform_matrix": [ + [ + -0.7805778980255127, + 0.1086786761879921, + -0.6155379414558411, + -50.03877258300781 + ], + [ + 0.6144686341285706, + -0.0470832884311676, + -0.7875350713729858, + -13.96802043914795 + ], + [ + -0.11456980556249619, + -0.9929613471031189, + -0.03002745658159256, + -22.044639587402344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3128, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_242266654", + "mask_path": "../../mask/hdr_left_03128.png" + }, + { + "file_path": "../../rgb/hdr_left_03129.png", + "transform_matrix": [ + [ + -0.7736347317695618, + 0.11261299252510071, + -0.6235443353652954, + -50.102046966552734 + ], + [ + 0.6218187212944031, + -0.054203711450099945, + -0.7812831401824951, + -13.92602825164795 + ], + [ + -0.12178104370832443, + -0.9921594262123108, + -0.02809099294245243, + -22.046585083007812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3129, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_342267513", + "mask_path": "../../mask/hdr_left_03129.png" + }, + { + "file_path": "../../rgb/hdr_left_03130.png", + "transform_matrix": [ + [ + -0.7665335536003113, + 0.10879238694906235, + -0.6329222321510315, + -50.1496467590332 + ], + [ + 0.631074845790863, + -0.05508038401603699, + -0.7737639546394348, + -13.899429321289062 + ], + [ + -0.11904121190309525, + -0.9925373792648315, + -0.02643517032265663, + -22.050418853759766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3130, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_442267179", + "mask_path": "../../mask/hdr_left_03130.png" + }, + { + "file_path": "../../rgb/hdr_left_03131.png", + "transform_matrix": [ + [ + -0.7621155381202698, + 0.08984825015068054, + -0.6411764621734619, + -50.21083068847656 + ], + [ + 0.6389517188072205, + -0.05546986311674118, + -0.7672442197799683, + -13.871454238891602 + ], + [ + -0.10450151562690735, + -0.9944096207618713, + -0.015134250745177269, + -22.057775497436523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3131, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_542266845", + "mask_path": "../../mask/hdr_left_03131.png" + }, + { + "file_path": "../../rgb/hdr_left_03132.png", + "transform_matrix": [ + [ + -0.7659580111503601, + 0.08164113014936447, + -0.6376855373382568, + -50.29069900512695 + ], + [ + 0.6357280611991882, + -0.051463525742292404, + -0.770195722579956, + -13.844659805297852 + ], + [ + -0.09569718688726425, + -0.9953322410583496, + -0.012482651509344578, + -22.0601806640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3132, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_642265319", + "mask_path": "../../mask/hdr_left_03132.png" + }, + { + "file_path": "../../rgb/hdr_left_03133.png", + "transform_matrix": [ + [ + -0.7732476592063904, + 0.07830676436424255, + -0.6292504072189331, + -50.342857360839844 + ], + [ + 0.6275030970573425, + -0.04831851273775101, + -0.7771133780479431, + -13.83243179321289 + ], + [ + -0.09125767648220062, + -0.9957576990127563, + -0.011775554157793522, + -22.068771362304688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3133, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_742267370", + "mask_path": "../../mask/hdr_left_03133.png" + }, + { + "file_path": "../../rgb/hdr_left_03135.png", + "transform_matrix": [ + [ + -0.7665528059005737, + 0.06598440557718277, + -0.6387823224067688, + -50.4344367980957 + ], + [ + 0.6364449858665466, + -0.05459442362189293, + -0.7693875432014465, + -13.792769432067871 + ], + [ + -0.0856415256857872, + -0.9963260293006897, + -0.00014593778178095818, + -22.08732795715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3135, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_942267179", + "mask_path": "../../mask/hdr_left_03135.png" + }, + { + "file_path": "../../rgb/hdr_left_03136.png", + "transform_matrix": [ + [ + -0.7466990947723389, + 0.06341761350631714, + -0.6621317863464355, + -50.47576141357422 + ], + [ + 0.6603412628173828, + -0.04895089566707611, + -0.74936842918396, + -13.755663871765137 + ], + [ + -0.07993509620428085, + -0.9967858791351318, + -0.005325672682374716, + -22.07780647277832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3136, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639113_42263031", + "mask_path": "../../mask/hdr_left_03136.png" + }, + { + "file_path": "../../rgb/hdr_left_03139.png", + "transform_matrix": [ + [ + -0.6627290844917297, + 0.06121591106057167, + -0.7463529109954834, + -50.57714080810547 + ], + [ + 0.7459510564804077, + -0.03378407284617424, + -0.6651433706283569, + -13.655587196350098 + ], + [ + -0.06593219190835953, + -0.9975526928901672, + -0.0232743788510561, + -22.076534271240234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3139, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639113_342267274", + "mask_path": "../../mask/hdr_left_03139.png" + }, + { + "file_path": "../../rgb/hdr_left_03140.png", + "transform_matrix": [ + [ + -0.6401271820068359, + 0.06047382205724716, + -0.7658851742744446, + -50.614498138427734 + ], + [ + 0.7658275961875916, + -0.02918366529047489, + -0.6423833966255188, + -13.628983497619629 + ], + [ + -0.06119871139526367, + -0.9977430701255798, + -0.027631260454654694, + -22.09040641784668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3140, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639113_442268610", + "mask_path": "../../mask/hdr_left_03140.png" + }, + { + "file_path": "../../rgb/hdr_left_03142.png", + "transform_matrix": [ + [ + -0.592553973197937, + 0.07044190913438797, + -0.8024447560310364, + -50.65554428100586 + ], + [ + 0.8027783632278442, + -0.030637353658676147, + -0.5954898595809937, + -13.576004028320312 + ], + [ + -0.06653221696615219, + -0.9970453381538391, + -0.03839494660496712, + -22.1138916015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3142, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639113_642269134", + "mask_path": "../../mask/hdr_left_03142.png" + }, + { + "file_path": "../../rgb/hdr_left_03144.png", + "transform_matrix": [ + [ + -0.5440881848335266, + 0.07985919713973999, + -0.8352188467979431, + -50.71622085571289 + ], + [ + 0.8341213464736938, + -0.05601644888520241, + -0.5487292408943176, + -13.519723892211914 + ], + [ + -0.09060705453157425, + -0.995231032371521, + -0.03613436594605446, + -22.135812759399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3144, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639113_842268466", + "mask_path": "../../mask/hdr_left_03144.png" + }, + { + "file_path": "../../rgb/hdr_left_03146.png", + "transform_matrix": [ + [ + -0.5011920928955078, + 0.09291144460439682, + -0.8603336215019226, + -50.7712516784668 + ], + [ + 0.8592970371246338, + -0.06381628662347794, + -0.5074801445007324, + -13.442313194274902 + ], + [ + -0.10205399245023727, + -0.9936271905899048, + -0.04785430431365967, + -22.165966033935547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3146, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_42268276", + "mask_path": "../../mask/hdr_left_03146.png" + }, + { + "file_path": "../../rgb/hdr_left_03147.png", + "transform_matrix": [ + [ + -0.49511268734931946, + 0.09955208748579025, + -0.8631064891815186, + -50.81242370605469 + ], + [ + 0.8620910048484802, + -0.06718794256448746, + -0.5022796392440796, + -13.407096862792969 + ], + [ + -0.10799332708120346, + -0.9927614331245422, + -0.05255735665559769, + -22.174280166625977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3147, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_142268180", + "mask_path": "../../mask/hdr_left_03147.png" + }, + { + "file_path": "../../rgb/hdr_left_03149.png", + "transform_matrix": [ + [ + -0.4982973039150238, + 0.10910634696483612, + -0.8601137399673462, + -50.859832763671875 + ], + [ + 0.8585496544837952, + -0.07612496614456177, + -0.5070478320121765, + -13.338953971862793 + ], + [ + -0.12079823762178421, + -0.9911109209060669, + -0.055740341544151306, + -22.211458206176758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3149, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_342268466", + "mask_path": "../../mask/hdr_left_03149.png" + }, + { + "file_path": "../../rgb/hdr_left_03150.png", + "transform_matrix": [ + [ + -0.49344998598098755, + 0.11500462889671326, + -0.8621374368667603, + -50.88784408569336 + ], + [ + 0.8560557961463928, + -0.11113670468330383, + -0.504794180393219, + -13.303176879882812 + ], + [ + -0.15386876463890076, + -0.9871285557746887, + -0.04360996559262276, + -22.241628646850586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3150, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_442270040", + "mask_path": "../../mask/hdr_left_03150.png" + }, + { + "file_path": "../../rgb/hdr_left_03152.png", + "transform_matrix": [ + [ + -0.4706278145313263, + 0.137131929397583, + -0.8716101050376892, + -50.91432189941406 + ], + [ + 0.8604047298431396, + -0.14753173291683197, + -0.4877888858318329, + -13.260483741760254 + ], + [ + -0.1954815685749054, + -0.9795045852661133, + -0.048556409776210785, + -22.267459869384766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3152, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_642267704", + "mask_path": "../../mask/hdr_left_03152.png" + }, + { + "file_path": "../../rgb/hdr_left_03154.png", + "transform_matrix": [ + [ + -0.46595460176467896, + 0.15351860225200653, + -0.8713887333869934, + -50.98417663574219 + ], + [ + 0.8580325245857239, + -0.16204571723937988, + -0.48736143112182617, + -13.19841480255127 + ], + [ + -0.21602384746074677, + -0.974768340587616, + -0.05621801316738129, + -22.3029842376709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3154, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_842268466", + "mask_path": "../../mask/hdr_left_03154.png" + }, + { + "file_path": "../../rgb/hdr_left_03157.png", + "transform_matrix": [ + [ + -0.4577915072441101, + 0.19368214905261993, + -0.867706298828125, + -51.05710983276367 + ], + [ + 0.852489709854126, + -0.18141110241413116, + -0.49025633931159973, + -13.115859985351562 + ], + [ + -0.25236546993255615, + -0.9641458988189697, + -0.08206357061862946, + -22.372182846069336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3157, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_142267227", + "mask_path": "../../mask/hdr_left_03157.png" + }, + { + "file_path": "../../rgb/hdr_left_03158.png", + "transform_matrix": [ + [ + -0.4573379158973694, + 0.19649554789066315, + -0.8673129081726074, + -51.100093841552734 + ], + [ + 0.8500959277153015, + -0.18976104259490967, + -0.4912511110305786, + -13.05914306640625 + ], + [ + -0.2611108422279358, + -0.961966872215271, + -0.08025512844324112, + -22.41356086730957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3158, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_242268323", + "mask_path": "../../mask/hdr_left_03158.png" + }, + { + "file_path": "../../rgb/hdr_left_03159.png", + "transform_matrix": [ + [ + -0.4492034912109375, + 0.20326630771160126, + -0.8699994683265686, + -51.13209533691406 + ], + [ + 0.8518632054328918, + -0.19611941277980804, + -0.48566052317619324, + -13.019011497497559 + ], + [ + -0.26934221386909485, + -0.9592809677124023, + -0.0850575640797615, + -22.43238639831543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3159, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_342268228", + "mask_path": "../../mask/hdr_left_03159.png" + }, + { + "file_path": "../../rgb/hdr_left_03161.png", + "transform_matrix": [ + [ + -0.4348607659339905, + 0.21172642707824707, + -0.8752530813217163, + -51.214744567871094 + ], + [ + 0.8587243556976318, + -0.19510018825531006, + -0.47384411096572876, + -12.915910720825195 + ], + [ + -0.2710873484611511, + -0.9576574563980103, + -0.0969732329249382, + -22.50557518005371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3161, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_542267322", + "mask_path": "../../mask/hdr_left_03161.png" + }, + { + "file_path": "../../rgb/hdr_left_03162.png", + "transform_matrix": [ + [ + -0.4223495423793793, + 0.252902090549469, + -0.870437502861023, + -51.27637481689453 + ], + [ + 0.8513477444648743, + -0.2189822942018509, + -0.47671133279800415, + -12.854501724243164 + ], + [ + -0.31117165088653564, + -0.942383885383606, + -0.12282057106494904, + -22.55323028564453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3162, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_642267942", + "mask_path": "../../mask/hdr_left_03162.png" + }, + { + "file_path": "../../rgb/hdr_left_03165.png", + "transform_matrix": [ + [ + -0.40585529804229736, + 0.2797393202781677, + -0.8700732588768005, + -51.36412048339844 + ], + [ + 0.8345393538475037, + -0.2746795415878296, + -0.4775930643081665, + -12.71993350982666 + ], + [ + -0.37259283661842346, + -0.9199441075325012, + -0.12197334319353104, + -22.649642944335938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3165, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_942267179", + "mask_path": "../../mask/hdr_left_03165.png" + }, + { + "file_path": "../../rgb/hdr_left_03166.png", + "transform_matrix": [ + [ + -0.3955940306186676, + 0.2764068841934204, + -0.8758450150489807, + -51.399757385253906 + ], + [ + 0.8315205574035645, + -0.29713302850723267, + -0.4693458378314972, + -12.669229507446289 + ], + [ + -0.3899729251861572, + -0.9139537215232849, + -0.11229395121335983, + -22.691301345825195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3166, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_42267084", + "mask_path": "../../mask/hdr_left_03166.png" + }, + { + "file_path": "../../rgb/hdr_left_03167.png", + "transform_matrix": [ + [ + -0.3867591619491577, + 0.2751268446445465, + -0.880183219909668, + -51.421226501464844 + ], + [ + 0.8312982320785522, + -0.3091568946838379, + -0.46191471815109253, + -12.630667686462402 + ], + [ + -0.39919981360435486, + -0.9103446006774902, + -0.10914317518472672, + -22.725011825561523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3167, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_142267227", + "mask_path": "../../mask/hdr_left_03167.png" + }, + { + "file_path": "../../rgb/hdr_left_03168.png", + "transform_matrix": [ + [ + -0.3782386779785156, + 0.27362197637557983, + -0.8843452334403992, + -51.4635124206543 + ], + [ + 0.8333717584609985, + -0.31526461243629456, + -0.45398205518722534, + -12.586106300354004 + ], + [ + -0.4030221998691559, + -0.9087019562721252, + -0.10878351330757141, + -22.77789306640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3168, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_242267131", + "mask_path": "../../mask/hdr_left_03168.png" + }, + { + "file_path": "../../rgb/hdr_left_03169.png", + "transform_matrix": [ + [ + -0.37268632650375366, + 0.2608000636100769, + -0.8905549049377441, + -51.54041290283203 + ], + [ + 0.8407047390937805, + -0.3113774359226227, + -0.44301196932792664, + -12.497923851013184 + ], + [ + -0.39283624291419983, + -0.9137983918190002, + -0.1032097190618515, + -22.82344627380371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3169, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_342268228", + "mask_path": "../../mask/hdr_left_03169.png" + }, + { + "file_path": "../../rgb/hdr_left_03170.png", + "transform_matrix": [ + [ + -0.3729155957698822, + 0.24799545109272003, + -0.8941097855567932, + -51.597232818603516 + ], + [ + 0.8446480631828308, + -0.3081296682357788, + -0.43775075674057007, + -12.4269437789917 + ], + [ + -0.38406187295913696, + -0.918452262878418, + -0.09456250816583633, + -22.853843688964844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3170, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_442267656", + "mask_path": "../../mask/hdr_left_03170.png" + }, + { + "file_path": "../../rgb/hdr_left_03171.png", + "transform_matrix": [ + [ + -0.3853529989719391, + 0.23234960436820984, + -0.8930377960205078, + -51.64420700073242 + ], + [ + 0.8434717059135437, + -0.30380669236183167, + -0.4430088996887207, + -12.379802703857422 + ], + [ + -0.374243825674057, + -0.9239671230316162, + -0.07890746742486954, + -22.88254165649414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3171, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_542267322", + "mask_path": "../../mask/hdr_left_03171.png" + }, + { + "file_path": "../../rgb/hdr_left_03172.png", + "transform_matrix": [ + [ + -0.4084984064102173, + 0.21909213066101074, + -0.8860743045806885, + -51.69464111328125 + ], + [ + 0.8374559283256531, + -0.29614555835723877, + -0.45930972695350647, + -12.326826095581055 + ], + [ + -0.3630380928516388, + -0.9296754598617554, + -0.06250501424074173, + -22.911846160888672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3172, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_642267704", + "mask_path": "../../mask/hdr_left_03172.png" + }, + { + "file_path": "../../rgb/hdr_left_03173.png", + "transform_matrix": [ + [ + -0.43413424491882324, + 0.22179770469665527, + -0.8731169700622559, + -51.74498748779297 + ], + [ + 0.8274747133255005, + -0.2849521338939667, + -0.4838261008262634, + -12.266030311584473 + ], + [ + -0.35610803961753845, + -0.9325277805328369, + -0.05982453376054764, + -22.940799713134766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3173, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_742267847", + "mask_path": "../../mask/hdr_left_03173.png" + }, + { + "file_path": "../../rgb/hdr_left_03174.png", + "transform_matrix": [ + [ + -0.4596223533153534, + 0.22814461588859558, + -0.8583106994628906, + -51.787960052490234 + ], + [ + 0.8138502836227417, + -0.2786779999732971, + -0.5098885297775269, + -12.227200508117676 + ], + [ + -0.355520635843277, + -0.9328926801681519, + -0.057588912546634674, + -22.954858779907227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3174, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_842269420", + "mask_path": "../../mask/hdr_left_03174.png" + }, + { + "file_path": "../../rgb/hdr_left_03176.png", + "transform_matrix": [ + [ + -0.517702579498291, + 0.22467049956321716, + -0.825534462928772, + -51.83744812011719 + ], + [ + 0.7783482074737549, + -0.2769019603729248, + -0.563470721244812, + -12.193578720092773 + ], + [ + -0.3551873564720154, + -0.9342636466026306, + -0.031519003212451935, + -22.98211097717285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3176, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_42267322", + "mask_path": "../../mask/hdr_left_03176.png" + }, + { + "file_path": "../../rgb/hdr_left_03178.png", + "transform_matrix": [ + [ + -0.5465686321258545, + 0.22624115645885468, + -0.8062739372253418, + -51.91333770751953 + ], + [ + 0.7581366300582886, + -0.27522945404052734, + -0.5911663174629211, + -12.126869201660156 + ], + [ + -0.3556564748287201, + -0.9343788027763367, + -0.021089917048811913, + -23.02577018737793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3178, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_242268085", + "mask_path": "../../mask/hdr_left_03178.png" + }, + { + "file_path": "../../rgb/hdr_left_03179.png", + "transform_matrix": [ + [ + -0.5562438368797302, + 0.22904400527477264, + -0.7988314628601074, + -51.97646713256836 + ], + [ + 0.7504805326461792, + -0.2743756175041199, + -0.6012461185455322, + -12.084247589111328 + ], + [ + -0.3568916916847229, + -0.9339469075202942, + -0.01927332393825054, + -23.0801944732666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3179, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_342267274", + "mask_path": "../../mask/hdr_left_03179.png" + }, + { + "file_path": "../../rgb/hdr_left_03180.png", + "transform_matrix": [ + [ + -0.5540869235992432, + 0.22922392189502716, + -0.8002774715423584, + -52.02178192138672 + ], + [ + 0.7512778639793396, + -0.2763862609863281, + -0.599326491355896, + -12.045663833618164 + ], + [ + -0.35856565833091736, + -0.9333097338676453, + -0.019068822264671326, + -23.124225616455078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3180, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_442268371", + "mask_path": "../../mask/hdr_left_03180.png" + }, + { + "file_path": "../../rgb/hdr_left_03181.png", + "transform_matrix": [ + [ + -0.552091658115387, + 0.22689341008663177, + -0.8023179769515991, + -52.055519104003906 + ], + [ + 0.7528119683265686, + -0.27800771594047546, + -0.5966455340385437, + -12.022961616516113 + ], + [ + -0.358425498008728, + -0.933397650718689, + -0.017322296276688576, + -23.1591796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3181, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_542267560", + "mask_path": "../../mask/hdr_left_03181.png" + }, + { + "file_path": "../../rgb/hdr_left_03182.png", + "transform_matrix": [ + [ + -0.5521091818809509, + 0.2193569839000702, + -0.8043991327285767, + -52.1018180847168 + ], + [ + 0.7527565360069275, + -0.2837030291557312, + -0.5940287113189697, + -11.986967086791992 + ], + [ + -0.35851478576660156, + -0.9334855079650879, + -0.008487327955663204, + -23.190893173217773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3182, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_642267465", + "mask_path": "../../mask/hdr_left_03182.png" + }, + { + "file_path": "../../rgb/hdr_left_03183.png", + "transform_matrix": [ + [ + -0.5524541735649109, + 0.2152724266052246, + -0.8052651882171631, + -52.15913391113281 + ], + [ + 0.7533891797065735, + -0.28439846634864807, + -0.5928930640220642, + -11.928750991821289 + ], + [ + -0.3566496670246124, + -0.9342244863510132, + -0.005066798534244299, + -23.223342895507812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3183, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_742267370", + "mask_path": "../../mask/hdr_left_03183.png" + }, + { + "file_path": "../../rgb/hdr_left_03184.png", + "transform_matrix": [ + [ + -0.5424001216888428, + 0.2169978767633438, + -0.8116120100021362, + -52.22831344604492 + ], + [ + 0.7476770877838135, + -0.3158728778362274, + -0.5841260552406311, + -11.851284980773926 + ], + [ + -0.3831203281879425, + -0.923653781414032, + 0.009085158817470074, + -23.262468338012695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3184, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_842268466", + "mask_path": "../../mask/hdr_left_03184.png" + }, + { + "file_path": "../../rgb/hdr_left_03187.png", + "transform_matrix": [ + [ + -0.5171729326248169, + 0.23509597778320312, + -0.822959303855896, + -52.361270904541016 + ], + [ + 0.7544043660163879, + -0.32892030477523804, + -0.5680541396141052, + -11.740131378173828 + ], + [ + -0.40423521399497986, + -0.91462641954422, + -0.007248749956488609, + -23.32432746887207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3187, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_142268419", + "mask_path": "../../mask/hdr_left_03187.png" + }, + { + "file_path": "../../rgb/hdr_left_03188.png", + "transform_matrix": [ + [ + -0.5168038010597229, + 0.22318950295448303, + -0.826498806476593, + -52.439266204833984 + ], + [ + 0.7599403858184814, + -0.32495182752609253, + -0.5629358887672424, + -11.677047729492188 + ], + [ + -0.3942137062549591, + -0.9190173149108887, + -0.0016743679298087955, + -23.351972579956055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3188, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_242268085", + "mask_path": "../../mask/hdr_left_03188.png" + }, + { + "file_path": "../../rgb/hdr_left_03189.png", + "transform_matrix": [ + [ + -0.519616961479187, + 0.21478357911109924, + -0.8269621133804321, + -52.488338470458984 + ], + [ + 0.7589803338050842, + -0.3284411132335663, + -0.5622057914733887, + -11.646649360656738 + ], + [ + -0.3923608958721161, + -0.9197795987129211, + 0.007647095248103142, + -23.38646125793457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3189, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_342266559", + "mask_path": "../../mask/hdr_left_03189.png" + }, + { + "file_path": "../../rgb/hdr_left_03190.png", + "transform_matrix": [ + [ + -0.5275386571884155, + 0.20929822325706482, + -0.8233451247215271, + -52.527587890625 + ], + [ + 0.7530283331871033, + -0.3334367871284485, + -0.5672461986541748, + -11.620386123657227 + ], + [ + -0.39325714111328125, + -0.91924649477005, + 0.018293309956789017, + -23.420856475830078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3190, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_442268133", + "mask_path": "../../mask/hdr_left_03190.png" + }, + { + "file_path": "../../rgb/hdr_left_03191.png", + "transform_matrix": [ + [ + -0.5410894751548767, + 0.2168380320072174, + -0.8125290870666504, + -52.57637023925781 + ], + [ + 0.7496535778045654, + -0.3134850859642029, + -0.5828779339790344, + -11.573344230651855 + ], + [ + -0.38110578060150146, + -0.9245043992996216, + 0.007070078048855066, + -23.45999526977539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3191, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_542268991", + "mask_path": "../../mask/hdr_left_03191.png" + }, + { + "file_path": "../../rgb/hdr_left_03192.png", + "transform_matrix": [ + [ + -0.561170220375061, + 0.22387850284576416, + -0.7968477606773376, + -52.6312141418457 + ], + [ + 0.7407172918319702, + -0.29377734661102295, + -0.604179322719574, + -11.517435073852539 + ], + [ + -0.36935853958129883, + -0.9292864799499512, + -0.0009715783526189625, + -23.49352264404297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3192, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_642267942", + "mask_path": "../../mask/hdr_left_03192.png" + }, + { + "file_path": "../../rgb/hdr_left_03195.png", + "transform_matrix": [ + [ + -0.61735999584198, + 0.22770003974437714, + -0.7530067563056946, + -52.76886749267578 + ], + [ + 0.7070325613021851, + -0.25908559560775757, + -0.6580119729042053, + -11.426006317138672 + ], + [ + -0.3449225425720215, + -0.9386305809020996, + -0.00104224041569978, + -23.552505493164062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3195, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_942267417", + "mask_path": "../../mask/hdr_left_03195.png" + }, + { + "file_path": "../../rgb/hdr_left_03196.png", + "transform_matrix": [ + [ + -0.6278412938117981, + 0.24608764052391052, + -0.7384145259857178, + -52.8383674621582 + ], + [ + 0.6943511962890625, + -0.25159335136413574, + -0.6742234230041504, + -11.385990142822266 + ], + [ + -0.3516981899738312, + -0.9360244870185852, + -0.012910546734929085, + -23.5767765045166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3196, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_42268753", + "mask_path": "../../mask/hdr_left_03196.png" + }, + { + "file_path": "../../rgb/hdr_left_03199.png", + "transform_matrix": [ + [ + -0.6319863796234131, + 0.25728094577789307, + -0.7310265302658081, + -52.95808792114258 + ], + [ + 0.6847801804542542, + -0.2562772333621979, + -0.6822009086608887, + -11.310986518859863 + ], + [ + -0.3628627061843872, + -0.9317342638969421, + -0.014217158779501915, + -23.65422821044922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3199, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_342266559", + "mask_path": "../../mask/hdr_left_03199.png" + }, + { + "file_path": "../../rgb/hdr_left_03200.png", + "transform_matrix": [ + [ + -0.6288328766822815, + 0.2664956748485565, + -0.7304444909095764, + -53.01278305053711 + ], + [ + 0.686341404914856, + -0.25121036171913147, + -0.6825165152549744, + -11.257616996765137 + ], + [ + -0.36538293957710266, + -0.9305232763290405, + -0.02493768371641636, + -23.69093132019043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3200, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_442266941", + "mask_path": "../../mask/hdr_left_03200.png" + }, + { + "file_path": "../../rgb/hdr_left_03201.png", + "transform_matrix": [ + [ + -0.6235284209251404, + 0.2743900716304779, + -0.7320671677589417, + -53.04939270019531 + ], + [ + 0.6893435716629028, + -0.24876919388771057, + -0.6803816556930542, + -11.215350151062012 + ], + [ + -0.36880573630332947, + -0.9288831949234009, + -0.0340343713760376, + -23.716407775878906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3201, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_542267322", + "mask_path": "../../mask/hdr_left_03201.png" + }, + { + "file_path": "../../rgb/hdr_left_03203.png", + "transform_matrix": [ + [ + -0.6196044087409973, + 0.27473577857017517, + -0.7352623343467712, + -53.144264221191406 + ], + [ + 0.6967481970787048, + -0.23882994055747986, + -0.6763890981674194, + -11.12878131866455 + ], + [ + -0.36143091320991516, + -0.9313864707946777, + -0.04344155266880989, + -23.76899528503418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3203, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_742268323", + "mask_path": "../../mask/hdr_left_03203.png" + }, + { + "file_path": "../../rgb/hdr_left_03204.png", + "transform_matrix": [ + [ + -0.6199048161506653, + 0.27988171577453613, + -0.7330649495124817, + -53.229736328125 + ], + [ + 0.6944270133972168, + -0.23931540548801422, + -0.6786009669303894, + -11.068235397338867 + ], + [ + -0.3653617203235626, + -0.9297281503677368, + -0.04600464552640915, + -23.81992530822754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3204, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_842267990", + "mask_path": "../../mask/hdr_left_03204.png" + }, + { + "file_path": "../../rgb/hdr_left_03205.png", + "transform_matrix": [ + [ + -0.6176316738128662, + 0.2838626503944397, + -0.7334528565406799, + -53.29536819458008 + ], + [ + 0.693219006061554, + -0.24397693574428558, + -0.6781758666038513, + -11.025724411010742 + ], + [ + -0.3714543581008911, + -0.9273064732551575, + -0.04609111696481705, + -23.872196197509766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3205, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_942270040", + "mask_path": "../../mask/hdr_left_03205.png" + }, + { + "file_path": "../../rgb/hdr_left_03206.png", + "transform_matrix": [ + [ + -0.6180217862129211, + 0.27832192182540894, + -0.7352454662322998, + -53.34111785888672 + ], + [ + 0.6932903528213501, + -0.24801018834114075, + -0.6766382455825806, + -10.99846363067627 + ], + [ + -0.3706716299057007, + -0.9279158711433411, + -0.039682213217020035, + -23.907012939453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3206, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_42268276", + "mask_path": "../../mask/hdr_left_03206.png" + }, + { + "file_path": "../../rgb/hdr_left_03207.png", + "transform_matrix": [ + [ + -0.6198509931564331, + 0.26912927627563477, + -0.7371255159378052, + -53.39731216430664 + ], + [ + 0.6945541501045227, + -0.24901729822158813, + -0.6749703884124756, + -10.958770751953125 + ], + [ + -0.36521127820014954, + -0.9303547143936157, + -0.032571226358413696, + -23.938488006591797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3207, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_142267942", + "mask_path": "../../mask/hdr_left_03207.png" + }, + { + "file_path": "../../rgb/hdr_left_03208.png", + "transform_matrix": [ + [ + -0.6184751987457275, + 0.26575717329978943, + -0.739500880241394, + -53.46473693847656 + ], + [ + 0.6964783072471619, + -0.25038692355155945, + -0.6724762916564941, + -10.891658782958984 + ], + [ + -0.3638766407966614, + -0.9309563040733337, + -0.03023599460721016, + -23.97467041015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3208, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_242268085", + "mask_path": "../../mask/hdr_left_03208.png" + }, + { + "file_path": "../../rgb/hdr_left_03209.png", + "transform_matrix": [ + [ + -0.6125172972679138, + 0.26734694838523865, + -0.7438737154006958, + -53.52687454223633 + ], + [ + 0.7002458572387695, + -0.25306302309036255, + -0.6675438284873962, + -10.830034255981445 + ], + [ + -0.3667127192020416, + -0.9297767281532288, + -0.032203108072280884, + -23.991029739379883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3209, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_342268943", + "mask_path": "../../mask/hdr_left_03209.png" + }, + { + "file_path": "../../rgb/hdr_left_03210.png", + "transform_matrix": [ + [ + -0.6065532565116882, + 0.26875847578048706, + -0.748239278793335, + -53.56364059448242 + ], + [ + 0.701827347278595, + -0.2611754238605499, + -0.6627410054206848, + -10.801206588745117 + ], + [ + -0.37353894114494324, + -0.9271226525306702, + -0.030205247923731804, + -24.009674072265625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3210, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_442267656", + "mask_path": "../../mask/hdr_left_03210.png" + }, + { + "file_path": "../../rgb/hdr_left_03212.png", + "transform_matrix": [ + [ + -0.5949844717979431, + 0.26918014883995056, + -0.7573212385177612, + -53.6883544921875 + ], + [ + 0.7113416194915771, + -0.2622671127319336, + -0.6520804762840271, + -10.708189010620117 + ], + [ + -0.3741476237773895, + -0.926692008972168, + -0.03543415665626526, + -24.07221031188965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3212, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_642267704", + "mask_path": "../../mask/hdr_left_03212.png" + }, + { + "file_path": "../../rgb/hdr_left_03213.png", + "transform_matrix": [ + [ + -0.5928438901901245, + 0.261404424905777, + -0.761711061000824, + -53.75242233276367 + ], + [ + 0.715889573097229, + -0.26213157176971436, + -0.6471391916275024, + -10.663914680480957 + ], + [ + -0.3688335418701172, + -0.9289535880088806, + -0.031733591109514236, + -24.099323272705078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3213, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_742267847", + "mask_path": "../../mask/hdr_left_03213.png" + }, + { + "file_path": "../../rgb/hdr_left_03214.png", + "transform_matrix": [ + [ + -0.5927823781967163, + 0.2509317398071289, + -0.7652726769447327, + -53.800777435302734 + ], + [ + 0.7193889617919922, + -0.26220428943634033, + -0.643217146396637, + -10.63581657409668 + ], + [ + -0.36206135153770447, + -0.9318166375160217, + -0.02508741430938244, + -24.12778091430664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3214, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_842269182", + "mask_path": "../../mask/hdr_left_03214.png" + }, + { + "file_path": "../../rgb/hdr_left_03215.png", + "transform_matrix": [ + [ + -0.590546190738678, + 0.24481965601444244, + -0.7689723968505859, + -53.85519027709961 + ], + [ + 0.7215339541435242, + -0.26660090684890747, + -0.6389934420585632, + -10.589801788330078 + ], + [ + -0.3614468574523926, + -0.9321949481964111, + -0.019205572083592415, + -24.159988403320312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3215, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_942267179", + "mask_path": "../../mask/hdr_left_03215.png" + }, + { + "file_path": "../../rgb/hdr_left_03216.png", + "transform_matrix": [ + [ + -0.5857874155044556, + 0.25055426359176636, + -0.7707630395889282, + -53.91375732421875 + ], + [ + 0.7223896980285645, + -0.26973554491996765, + -0.6367070078849792, + -10.543220520019531 + ], + [ + -0.36743178963661194, + -0.9297662973403931, + -0.022990142926573753, + -24.206708908081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3216, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_42268037", + "mask_path": "../../mask/hdr_left_03216.png" + }, + { + "file_path": "../../rgb/hdr_left_03217.png", + "transform_matrix": [ + [ + -0.5802962183952332, + 0.2595566213130951, + -0.7719370126724243, + -53.95655822753906 + ], + [ + 0.7265615463256836, + -0.263210266828537, + -0.6346878409385681, + -10.503527641296387 + ], + [ + -0.36791911721229553, + -0.9291666746139526, + -0.03584393486380577, + -24.22824478149414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3217, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_142267227", + "mask_path": "../../mask/hdr_left_03217.png" + }, + { + "file_path": "../../rgb/hdr_left_03219.png", + "transform_matrix": [ + [ + -0.562663733959198, + 0.26264041662216187, + -0.7838554978370667, + -54.05411148071289 + ], + [ + 0.7479254007339478, + -0.242191344499588, + -0.6180217862129211, + -10.428526878356934 + ], + [ + -0.3521605134010315, + -0.934004008769989, + -0.060163140296936035, + -24.28780174255371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3219, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_342271089", + "mask_path": "../../mask/hdr_left_03219.png" + }, + { + "file_path": "../../rgb/hdr_left_03220.png", + "transform_matrix": [ + [ + -0.5472548604011536, + 0.3028212785720825, + -0.7802636623382568, + -54.13959503173828 + ], + [ + 0.7532027959823608, + -0.22832706570625305, + -0.6168891191482544, + -10.373176574707031 + ], + [ + -0.36496245861053467, + -0.925292432308197, + -0.10313274711370468, + -24.327613830566406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3220, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_442267656", + "mask_path": "../../mask/hdr_left_03220.png" + }, + { + "file_path": "../../rgb/hdr_left_03223.png", + "transform_matrix": [ + [ + -0.5307751297950745, + 0.3252870440483093, + -0.7826021313667297, + -54.25303268432617 + ], + [ + 0.7613837122917175, + -0.2225741446018219, + -0.6088969707489014, + -10.267066955566406 + ], + [ + -0.37225326895713806, + -0.9190480709075928, + -0.12953147292137146, + -24.399660110473633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3223, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_742268085", + "mask_path": "../../mask/hdr_left_03223.png" + }, + { + "file_path": "../../rgb/hdr_left_03224.png", + "transform_matrix": [ + [ + -0.531862199306488, + 0.3185387849807739, + -0.7846372723579407, + -54.30704879760742 + ], + [ + 0.7651981115341187, + -0.21613559126853943, + -0.6064299941062927, + -10.206915855407715 + ], + [ + -0.36275947093963623, + -0.9229401350021362, + -0.12879090011119843, + -24.416837692260742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3224, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_842268228", + "mask_path": "../../mask/hdr_left_03224.png" + }, + { + "file_path": "../../rgb/hdr_left_03225.png", + "transform_matrix": [ + [ + -0.5306599736213684, + 0.3128846287727356, + -0.7877203226089478, + -54.345603942871094 + ], + [ + 0.770473837852478, + -0.20924153923988342, + -0.602152943611145, + -10.161802291870117 + ], + [ + -0.3532281816005707, + -0.9264562726020813, + -0.13003334403038025, + -24.435043334960938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3225, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_942267656", + "mask_path": "../../mask/hdr_left_03225.png" + }, + { + "file_path": "../../rgb/hdr_left_03226.png", + "transform_matrix": [ + [ + -0.5273163318634033, + 0.3074820041656494, + -0.7920808792114258, + -54.38819885253906 + ], + [ + 0.776358425617218, + -0.20444363355636597, + -0.5962133407592773, + -10.120063781738281 + ], + [ + -0.34526076912879944, + -0.9293318390846252, + -0.1309097856283188, + -24.467077255249023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3226, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_42268037", + "mask_path": "../../mask/hdr_left_03226.png" + }, + { + "file_path": "../../rgb/hdr_left_03227.png", + "transform_matrix": [ + [ + -0.5303475260734558, + 0.2929690182209015, + -0.795550525188446, + -54.46101760864258 + ], + [ + 0.7816973924636841, + -0.1942327618598938, + -0.5926405191421509, + -10.05078125 + ], + [ + -0.3281472325325012, + -0.9361852407455444, + -0.1260022521018982, + -24.493417739868164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3227, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_142267227", + "mask_path": "../../mask/hdr_left_03227.png" + }, + { + "file_path": "../../rgb/hdr_left_03228.png", + "transform_matrix": [ + [ + -0.53703373670578, + 0.2744188606739044, + -0.797677218914032, + -54.517581939697266 + ], + [ + 0.7845824956893921, + -0.18487732112407684, + -0.5918197631835938, + -10.004376411437988 + ], + [ + -0.3098789155483246, + -0.9436708688735962, + -0.1160188540816307, + -24.50941276550293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3228, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_242268562", + "mask_path": "../../mask/hdr_left_03228.png" + }, + { + "file_path": "../../rgb/hdr_left_03230.png", + "transform_matrix": [ + [ + -0.5526403188705444, + 0.23600421845912933, + -0.799306333065033, + -54.61266326904297 + ], + [ + 0.7856834530830383, + -0.17239423096179962, + -0.5941227078437805, + -9.92849349975586 + ], + [ + -0.2780112326145172, + -0.9563379287719727, + -0.09015259146690369, + -24.5357666015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3230, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_442267894", + "mask_path": "../../mask/hdr_left_03230.png" + }, + { + "file_path": "../../rgb/hdr_left_03231.png", + "transform_matrix": [ + [ + -0.5631188154220581, + 0.22546999156475067, + -0.7950223684310913, + -54.66954803466797 + ], + [ + 0.7804129123687744, + -0.17128197848796844, + -0.6013468503952026, + -9.871420860290527 + ], + [ + -0.27175864577293396, + -0.9590755105018616, + -0.07950758188962936, + -24.564844131469727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3231, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_542267799", + "mask_path": "../../mask/hdr_left_03231.png" + }, + { + "file_path": "../../rgb/hdr_left_03232.png", + "transform_matrix": [ + [ + -0.5657048225402832, + 0.22241389751434326, + -0.7940465807914734, + -54.71356201171875 + ], + [ + 0.7750037312507629, + -0.18553633987903595, + -0.604107141494751, + -9.838138580322266 + ], + [ + -0.28168630599975586, + -0.9571354985237122, + -0.06741279363632202, + -24.561901092529297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3232, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_642268180", + "mask_path": "../../mask/hdr_left_03232.png" + }, + { + "file_path": "../../rgb/hdr_left_03234.png", + "transform_matrix": [ + [ + -0.5784249901771545, + 0.21208885312080383, + -0.7876819372177124, + -54.77324295043945 + ], + [ + 0.7715145945549011, + -0.17137329280376434, + -0.6126960515975952, + -9.786747932434082 + ], + [ + -0.26493364572525024, + -0.9621068239212036, + -0.06450304388999939, + -24.56256866455078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3234, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_842268466", + "mask_path": "../../mask/hdr_left_03234.png" + }, + { + "file_path": "../../rgb/hdr_left_03235.png", + "transform_matrix": [ + [ + -0.5846514105796814, + 0.20251736044883728, + -0.7856013178825378, + -54.83647155761719 + ], + [ + 0.772676944732666, + -0.1561661809682846, + -0.6152904629707336, + -9.731185913085938 + ], + [ + -0.24729134142398834, + -0.9667465686798096, + -0.06517774611711502, + -24.581119537353516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3235, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_942267417", + "mask_path": "../../mask/hdr_left_03235.png" + }, + { + "file_path": "../../rgb/hdr_left_03236.png", + "transform_matrix": [ + [ + -0.5893173217773438, + 0.19043630361557007, + -0.7851364016532898, + -54.88771057128906 + ], + [ + 0.7742379903793335, + -0.14448368549346924, + -0.6161818504333496, + -9.686651229858398 + ], + [ + -0.23078276216983795, + -0.9710090160369873, + -0.0622963048517704, + -24.596349716186523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3236, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639123_42268753", + "mask_path": "../../mask/hdr_left_03236.png" + }, + { + "file_path": "../../rgb/hdr_left_03238.png", + "transform_matrix": [ + [ + -0.5981367230415344, + 0.16174279153347015, + -0.7849023938179016, + -54.978084564208984 + ], + [ + 0.7747695446014404, + -0.13365042209625244, + -0.6179560422897339, + -9.61435604095459 + ], + [ + -0.20485246181488037, + -0.9777407050132751, + -0.04537214711308479, + -24.628402709960938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3238, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639123_242268562", + "mask_path": "../../mask/hdr_left_03238.png" + }, + { + "file_path": "../../rgb/hdr_left_03239.png", + "transform_matrix": [ + [ + -0.5960288643836975, + 0.15771803259849548, + -0.7873212099075317, + -55.034786224365234 + ], + [ + 0.776789665222168, + -0.1350484937429428, + -0.6151094436645508, + -9.559297561645508 + ], + [ + -0.20334038138389587, + -0.9782059788703918, + -0.042020950466394424, + -24.636262893676758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3239, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639123_342268228", + "mask_path": "../../mask/hdr_left_03239.png" + }, + { + "file_path": "../../rgb/hdr_left_03240.png", + "transform_matrix": [ + [ + -0.5915273427963257, + 0.15370675921440125, + -0.7914983630180359, + -55.08231735229492 + ], + [ + 0.781765878200531, + -0.1309090554714203, + -0.6096760630607605, + -9.511526107788086 + ], + [ + -0.19732560217380524, + -0.9794065356254578, + -0.042726412415504456, + -24.640714645385742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3240, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639123_442267656", + "mask_path": "../../mask/hdr_left_03240.png" + }, + { + "file_path": "../../rgb/hdr_left_03243.png", + "transform_matrix": [ + [ + -0.5845335721969604, + 0.1272808164358139, + -0.8013239502906799, + -55.21333312988281 + ], + [ + 0.7979385256767273, + -0.08877598494291306, + -0.596165120601654, + -9.394657135009766 + ], + [ + -0.147018700838089, + -0.9878858327865601, + -0.049669720232486725, + -24.64869499206543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3243, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639123_742267847", + "mask_path": "../../mask/hdr_left_03243.png" + }, + { + "file_path": "../../rgb/hdr_left_03246.png", + "transform_matrix": [ + [ + -0.5931828618049622, + 0.11194063723087311, + -0.7972473502159119, + -55.32249450683594 + ], + [ + 0.7973160743713379, + -0.05540645495057106, + -0.6010134816169739, + -9.296228408813477 + ], + [ + -0.11145047098398209, + -0.9921690821647644, + -0.056385889649391174, + -24.660747528076172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3246, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639124_42267560", + "mask_path": "../../mask/hdr_left_03246.png" + }, + { + "file_path": "../../rgb/hdr_right_03086.png", + "transform_matrix": [ + [ + 0.866297721862793, + 0.01265250239521265, + 0.4993678033351898, + -48.46652603149414 + ], + [ + -0.498174786567688, + -0.05165192484855652, + 0.8655368089675903, + -14.900771141052246 + ], + [ + 0.036744508892297745, + -0.9985849261283875, + -0.038442790508270264, + -21.81842041015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3086, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_342267036", + "mask_path": "../../mask/hdr_right_03086.png" + }, + { + "file_path": "../../rgb/hdr_right_03087.png", + "transform_matrix": [ + [ + 0.8823345899581909, + 0.01563808135688305, + 0.47036272287368774, + -48.518341064453125 + ], + [ + -0.46925127506256104, + -0.04700714349746704, + 0.8818126320838928, + -14.877203941345215 + ], + [ + 0.035900261253118515, + -0.9987720847129822, + -0.03413784131407738, + -21.82982635498047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3087, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_442266702", + "mask_path": "../../mask/hdr_right_03087.png" + }, + { + "file_path": "../../rgb/hdr_right_03089.png", + "transform_matrix": [ + [ + 0.9140728712081909, + 0.022349420934915543, + 0.4049336314201355, + -48.60060119628906 + ], + [ + -0.4035353362560272, + -0.04927707463502884, + 0.9136362075805664, + -14.86458969116211 + ], + [ + 0.04037318378686905, + -0.9985350966453552, + -0.036024060100317, + -21.839632034301758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3089, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_642267227", + "mask_path": "../../mask/hdr_right_03089.png" + }, + { + "file_path": "../../rgb/hdr_right_03090.png", + "transform_matrix": [ + [ + 0.9187623262405396, + 0.022360915318131447, + 0.3941774368286133, + -48.64336013793945 + ], + [ + -0.3926181197166443, + -0.05333543196320534, + 0.9181537628173828, + -14.841351509094238 + ], + [ + 0.04155437648296356, + -0.9983262419700623, + -0.04022328183054924, + -21.833303451538086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3090, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_742268562", + "mask_path": "../../mask/hdr_right_03090.png" + }, + { + "file_path": "../../rgb/hdr_right_03092.png", + "transform_matrix": [ + [ + 0.9247192740440369, + 0.01189600769430399, + 0.3804638683795929, + -48.7393913269043 + ], + [ + -0.3794364631175995, + -0.05093323811888695, + 0.9238148927688599, + -14.792644500732422 + ], + [ + 0.030367959290742874, + -0.9986311793327332, + -0.04258516803383827, + -21.83036231994629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3092, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_942267417", + "mask_path": "../../mask/hdr_right_03092.png" + }, + { + "file_path": "../../rgb/hdr_right_03093.png", + "transform_matrix": [ + [ + 0.9363853335380554, + 0.016450276598334312, + 0.35058799386024475, + -48.80038070678711 + ], + [ + -0.34964901208877563, + -0.042980168014764786, + 0.9358944892883301, + -14.775749206542969 + ], + [ + 0.0304640531539917, + -0.9989404678344727, + -0.034494176506996155, + -21.84160041809082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3093, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639110_42268514", + "mask_path": "../../mask/hdr_right_03093.png" + }, + { + "file_path": "../../rgb/hdr_right_03096.png", + "transform_matrix": [ + [ + 0.9597888588905334, + 0.030762746930122375, + 0.2790323495864868, + -48.92622375488281 + ], + [ + -0.2778662443161011, + -0.0373351015150547, + 0.9598940014839172, + -14.7255220413208 + ], + [ + 0.039946675300598145, + -0.998829185962677, + -0.02728588879108429, + -21.849252700805664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3096, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639110_342267513", + "mask_path": "../../mask/hdr_right_03096.png" + }, + { + "file_path": "../../rgb/hdr_right_03098.png", + "transform_matrix": [ + [ + 0.9618579745292664, + 0.026583250612020493, + 0.2722548544406891, + -48.99801254272461 + ], + [ + -0.271285742521286, + -0.03507815673947334, + 0.9618595242500305, + -14.68300724029541 + ], + [ + 0.035119544714689255, + -0.9990309476852417, + -0.02652854658663273, + -21.848772048950195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3098, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639110_542267799", + "mask_path": "../../mask/hdr_right_03098.png" + }, + { + "file_path": "../../rgb/hdr_right_03100.png", + "transform_matrix": [ + [ + 0.9677109122276306, + 0.03222029656171799, + 0.24999500811100006, + -49.09477996826172 + ], + [ + -0.24911348521709442, + -0.02902444638311863, + 0.9680392742156982, + -14.646994590759277 + ], + [ + 0.03844648227095604, + -0.99905925989151, + -0.020060762763023376, + -21.86008644104004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3100, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639110_742267608", + "mask_path": "../../mask/hdr_right_03100.png" + }, + { + "file_path": "../../rgb/hdr_right_03102.png", + "transform_matrix": [ + [ + 0.9696288108825684, + 0.03968868777155876, + 0.24133971333503723, + -49.195255279541016 + ], + [ + -0.24023652076721191, + -0.03061600960791111, + 0.9702314734458923, + -14.611895561218262 + ], + [ + 0.04589606821537018, + -0.9987429976463318, + -0.020151492208242416, + -21.87809944152832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3102, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639110_942267417", + "mask_path": "../../mask/hdr_right_03102.png" + }, + { + "file_path": "../../rgb/hdr_right_03103.png", + "transform_matrix": [ + [ + 0.9679174423217773, + 0.04299835115671158, + 0.24756202101707458, + -49.2678108215332 + ], + [ + -0.24609491229057312, + -0.036675337702035904, + 0.9685516357421875, + -14.587996482849121 + ], + [ + 0.0507255494594574, + -0.9984017610549927, + -0.024917026981711388, + -21.883363723754883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3103, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_42266845", + "mask_path": "../../mask/hdr_right_03103.png" + }, + { + "file_path": "../../rgb/hdr_right_03104.png", + "transform_matrix": [ + [ + 0.964834988117218, + 0.038569703698158264, + 0.260011225938797, + -49.32904052734375 + ], + [ + -0.2586360275745392, + -0.03724335879087448, + 0.9652566313743591, + -14.558494567871094 + ], + [ + 0.04691334441304207, + -0.9985616207122803, + -0.025958184152841568, + -21.879837036132812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3104, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_142266035", + "mask_path": "../../mask/hdr_right_03104.png" + }, + { + "file_path": "../../rgb/hdr_right_03105.png", + "transform_matrix": [ + [ + 0.9629414677619934, + 0.04019680619239807, + 0.2666981816291809, + -49.41146469116211 + ], + [ + -0.2655992805957794, + -0.03066445328295231, + 0.9635957479476929, + -14.52308177947998 + ], + [ + 0.04691162332892418, + -0.9987211227416992, + -0.018851829692721367, + -21.883291244506836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3105, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_242265939", + "mask_path": "../../mask/hdr_right_03105.png" + }, + { + "file_path": "../../rgb/hdr_right_03106.png", + "transform_matrix": [ + [ + 0.9631766676902771, + 0.04484724625945091, + 0.2651026248931885, + -49.49252700805664 + ], + [ + -0.2643377184867859, + -0.02231137454509735, + 0.9641721248626709, + -14.496302604675293 + ], + [ + 0.04915526136755943, + -0.9987446665763855, + -0.009634978137910366, + -21.906707763671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3106, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_342267274", + "mask_path": "../../mask/hdr_right_03106.png" + }, + { + "file_path": "../../rgb/hdr_right_03107.png", + "transform_matrix": [ + [ + 0.964277982711792, + 0.04317312687635422, + 0.26135051250457764, + -49.55616760253906 + ], + [ + -0.2607588469982147, + -0.018908808007836342, + 0.9652187824249268, + -14.469466209411621 + ], + [ + 0.046613339334726334, + -0.9988886713981628, + -0.006975569762289524, + -21.914901733398438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3107, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_442268133", + "mask_path": "../../mask/hdr_right_03107.png" + }, + { + "file_path": "../../rgb/hdr_right_03108.png", + "transform_matrix": [ + [ + 0.9624598622322083, + 0.05178689584136009, + 0.2664376497268677, + -49.625614166259766 + ], + [ + -0.26531437039375305, + -0.027599243447184563, + 0.963766872882843, + -14.438728332519531 + ], + [ + 0.05726396664977074, + -0.9982767701148987, + -0.012823361903429031, + -21.92575454711914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3108, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_542266845", + "mask_path": "../../mask/hdr_right_03108.png" + }, + { + "file_path": "../../rgb/hdr_right_03109.png", + "transform_matrix": [ + [ + 0.9579242467880249, + 0.06953082978725433, + 0.27847185730934143, + -49.69315719604492 + ], + [ + -0.2765161991119385, + -0.03651826083660126, + 0.9603152275085449, + -14.404212951660156 + ], + [ + 0.07694082707166672, + -0.9969111680984497, + -0.01575532741844654, + -21.949525833129883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3109, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_642268657", + "mask_path": "../../mask/hdr_right_03109.png" + }, + { + "file_path": "../../rgb/hdr_right_03110.png", + "transform_matrix": [ + [ + 0.9536985754966736, + 0.07598800957202911, + 0.29100656509399414, + -49.748077392578125 + ], + [ + -0.28864604234695435, + -0.04063478112220764, + 0.9565732479095459, + -14.370845794677734 + ], + [ + 0.08451308310031891, + -0.9962804317474365, + -0.016819695010781288, + -21.968481063842773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3110, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_742267608", + "mask_path": "../../mask/hdr_right_03110.png" + }, + { + "file_path": "../../rgb/hdr_right_03111.png", + "transform_matrix": [ + [ + 0.9501069784164429, + 0.0831841230392456, + 0.300627738237381, + -49.821861267089844 + ], + [ + -0.29857882857322693, + -0.03635847941040993, + 0.9536921381950378, + -14.329154014587402 + ], + [ + 0.09026241302490234, + -0.9958707094192505, + -0.009707433171570301, + -21.97895622253418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3111, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_842268228", + "mask_path": "../../mask/hdr_right_03111.png" + }, + { + "file_path": "../../rgb/hdr_right_03112.png", + "transform_matrix": [ + [ + 0.9477369785308838, + 0.09590528160333633, + 0.30429738759994507, + -49.90816879272461 + ], + [ + -0.3027547299861908, + -0.03060125559568405, + 0.9525770545005798, + -14.290246963500977 + ], + [ + 0.10066906362771988, + -0.9949200749397278, + 3.384494630154222e-05, + -22.00589942932129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3112, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639111_942267179", + "mask_path": "../../mask/hdr_right_03112.png" + }, + { + "file_path": "../../rgb/hdr_right_03113.png", + "transform_matrix": [ + [ + 0.9466678500175476, + 0.10370102524757385, + 0.3050674498081207, + -49.973236083984375 + ], + [ + -0.3040250539779663, + -0.026103146374225616, + 0.95230633020401, + -14.257664680480957 + ], + [ + 0.10671836882829666, + -0.9942659139633179, + 0.006816702429205179, + -22.02833366394043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3113, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_42266845", + "mask_path": "../../mask/hdr_right_03113.png" + }, + { + "file_path": "../../rgb/hdr_right_03114.png", + "transform_matrix": [ + [ + 0.9466912746429443, + 0.10298844426870346, + 0.30523622035980225, + -50.04492950439453 + ], + [ + -0.3047487139701843, + -0.020822828635573387, + 0.9522051811218262, + -14.208212852478027 + ], + [ + 0.10442201048135757, + -0.9944645762443542, + 0.011672808788716793, + -22.04256820678711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3114, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_142266511", + "mask_path": "../../mask/hdr_right_03114.png" + }, + { + "file_path": "../../rgb/hdr_right_03115.png", + "transform_matrix": [ + [ + 0.9440857768058777, + 0.10893712937831879, + 0.3111826479434967, + -50.137027740478516 + ], + [ + -0.3090510666370392, + -0.03636584430932999, + 0.9503499269485474, + -14.150337219238281 + ], + [ + 0.11484481394290924, + -0.9933832287788391, + -0.0006653422024101019, + -22.047794342041016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3115, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_242266654", + "mask_path": "../../mask/hdr_right_03115.png" + }, + { + "file_path": "../../rgb/hdr_right_03116.png", + "transform_matrix": [ + [ + 0.9403032064437866, + 0.11298462003469467, + 0.3210364580154419, + -50.202171325683594 + ], + [ + -0.31811535358428955, + -0.043492261320352554, + 0.9470539093017578, + -14.10733413696289 + ], + [ + 0.1209651306271553, + -0.9926444292068481, + -0.004953771363943815, + -22.049091339111328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3116, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_342267513", + "mask_path": "../../mask/hdr_right_03116.png" + }, + { + "file_path": "../../rgb/hdr_right_03117.png", + "transform_matrix": [ + [ + 0.9368157982826233, + 0.10929043591022491, + 0.33231300115585327, + -50.2519416809082 + ], + [ + -0.32938411831855774, + -0.04437391459941864, + 0.9431527256965637, + -14.079524040222168 + ], + [ + 0.11782360076904297, + -0.9930189251899719, + -0.005571645684540272, + -22.05268096923828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3117, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_442267179", + "mask_path": "../../mask/hdr_right_03117.png" + }, + { + "file_path": "../../rgb/hdr_right_03118.png", + "transform_matrix": [ + [ + 0.9354199767112732, + 0.09044668823480606, + 0.34177327156066895, + -50.31498336791992 + ], + [ + -0.339013934135437, + -0.044768691062927246, + 0.939715564250946, + -14.050493240356445 + ], + [ + 0.10029490292072296, + -0.9948945045471191, + -0.01121483650058508, + -22.058242797851562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3118, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_542266845", + "mask_path": "../../mask/hdr_right_03118.png" + }, + { + "file_path": "../../rgb/hdr_right_03119.png", + "transform_matrix": [ + [ + 0.9378153085708618, + 0.08218535035848618, + 0.33726537227630615, + -50.394012451171875 + ], + [ + -0.33496424555778503, + -0.04075797274708748, + 0.9413489699363708, + -14.024185180664062 + ], + [ + 0.09111133962869644, + -0.995783269405365, + -0.010694297030568123, + -22.060415267944336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3119, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_642265319", + "mask_path": "../../mask/hdr_right_03119.png" + }, + { + "file_path": "../../rgb/hdr_right_03120.png", + "transform_matrix": [ + [ + 0.9417791962623596, + 0.07873185724020004, + 0.3268842101097107, + -50.44419860839844 + ], + [ + -0.3248628079891205, + -0.03760664537549019, + 0.945013165473938, + -14.013078689575195 + ], + [ + 0.08669566363096237, + -0.9961861968040466, + -0.009840103797614574, + -22.06901741027832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3120, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_742267370", + "mask_path": "../../mask/hdr_right_03120.png" + }, + { + "file_path": "../../rgb/hdr_right_03122.png", + "transform_matrix": [ + [ + 0.9386998414993286, + 0.06653512269258499, + 0.3382541537284851, + -50.537967681884766 + ], + [ + -0.3359236717224121, + -0.043891020119190216, + 0.9408661127090454, + -13.97215747833252 + ], + [ + 0.07744695991277695, + -0.9968182444572449, + -0.01884976588189602, + -22.08539581298828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3122, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639112_942267179", + "mask_path": "../../mask/hdr_right_03122.png" + }, + { + "file_path": "../../rgb/hdr_right_03123.png", + "transform_matrix": [ + [ + 0.9279958009719849, + 0.0642966702580452, + 0.3670007884502411, + -50.58475875854492 + ], + [ + -0.36519855260849, + -0.03826601058244705, + 0.930142879486084, + -13.931795120239258 + ], + [ + 0.07384873926639557, + -0.9971968531608582, + -0.012029650621116161, + -22.077133178710938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3123, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639113_42263031", + "mask_path": "../../mask/hdr_right_03123.png" + }, + { + "file_path": "../../rgb/hdr_right_03126.png", + "transform_matrix": [ + [ + 0.8777924180030823, + 0.06335839629173279, + 0.47483280301094055, + -50.706268310546875 + ], + [ + -0.4743597209453583, + -0.02327262982726097, + 0.8800234794616699, + -13.81750202178955 + ], + [ + 0.06680747121572495, + -0.9977194666862488, + 0.009626134298741817, + -22.080015182495117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3126, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639113_342267274", + "mask_path": "../../mask/hdr_right_03126.png" + }, + { + "file_path": "../../rgb/hdr_right_03127.png", + "transform_matrix": [ + [ + 0.8632084727287292, + 0.06292944401502609, + 0.500910222530365, + -50.748409271240234 + ], + [ + -0.5007944703102112, + -0.018740074709057808, + 0.865363359451294, + -13.786942481994629 + ], + [ + 0.06384392827749252, + -0.9978419542312622, + 0.015338128432631493, + -22.094942092895508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3127, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639113_442268610", + "mask_path": "../../mask/hdr_right_03127.png" + }, + { + "file_path": "../../rgb/hdr_right_03129.png", + "transform_matrix": [ + [ + 0.8309946060180664, + 0.07351688295602798, + 0.5514012575149536, + -50.79856872558594 + ], + [ + -0.5515316724777222, + -0.020358672365546227, + 0.8339055180549622, + -13.725682258605957 + ], + [ + 0.07253192365169525, + -0.9970861673355103, + 0.023628942668437958, + -22.120437622070312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3129, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639113_642269134", + "mask_path": "../../mask/hdr_right_03129.png" + }, + { + "file_path": "../../rgb/hdr_right_03131.png", + "transform_matrix": [ + [ + 0.7966482043266296, + 0.08352679014205933, + 0.5986441969871521, + -50.86762237548828 + ], + [ + -0.5970267653465271, + -0.0459362268447876, + 0.800905168056488, + -13.660978317260742 + ], + [ + 0.09439648687839508, + -0.9954462051391602, + 0.013272710144519806, + -22.14105224609375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3131, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639113_842268466", + "mask_path": "../../mask/hdr_right_03131.png" + }, + { + "file_path": "../../rgb/hdr_right_03133.png", + "transform_matrix": [ + [ + 0.7649356126785278, + 0.09706985205411911, + 0.636750340461731, + -50.92926788330078 + ], + [ + -0.6347894072532654, + -0.05392787978053093, + 0.7708010077476501, + -13.576035499572754 + ], + [ + 0.10916014015674591, + -0.9938154816627502, + 0.020367560908198357, + -22.17319679260254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3133, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_42268276", + "mask_path": "../../mask/hdr_right_03133.png" + }, + { + "file_path": "../../rgb/hdr_right_03134.png", + "transform_matrix": [ + [ + 0.7601878046989441, + 0.10377302765846252, + 0.6413624882698059, + -50.97121047973633 + ], + [ + -0.6392005085945129, + -0.057326022535562515, + 0.7669005393981934, + -13.5398588180542 + ], + [ + 0.11635034531354904, + -0.9929475784301758, + 0.022753238677978516, + -22.18226432800293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3134, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_142268180", + "mask_path": "../../mask/hdr_right_03134.png" + }, + { + "file_path": "../../rgb/hdr_right_03136.png", + "transform_matrix": [ + [ + 0.762190043926239, + 0.11328055709600449, + 0.6373649835586548, + -51.017887115478516 + ], + [ + -0.6342726945877075, + -0.06624437123537064, + 0.7702661156654358, + -13.472574234008789 + ], + [ + 0.12947799265384674, + -0.9913522005081177, + 0.021359972655773163, + -22.219640731811523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3136, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_342268466", + "mask_path": "../../mask/hdr_right_03136.png" + }, + { + "file_path": "../../rgb/hdr_right_03137.png", + "transform_matrix": [ + [ + 0.7583423852920532, + 0.11922705173492432, + 0.6408601999282837, + -51.046478271484375 + ], + [ + -0.6328064799308777, + -0.10128948092460632, + 0.7676563858985901, + -13.436285972595215 + ], + [ + 0.15643779933452606, + -0.9876869320869446, + -0.0013644429855048656, + -22.24617576599121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3137, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_442270040", + "mask_path": "../../mask/hdr_right_03137.png" + }, + { + "file_path": "../../rgb/hdr_right_03139.png", + "transform_matrix": [ + [ + 0.7401905059814453, + 0.1415812224149704, + 0.6573224067687988, + -51.07566452026367 + ], + [ + -0.6428098082542419, + -0.1378004550933838, + 0.7535293698310852, + -13.390312194824219 + ], + [ + 0.1972649246454239, + -0.9802886247634888, + -0.010988813824951649, + -22.27155303955078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3139, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_642267704", + "mask_path": "../../mask/hdr_right_03139.png" + }, + { + "file_path": "../../rgb/hdr_right_03141.png", + "transform_matrix": [ + [ + 0.7357733249664307, + 0.1579951047897339, + 0.6585402488708496, + -51.1456184387207 + ], + [ + -0.6407709717750549, + -0.15233254432678223, + 0.7524673938751221, + -13.328086853027344 + ], + [ + 0.21920327842235565, + -0.9756189584732056, + -0.010843521915376186, + -22.307918548583984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3141, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639114_842268466", + "mask_path": "../../mask/hdr_right_03141.png" + }, + { + "file_path": "../../rgb/hdr_right_03144.png", + "transform_matrix": [ + [ + 0.7269688844680786, + 0.19817723333835602, + 0.6574512720108032, + -51.21804428100586 + ], + [ + -0.6346334218978882, + -0.17170760035514832, + 0.7534964084625244, + -13.245949745178223 + ], + [ + 0.262215256690979, + -0.9650089740753174, + 0.0009438152774237096, + -22.38111114501953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3144, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_142267227", + "mask_path": "../../mask/hdr_right_03144.png" + }, + { + "file_path": "../../rgb/hdr_right_03145.png", + "transform_matrix": [ + [ + 0.7264170050621033, + 0.2009900063276291, + 0.6572073698043823, + -51.260963439941406 + ], + [ + -0.632070004940033, + -0.18006391823291779, + 0.7537006139755249, + -13.189360618591309 + ], + [ + 0.2698255777359009, + -0.9629018306732178, + -0.0037617513444274664, + -22.421812057495117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3145, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_242268323", + "mask_path": "../../mask/hdr_right_03145.png" + }, + { + "file_path": "../../rgb/hdr_right_03146.png", + "transform_matrix": [ + [ + 0.7197084426879883, + 0.20783576369285583, + 0.6624380946159363, + -51.29378890991211 + ], + [ + -0.6356584429740906, + -0.186458557844162, + 0.7491137981414795, + -13.14815616607666 + ], + [ + 0.2792099416255951, + -0.9602277874946594, + -0.002083246596157551, + -22.441328048706055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3146, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_342268228", + "mask_path": "../../mask/hdr_right_03146.png" + }, + { + "file_path": "../../rgb/hdr_right_03148.png", + "transform_matrix": [ + [ + 0.7080451846122742, + 0.21643276512622833, + 0.6721821427345276, + -51.37800216674805 + ], + [ + -0.6461362838745117, + -0.1854967176914215, + 0.740337073802948, + -13.042881965637207 + ], + [ + 0.28492075204849243, + -0.9585133194923401, + 0.008505001664161682, + -22.51688575744629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3148, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_542267322", + "mask_path": "../../mask/hdr_right_03148.png" + }, + { + "file_path": "../../rgb/hdr_right_03149.png", + "transform_matrix": [ + [ + 0.694770097732544, + 0.2576451599597931, + 0.6715009808540344, + -51.43904495239258 + ], + [ + -0.6382984519004822, + -0.20940029621124268, + 0.740760862827301, + -12.981825828552246 + ], + [ + 0.3314659297466278, + -0.9432764649391174, + 0.018969492986798286, + -22.56839942932129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3149, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_642267942", + "mask_path": "../../mask/hdr_right_03149.png" + }, + { + "file_path": "../../rgb/hdr_right_03152.png", + "transform_matrix": [ + [ + 0.6792250275611877, + 0.28458383679389954, + 0.6765097975730896, + -51.52726364135742 + ], + [ + -0.6223714351654053, + -0.2651948630809784, + 0.7364275455474854, + -12.846907615661621 + ], + [ + 0.38898229598999023, + -0.9212403297424316, + -0.003010086016729474, + -22.66246795654297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3152, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639115_942267179", + "mask_path": "../../mask/hdr_right_03152.png" + }, + { + "file_path": "../../rgb/hdr_right_03153.png", + "transform_matrix": [ + [ + 0.6715383529663086, + 0.28136715292930603, + 0.6854697465896606, + -51.56444549560547 + ], + [ + -0.6224175691604614, + -0.28773728013038635, + 0.7278761267662048, + -12.794437408447266 + ], + [ + 0.402035653591156, + -0.9154451489448547, + -0.018098749220371246, + -22.701536178588867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3153, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_42267084", + "mask_path": "../../mask/hdr_right_03153.png" + }, + { + "file_path": "../../rgb/hdr_right_03154.png", + "transform_matrix": [ + [ + 0.664709746837616, + 0.28018122911453247, + 0.6925745010375977, + -51.58710861206055 + ], + [ + -0.6247814297676086, + -0.2998256981372833, + 0.7209388017654419, + -12.754363059997559 + ], + [ + 0.4096451699733734, + -0.9119226932525635, + -0.02424503117799759, + -22.734277725219727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3154, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_142267227", + "mask_path": "../../mask/hdr_right_03154.png" + }, + { + "file_path": "../../rgb/hdr_right_03155.png", + "transform_matrix": [ + [ + 0.6581159234046936, + 0.2787669897079468, + 0.6994087100028992, + -51.63054656982422 + ], + [ + -0.6294560432434082, + -0.3059878349304199, + 0.7142524719238281, + -12.708260536193848 + ], + [ + 0.4131205976009369, + -0.9103078246116638, + -0.025903897359967232, + -22.786949157714844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3155, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_242267131", + "mask_path": "../../mask/hdr_right_03155.png" + }, + { + "file_path": "../../rgb/hdr_right_03156.png", + "transform_matrix": [ + [ + 0.6549752950668335, + 0.266034871339798, + 0.7072712779045105, + -51.708919525146484 + ], + [ + -0.64007967710495, + -0.30214792490005493, + 0.7064026594161987, + -12.618091583251953 + ], + [ + 0.401628315448761, + -0.9153862595558167, + -0.027615943923592567, + -22.83172607421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3156, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_342268228", + "mask_path": "../../mask/hdr_right_03156.png" + }, + { + "file_path": "../../rgb/hdr_right_03157.png", + "transform_matrix": [ + [ + 0.6563637256622314, + 0.2532600462436676, + 0.7106659412384033, + -51.76647186279297 + ], + [ + -0.645571231842041, + -0.2989201545715332, + 0.7027692198753357, + -12.546171188354492 + ], + [ + 0.3904157280921936, + -0.9200577139854431, + -0.032702960073947906, + -22.86067008972168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3157, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_442267656", + "mask_path": "../../mask/hdr_right_03157.png" + }, + { + "file_path": "../../rgb/hdr_right_03158.png", + "transform_matrix": [ + [ + 0.6676403284072876, + 0.23752589523792267, + 0.7055761814117432, + -51.812808990478516 + ], + [ + -0.642657995223999, + -0.29455986618995667, + 0.7072659730911255, + -12.500059127807617 + ], + [ + 0.37582841515541077, + -0.9256435632705688, + -0.044012151658535004, + -22.88652229309082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3158, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_542267322", + "mask_path": "../../mask/hdr_right_03158.png" + }, + { + "file_path": "../../rgb/hdr_right_03159.png", + "transform_matrix": [ + [ + 0.6869797110557556, + 0.224060520529747, + 0.691271185874939, + -51.86102294921875 + ], + [ + -0.6314178705215454, + -0.2867978811264038, + 0.7204572558403015, + -12.450191497802734 + ], + [ + 0.359681099653244, + -0.9314203262329102, + -0.05554850772023201, + -22.912874221801758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3159, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_642267704", + "mask_path": "../../mask/hdr_right_03159.png" + }, + { + "file_path": "../../rgb/hdr_right_03160.png", + "transform_matrix": [ + [ + 0.7066649198532104, + 0.22648978233337402, + 0.6703187227249146, + -51.9078254699707 + ], + [ + -0.6136361360549927, + -0.27545881271362305, + 0.7399817705154419, + -12.39404010772705 + ], + [ + 0.3522435128688812, + -0.9342509508132935, + -0.05567469447851181, + -22.941526412963867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3160, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_742267847", + "mask_path": "../../mask/hdr_right_03160.png" + }, + { + "file_path": "../../rgb/hdr_right_03161.png", + "transform_matrix": [ + [ + 0.7255916595458984, + 0.23254525661468506, + 0.6476414799690247, + -51.946876525878906 + ], + [ + -0.5919177532196045, + -0.26904886960983276, + 0.7597671747207642, + -12.360048294067383 + ], + [ + 0.350927472114563, + -0.9346311688423157, + -0.057571955025196075, + -22.955150604248047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3161, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639116_842269420", + "mask_path": "../../mask/hdr_right_03161.png" + }, + { + "file_path": "../../rgb/hdr_right_03163.png", + "transform_matrix": [ + [ + 0.7689931988716125, + 0.228416308760643, + 0.5970556735992432, + -51.987648010253906 + ], + [ + -0.5402593612670898, + -0.2670411765575409, + 0.798003077507019, + -12.336122512817383 + ], + [ + 0.34171536564826965, + -0.9362238049507141, + -0.08194882422685623, + -22.977092742919922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3163, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_42267322", + "mask_path": "../../mask/hdr_right_03163.png" + }, + { + "file_path": "../../rgb/hdr_right_03165.png", + "transform_matrix": [ + [ + 0.7895606160163879, + 0.2296358197927475, + 0.5690882802009583, + -52.058589935302734 + ], + [ + -0.5118061900138855, + -0.2652609646320343, + 0.8171237111091614, + -12.274357795715332 + ], + [ + 0.33859774470329285, + -0.9364315271377563, + -0.09191057085990906, + -23.01860809326172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3165, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_242268085", + "mask_path": "../../mask/hdr_right_03165.png" + }, + { + "file_path": "../../rgb/hdr_right_03166.png", + "transform_matrix": [ + [ + 0.7961248159408569, + 0.2323123663663864, + 0.5587632656097412, + -52.1198616027832 + ], + [ + -0.5011678338050842, + -0.2643698453903198, + 0.8239778280258179, + -12.233525276184082 + ], + [ + 0.339140385389328, + -0.9360232353210449, + -0.09404390305280685, + -23.07261848449707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3166, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_342267274", + "mask_path": "../../mask/hdr_right_03166.png" + }, + { + "file_path": "../../rgb/hdr_right_03167.png", + "transform_matrix": [ + [ + 0.7945911884307861, + 0.23251855373382568, + 0.5608564615249634, + -52.16554641723633 + ], + [ + -0.5025784373283386, + -0.2663917541503906, + 0.8224660158157349, + -12.194580078125 + ], + [ + 0.3406461179256439, + -0.9353985786437988, + -0.09481371939182281, + -23.116548538208008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3167, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_442268371", + "mask_path": "../../mask/hdr_right_03167.png" + }, + { + "file_path": "../../rgb/hdr_right_03168.png", + "transform_matrix": [ + [ + 0.7934046387672424, + 0.2302185446023941, + 0.5634790062904358, + -52.199771881103516 + ], + [ + -0.5049402713775635, + -0.2680262327194214, + 0.8204860687255859, + -12.171385765075684 + ], + [ + 0.33991825580596924, + -0.9355005621910095, + -0.09640666097402573, + -23.15114974975586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3168, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_542267560", + "mask_path": "../../mask/hdr_right_03168.png" + }, + { + "file_path": "../../rgb/hdr_right_03169.png", + "transform_matrix": [ + [ + 0.7941076755523682, + 0.222700297832489, + 0.5655065774917603, + -52.24650192260742 + ], + [ + -0.5057987570762634, + -0.2737440764904022, + 0.818065881729126, + -12.13486099243164 + ], + [ + 0.33698761463165283, + -0.9356648325920105, + -0.10474073886871338, + -23.18105697631836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3169, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_642267465", + "mask_path": "../../mask/hdr_right_03169.png" + }, + { + "file_path": "../../rgb/hdr_right_03170.png", + "transform_matrix": [ + [ + 0.794714629650116, + 0.21862120926380157, + 0.5662449598312378, + -52.30398941040039 + ], + [ + -0.5067830085754395, + -0.27444514632225037, + 0.8172214031219482, + -12.076436042785645 + ], + [ + 0.3340650498867035, + -0.9364212155342102, + -0.10731205344200134, + -23.212873458862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3170, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_742267370", + "mask_path": "../../mask/hdr_right_03170.png" + }, + { + "file_path": "../../rgb/hdr_right_03171.png", + "transform_matrix": [ + [ + 0.7874346971511841, + 0.22046571969985962, + 0.5756227374076843, + -52.374813079833984 + ], + [ + -0.5045029520988464, + -0.3060297667980194, + 0.8073553442955017, + -11.997013092041016 + ], + [ + 0.3541519045829773, + -0.9261428713798523, + -0.12975287437438965, + -23.2481746673584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3171, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639117_842268466", + "mask_path": "../../mask/hdr_right_03171.png" + }, + { + "file_path": "../../rgb/hdr_right_03174.png", + "transform_matrix": [ + [ + 0.767649233341217, + 0.23882248997688293, + 0.5947088003158569, + -52.51095199584961 + ], + [ + -0.5163506269454956, + -0.31917116045951843, + 0.794677197933197, + -11.882826805114746 + ], + [ + 0.3796006739139557, + -0.9171115756034851, + -0.12169535458087921, + -23.312618255615234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3174, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_142268419", + "mask_path": "../../mask/hdr_right_03174.png" + }, + { + "file_path": "../../rgb/hdr_right_03175.png", + "transform_matrix": [ + [ + 0.7684727907180786, + 0.22694946825504303, + 0.5982838869094849, + -52.58969497680664 + ], + [ + -0.5232882499694824, + -0.3152112662792206, + 0.7917141318321228, + -11.818887710571289 + ], + [ + 0.36826494336128235, + -0.9214856028556824, + -0.12347128242254257, + -23.339481353759766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3175, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_242268085", + "mask_path": "../../mask/hdr_right_03175.png" + }, + { + "file_path": "../../rgb/hdr_right_03176.png", + "transform_matrix": [ + [ + 0.771248996257782, + 0.21852989494800568, + 0.5978459715843201, + -52.638771057128906 + ], + [ + -0.5226458311080933, + -0.3187128007411957, + 0.7907361388206482, + -11.788311004638672 + ], + [ + 0.3633406460285187, + -0.9223160147666931, + -0.13159318268299103, + -23.37213134765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3176, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_342266559", + "mask_path": "../../mask/hdr_right_03176.png" + }, + { + "file_path": "../../rgb/hdr_right_03177.png", + "transform_matrix": [ + [ + 0.7774441838264465, + 0.21296285092830658, + 0.5918001532554626, + -52.67700958251953 + ], + [ + -0.515346884727478, + -0.32370316982269287, + 0.793494701385498, + -11.762872695922852 + ], + [ + 0.36055248975753784, + -0.9218801259994507, + -0.14191140234470367, + -23.404321670532227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3177, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_442268133", + "mask_path": "../../mask/hdr_right_03177.png" + }, + { + "file_path": "../../rgb/hdr_right_03178.png", + "transform_matrix": [ + [ + 0.7865151166915894, + 0.22032219171524048, + 0.5769335031509399, + -52.72310256958008 + ], + [ + -0.5067791938781738, + -0.30364012718200684, + 0.8068318367004395, + -11.718883514404297 + ], + [ + 0.3529430627822876, + -0.926963210105896, + -0.12716281414031982, + -23.446182250976562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3178, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_542268991", + "mask_path": "../../mask/hdr_right_03178.png" + }, + { + "file_path": "../../rgb/hdr_right_03179.png", + "transform_matrix": [ + [ + 0.8000626564025879, + 0.22709843516349792, + 0.5552712082862854, + -52.77403259277344 + ], + [ + -0.4910501539707184, + -0.28380805253982544, + 0.8236034512519836, + -11.666990280151367 + ], + [ + 0.34462952613830566, + -0.9316003918647766, + -0.11554751545190811, + -23.481767654418945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3179, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_642267942", + "mask_path": "../../mask/hdr_right_03179.png" + }, + { + "file_path": "../../rgb/hdr_right_03182.png", + "transform_matrix": [ + [ + 0.8379349112510681, + 0.23018187284469604, + 0.49485498666763306, + -52.90077209472656 + ], + [ + -0.4409119188785553, + -0.24887274205684662, + 0.8623567223548889, + -11.58533763885498 + ], + [ + 0.3216547966003418, + -0.9407861828804016, + -0.10704920440912247, + -23.541627883911133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3182, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639118_942267417", + "mask_path": "../../mask/hdr_right_03182.png" + }, + { + "file_path": "../../rgb/hdr_right_03183.png", + "transform_matrix": [ + [ + 0.8428658843040466, + 0.24837571382522583, + 0.4773746430873871, + -52.9669075012207 + ], + [ + -0.423437237739563, + -0.2413232922554016, + 0.8731918334960938, + -11.54818058013916 + ], + [ + 0.33208128809928894, + -0.9381219148635864, + -0.09823165833950043, + -23.568082809448242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3183, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_42268753", + "mask_path": "../../mask/hdr_right_03183.png" + }, + { + "file_path": "../../rgb/hdr_right_03186.png", + "transform_matrix": [ + [ + 0.844276487827301, + 0.25947827100753784, + 0.4689011871814728, + -53.0849609375 + ], + [ + -0.41173332929611206, + -0.24599997699260712, + 0.8774735331535339, + -11.474474906921387 + ], + [ + 0.3430349826812744, + -0.9338924884796143, + -0.10085614025592804, + -23.64540672302246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3186, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_342266559", + "mask_path": "../../mask/hdr_right_03186.png" + }, + { + "file_path": "../../rgb/hdr_right_03187.png", + "transform_matrix": [ + [ + 0.8411423563957214, + 0.2687077522277832, + 0.46933531761169434, + -53.1396369934082 + ], + [ + -0.4130774140357971, + -0.24092063307762146, + 0.8782507181167603, + -11.421219825744629 + ], + [ + 0.349065363407135, + -0.9326057434082031, + -0.09165144711732864, + -23.6842098236084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3187, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_442266941", + "mask_path": "../../mask/hdr_right_03187.png" + }, + { + "file_path": "../../rgb/hdr_right_03188.png", + "transform_matrix": [ + [ + 0.836734414100647, + 0.27664974331855774, + 0.47258907556533813, + -53.176753997802734 + ], + [ + -0.4166202247142792, + -0.2384786307811737, + 0.8772431015968323, + -11.378619194030762 + ], + [ + 0.3553915321826935, + -0.9309096932411194, + -0.08428541570901871, + -23.711421966552734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3188, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_542267322", + "mask_path": "../../mask/hdr_right_03188.png" + }, + { + "file_path": "../../rgb/hdr_right_03190.png", + "transform_matrix": [ + [ + 0.8341370224952698, + 0.27704811096191406, + 0.4769274592399597, + -53.27241516113281 + ], + [ + -0.42491161823272705, + -0.22852660715579987, + 0.8759142160415649, + -11.291483879089355 + ], + [ + 0.35166093707084656, + -0.93328458070755, + -0.07290153950452805, + -23.766189575195312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3190, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_742268323", + "mask_path": "../../mask/hdr_right_03190.png" + }, + { + "file_path": "../../rgb/hdr_right_03191.png", + "transform_matrix": [ + [ + 0.8336858749389648, + 0.28217294812202454, + 0.4747067093849182, + -53.357425689697266 + ], + [ + -0.42197662591934204, + -0.22900797426700592, + 0.8772064447402954, + -11.231308937072754 + ], + [ + 0.3562355637550354, + -0.9316295981407166, + -0.07185030728578568, + -23.8175048828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3191, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_842267990", + "mask_path": "../../mask/hdr_right_03191.png" + }, + { + "file_path": "../../rgb/hdr_right_03192.png", + "transform_matrix": [ + [ + 0.8316938877105713, + 0.2861716151237488, + 0.4758058786392212, + -53.42321014404297 + ], + [ + -0.42100077867507935, + -0.23368066549301147, + 0.8764426112174988, + -11.188673973083496 + ], + [ + 0.36199963092803955, + -0.9292465448379517, + -0.07387229055166245, + -23.869577407836914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3192, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639119_942270040", + "mask_path": "../../mask/hdr_right_03192.png" + }, + { + "file_path": "../../rgb/hdr_right_03193.png", + "transform_matrix": [ + [ + 0.8326548933982849, + 0.28064408898353577, + 0.47741466760635376, + -53.46931838989258 + ], + [ + -0.4216049611568451, + -0.23772643506526947, + 0.8750630617141724, + -11.16110610961914 + ], + [ + 0.3590753972530365, + -0.929905891418457, + -0.07962313294410706, + -23.903114318847656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3193, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_42268276", + "mask_path": "../../mask/hdr_right_03193.png" + }, + { + "file_path": "../../rgb/hdr_right_03194.png", + "transform_matrix": [ + [ + 0.8349871039390564, + 0.2714563310146332, + 0.4786522686481476, + -53.525840759277344 + ], + [ + -0.42336505651474, + -0.23873966932296753, + 0.8739368319511414, + -11.12111759185791 + ], + [ + 0.3515089750289917, + -0.9323705434799194, + -0.08441941440105438, + -23.933330535888672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3194, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_142267942", + "mask_path": "../../mask/hdr_right_03194.png" + }, + { + "file_path": "../../rgb/hdr_right_03195.png", + "transform_matrix": [ + [ + 0.8344938158988953, + 0.2681136727333069, + 0.4813888669013977, + -53.59380340576172 + ], + [ + -0.4260289967060089, + -0.24011825025081635, + 0.8722628951072693, + -11.053565979003906 + ], + [ + 0.3494558036327362, + -0.9329835772514343, + -0.08615296334028244, + -23.969083786010742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3195, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_242268085", + "mask_path": "../../mask/hdr_right_03195.png" + }, + { + "file_path": "../../rgb/hdr_right_03196.png", + "transform_matrix": [ + [ + 0.830390214920044, + 0.269779235124588, + 0.48751530051231384, + -53.657039642333984 + ], + [ + -0.43126165866851807, + -0.24281230568885803, + 0.8689393401145935, + -10.991067886352539 + ], + [ + 0.3527964949607849, + -0.9318053722381592, + -0.0852835401892662, + -23.98574447631836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3196, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_342268943", + "mask_path": "../../mask/hdr_right_03196.png" + }, + { + "file_path": "../../rgb/hdr_right_03197.png", + "transform_matrix": [ + [ + 0.8262779712677002, + 0.27126652002334595, + 0.4936387538909912, + -53.69490432739258 + ], + [ + -0.4344122111797333, + -0.2509553134441376, + 0.8650476932525635, + -10.961323738098145 + ], + [ + 0.35853973031044006, + -0.9292125105857849, + -0.08951736241579056, + -24.003738403320312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3197, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_442267656", + "mask_path": "../../mask/hdr_right_03197.png" + }, + { + "file_path": "../../rgb/hdr_right_03199.png", + "transform_matrix": [ + [ + 0.8185032606124878, + 0.2718406021595001, + 0.5061176419258118, + -53.821876525878906 + ], + [ + -0.4469960033893585, + -0.25207728147506714, + 0.8582841157913208, + -10.866463661193848 + ], + [ + 0.3608972132205963, + -0.928740918636322, + -0.08481445908546448, + -24.067319869995117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3199, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_642267704", + "mask_path": "../../mask/hdr_right_03199.png" + }, + { + "file_path": "../../rgb/hdr_right_03200.png", + "transform_matrix": [ + [ + 0.8179646730422974, + 0.2641167640686035, + 0.5110539197921753, + -53.886924743652344 + ], + [ + -0.45295658707618713, + -0.25195491313934326, + 0.8551895022392273, + -10.82133960723877 + ], + [ + 0.3546324372291565, + -0.9309999942779541, + -0.08645681291818619, + -24.0938663482666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3200, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_742267847", + "mask_path": "../../mask/hdr_right_03200.png" + }, + { + "file_path": "../../rgb/hdr_right_03201.png", + "transform_matrix": [ + [ + 0.8190893530845642, + 0.253675639629364, + 0.5145302414894104, + -53.93601989746094 + ], + [ + -0.45758429169654846, + -0.2520388066768646, + 0.852697491645813, + -10.792563438415527 + ], + [ + 0.3459901809692383, + -0.9338763952255249, + -0.09036432951688766, + -24.121206283569336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3201, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_842269182", + "mask_path": "../../mask/hdr_right_03201.png" + }, + { + "file_path": "../../rgb/hdr_right_03202.png", + "transform_matrix": [ + [ + 0.8182304501533508, + 0.24761009216308594, + 0.5188333988189697, + -53.99127197265625 + ], + [ + -0.46105536818504333, + -0.256457656621933, + 0.8495042324066162, + -10.745765686035156 + ], + [ + 0.3434045612812042, + -0.9343011975288391, + -0.09567950665950775, + -24.152236938476562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3202, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639120_942267179", + "mask_path": "../../mask/hdr_right_03202.png" + }, + { + "file_path": "../../rgb/hdr_right_03203.png", + "transform_matrix": [ + [ + 0.8143861889839172, + 0.2533903419971466, + 0.5220810174942017, + -54.05036544799805 + ], + [ + -0.4626496136188507, + -0.2596062421798706, + 0.8476791977882385, + -10.698751449584961 + ], + [ + 0.3503292202949524, + -0.9318786859512329, + -0.09418877214193344, + -24.19951820373535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3203, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_42268037", + "mask_path": "../../mask/hdr_right_03203.png" + }, + { + "file_path": "../../rgb/hdr_right_03204.png", + "transform_matrix": [ + [ + 0.809653103351593, + 0.2624375820159912, + 0.5249652862548828, + -54.093589782714844 + ], + [ + -0.4672396779060364, + -0.2530718445777893, + 0.8471373915672302, + -10.658784866333008 + ], + [ + 0.35517460107803345, + -0.9311718940734863, + -0.08227912336587906, + -24.22365951538086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3204, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_142267227", + "mask_path": "../../mask/hdr_right_03204.png" + }, + { + "file_path": "../../rgb/hdr_right_03206.png", + "transform_matrix": [ + [ + 0.7971546649932861, + 0.2657369375228882, + 0.5421515703201294, + -54.19418716430664 + ], + [ + -0.49294212460517883, + -0.23205982148647308, + 0.8385441899299622, + -10.581107139587402 + ], + [ + 0.34864377975463867, + -0.9356987476348877, + -0.053994614630937576, + -24.288738250732422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3206, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_342271089", + "mask_path": "../../mask/hdr_right_03206.png" + }, + { + "file_path": "../../rgb/hdr_right_03207.png", + "transform_matrix": [ + [ + 0.7815702557563782, + 0.3059837818145752, + 0.5436194539070129, + -54.27943801879883 + ], + [ + -0.49824604392051697, + -0.2181721180677414, + 0.8391374945640564, + -10.52569580078125 + ], + [ + 0.37536507844924927, + -0.9267010688781738, + -0.01806158758699894, + -24.33686637878418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3207, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_442267656", + "mask_path": "../../mask/hdr_right_03207.png" + }, + { + "file_path": "../../rgb/hdr_right_03210.png", + "transform_matrix": [ + [ + 0.7669472098350525, + 0.3285743296146393, + 0.5512086749076843, + -54.39390563964844 + ], + [ + -0.5086449384689331, + -0.2124355435371399, + 0.8343569040298462, + -10.418233871459961 + ], + [ + 0.3912445902824402, + -0.9202772378921509, + 0.004200853407382965, + -24.414039611816406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3210, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_742268085", + "mask_path": "../../mask/hdr_right_03210.png" + }, + { + "file_path": "../../rgb/hdr_right_03211.png", + "transform_matrix": [ + [ + 0.7686424255371094, + 0.321836918592453, + 0.5528199672698975, + -54.44830322265625 + ], + [ + -0.5130520462989807, + -0.20599399507045746, + 0.8332731127738953, + -10.357706069946289 + ], + [ + 0.38205569982528687, + -0.9241144061088562, + 0.006783383898437023, + -24.4314022064209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3211, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_842268228", + "mask_path": "../../mask/hdr_right_03211.png" + }, + { + "file_path": "../../rgb/hdr_right_03212.png", + "transform_matrix": [ + [ + 0.7685465216636658, + 0.3162173330783844, + 0.5561861991882324, + -54.4875373840332 + ], + [ + -0.5194489359855652, + -0.19910314679145813, + 0.8309818506240845, + -10.311897277832031 + ], + [ + 0.3735092580318451, + -0.9275583028793335, + 0.01123876590281725, + -24.450197219848633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3212, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639121_942267656", + "mask_path": "../../mask/hdr_right_03212.png" + }, + { + "file_path": "../../rgb/hdr_right_03213.png", + "transform_matrix": [ + [ + 0.7668744325637817, + 0.31087395548820496, + 0.5614809989929199, + -54.53114700317383 + ], + [ + -0.5269920229911804, + -0.19431866705417633, + 0.8273570537567139, + -10.269146919250488 + ], + [ + 0.3663100302219391, + -0.9303749799728394, + 0.014810069464147091, + -24.48269271850586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3213, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_42268037", + "mask_path": "../../mask/hdr_right_03213.png" + }, + { + "file_path": "../../rgb/hdr_right_03214.png", + "transform_matrix": [ + [ + 0.7708622813224792, + 0.29637208580970764, + 0.5638571977615356, + -54.60457992553711 + ], + [ + -0.5331977009773254, + -0.18410472571849823, + 0.825715184211731, + -10.199311256408691 + ], + [ + 0.3485276997089386, + -0.937160074710846, + 0.016105547547340393, + -24.508636474609375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3214, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_142267227", + "mask_path": "../../mask/hdr_right_03214.png" + }, + { + "file_path": "../../rgb/hdr_right_03215.png", + "transform_matrix": [ + [ + 0.7778151035308838, + 0.27779826521873474, + 0.5637657642364502, + -54.6613655090332 + ], + [ + -0.5361605286598206, + -0.1747383177280426, + 0.8258318901062012, + -10.15282917022705 + ], + [ + 0.3279261291027069, + -0.9446134567260742, + 0.01303036417812109, + -24.523239135742188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3215, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_242268562", + "mask_path": "../../mask/hdr_right_03215.png" + }, + { + "file_path": "../../rgb/hdr_right_03217.png", + "transform_matrix": [ + [ + 0.7929211854934692, + 0.23929943144321442, + 0.5603675246238708, + -54.75627136230469 + ], + [ + -0.5363707542419434, + -0.16222907602787018, + 0.8282440304756165, + -10.077442169189453 + ], + [ + 0.28910622000694275, + -0.9572969675064087, + -0.0002816472842823714, + -24.545440673828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3217, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_442267894", + "mask_path": "../../mask/hdr_right_03217.png" + }, + { + "file_path": "../../rgb/hdr_right_03218.png", + "transform_matrix": [ + [ + 0.801276445388794, + 0.2286616414785385, + 0.5528743267059326, + -54.811927795410156 + ], + [ + -0.5289483666419983, + -0.161088764667511, + 0.8332251310348511, + -10.021658897399902 + ], + [ + 0.2795884311199188, + -0.9600855708122253, + -0.008126442320644855, + -24.572568893432617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3218, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_542267799", + "mask_path": "../../mask/hdr_right_03218.png" + }, + { + "file_path": "../../rgb/hdr_right_03219.png", + "transform_matrix": [ + [ + 0.8033649325370789, + 0.22558070719242096, + 0.5511063933372498, + -54.855655670166016 + ], + [ + -0.5229664444923401, + -0.17535339295864105, + 0.8341206908226013, + -9.98876667022705 + ], + [ + 0.28479987382888794, + -0.9583133459091187, + -0.02290162444114685, + -24.56680679321289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3219, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_642268180", + "mask_path": "../../mask/hdr_right_03219.png" + }, + { + "file_path": "../../rgb/hdr_right_03221.png", + "transform_matrix": [ + [ + 0.813118040561676, + 0.21511979401111603, + 0.5408905744552612, + -54.913604736328125 + ], + [ + -0.5167120695114136, + -0.1611398607492447, + 0.8408582210540771, + -9.938992500305176 + ], + [ + 0.26804426312446594, + -0.963201642036438, + -0.01987071894109249, + -24.56747055053711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3221, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_842268466", + "mask_path": "../../mask/hdr_right_03221.png" + }, + { + "file_path": "../../rgb/hdr_right_03222.png", + "transform_matrix": [ + [ + 0.8182311058044434, + 0.20549093186855316, + 0.5369091033935547, + -54.9761962890625 + ], + [ + -0.516872227191925, + -0.14590385556221008, + 0.8435373306274414, + -9.883984565734863 + ], + [ + 0.2516763508319855, + -0.9677218198776245, + -0.013170501217246056, + -24.586780548095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3222, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639122_942267417", + "mask_path": "../../mask/hdr_right_03222.png" + }, + { + "file_path": "../../rgb/hdr_right_03223.png", + "transform_matrix": [ + [ + 0.8224208354949951, + 0.1933765709400177, + 0.5350044369697571, + -55.027191162109375 + ], + [ + -0.517998993396759, + -0.13420434296131134, + 0.8447877168655396, + -9.83967399597168 + ], + [ + 0.23516204953193665, + -0.97190260887146, + -0.010203546844422817, + -24.602005004882812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3223, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639123_42268753", + "mask_path": "../../mask/hdr_right_03223.png" + }, + { + "file_path": "../../rgb/hdr_right_03225.png", + "transform_matrix": [ + [ + 0.8305416703224182, + 0.16462595760822296, + 0.5320703983306885, + -55.11723709106445 + ], + [ + -0.5178595781326294, + -0.12335305660963058, + 0.8465256094932556, + -9.767748832702637 + ], + [ + 0.20499257743358612, + -0.9786124229431152, + -0.01719672419130802, + -24.631515502929688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3225, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639123_242268562", + "mask_path": "../../mask/hdr_right_03225.png" + }, + { + "file_path": "../../rgb/hdr_right_03226.png", + "transform_matrix": [ + [ + 0.8293730020523071, + 0.16063576936721802, + 0.5351042747497559, + -55.17451477050781 + ], + [ + -0.5207340717315674, + -0.12476248294115067, + 0.8445534110069275, + -9.712181091308594 + ], + [ + 0.20242641866207123, + -0.9790967702865601, + -0.019826112315058708, + -24.63874626159668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3226, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639123_342268228", + "mask_path": "../../mask/hdr_right_03226.png" + }, + { + "file_path": "../../rgb/hdr_right_03227.png", + "transform_matrix": [ + [ + 0.8265543580055237, + 0.15668953955173492, + 0.5406075716018677, + -55.22305679321289 + ], + [ + -0.5272524952888489, + -0.1206379383802414, + 0.8411012291908264, + -9.663470268249512 + ], + [ + 0.19700951874256134, + -0.9802524447441101, + -0.017098842188715935, + -24.643552780151367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3227, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639123_442267656", + "mask_path": "../../mask/hdr_right_03227.png" + }, + { + "file_path": "../../rgb/hdr_right_03230.png", + "transform_matrix": [ + [ + 0.8232502341270447, + 0.13039447367191315, + 0.5525002479553223, + -55.356353759765625 + ], + [ + -0.546933114528656, + -0.07851928472518921, + 0.833486020565033, + -9.544364929199219 + ], + [ + 0.15206392109394073, + -0.9883480668067932, + 0.006676033604890108, + -24.654720306396484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3230, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639123_742267847", + "mask_path": "../../mask/hdr_right_03230.png" + }, + { + "file_path": "../../rgb/hdr_right_03233.png", + "transform_matrix": [ + [ + 0.8299417495727539, + 0.1149645447731018, + 0.5458753705024719, + -55.46439743041992 + ], + [ + -0.5445897579193115, + -0.045114051550626755, + 0.8374883532524109, + -9.446869850158691 + ], + [ + 0.12090811133384705, + -0.9923446178436279, + 0.025166470557451248, + -24.669391632080078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3233, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639124_42267560", + "mask_path": "../../mask/hdr_right_03233.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/5fdc9beb/mesh.ply b/2024-11-03-13-59-54/splats/5fdc9beb/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..eaa16da196652fdba07fd5675f1fb98993bb1b84 --- /dev/null +++ b/2024-11-03-13-59-54/splats/5fdc9beb/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d886c5e1d5ca81fdec1c19e1a594702ba9420c61f6af428e4608e299de0a4fe8 +size 39471529 diff --git a/2024-11-03-13-59-54/splats/5fdc9beb/mesh_filled_decimated.ply b/2024-11-03-13-59-54/splats/5fdc9beb/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..7c07adf58d8d771b243561fa51c57e24bc3efc9a --- /dev/null +++ b/2024-11-03-13-59-54/splats/5fdc9beb/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5951ee33f0003cf152b98d291ba921c14b2862c2f96be3f65b1525d7df0491e0 +size 1579288 diff --git a/2024-11-03-13-59-54/splats/5fdc9beb/splatfacto/config.yml b/2024-11-03-13-59-54/splats/5fdc9beb/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..b193c409edb5a3e4e29a1def9ea63971aaa0c7b2 --- /dev/null +++ b/2024-11-03-13-59-54/splats/5fdc9beb/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-03-13-59-54_nerfstudio +- slices +- slice_5fdc9beb +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-03-13-59-54_nerfstudio + - slices + - slice_5fdc9beb + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-03-13-59-54/splats/5fdc9beb/splatfacto/dataparser_transforms.json b/2024-11-03-13-59-54/splats/5fdc9beb/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..6b9b1adda6638aab4a82a21dedd1d85273ea4080 --- /dev/null +++ b/2024-11-03-13-59-54/splats/5fdc9beb/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + 0.5443251132965088, + 0.8381173014640808, + -0.03563116490840912, + 40.23878479003906 + ], + [ + 0.8381173014640808, + -0.5415389537811279, + 0.06553597003221512, + 28.92015838623047 + ], + [ + 0.03563116490840912, + -0.06553597003221512, + -0.9972138404846191, + -20.95743751525879 + ] + ], + "scale": 0.19379451544902548 +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/5fdc9beb/splatfacto/splat.ply b/2024-11-03-13-59-54/splats/5fdc9beb/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..06d0f8c246ef890f40dcfda3df05f858cba6a234 --- /dev/null +++ b/2024-11-03-13-59-54/splats/5fdc9beb/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c82652c7abd12baf36c801efbed681fd0e6562cdae258b4bc7ab599dda2dd274 +size 397340994 diff --git a/2024-11-03-13-59-54/splats/5fdc9beb/transforms.json b/2024-11-03-13-59-54/splats/5fdc9beb/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1af4be9b97092b46b1ad207631f776b5043938a1 --- /dev/null +++ b/2024-11-03-13-59-54/splats/5fdc9beb/transforms.json @@ -0,0 +1,15630 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_02947.png", + "transform_matrix": [ + [ + -0.9260532259941101, + 0.048141755163669586, + 0.3743096888065338, + -42.818702697753906 + ], + [ + -0.37686458230018616, + -0.06550655514001846, + -0.923949122428894, + -24.685380935668945 + ], + [ + -0.01996079832315445, + -0.9966902136802673, + 0.07880546897649765, + -20.822650909423828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2947, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_642267227", + "mask_path": "../../mask/hdr_front_02947.png" + }, + { + "file_path": "../../rgb/hdr_front_02948.png", + "transform_matrix": [ + [ + -0.9236469864845276, + 0.046129900962114334, + 0.38045787811279297, + -42.85929489135742 + ], + [ + -0.382811963558197, + -0.06391453742980957, + -0.9216127395629883, + -24.608291625976562 + ], + [ + -0.018197106197476387, + -0.9968886971473694, + 0.07669355720281601, + -20.836002349853516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2948, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_742267370", + "mask_path": "../../mask/hdr_front_02948.png" + }, + { + "file_path": "../../rgb/hdr_front_02949.png", + "transform_matrix": [ + [ + -0.9244034290313721, + 0.04447101429104805, + 0.378814697265625, + -42.90016174316406 + ], + [ + -0.38107067346572876, + -0.06542662531137466, + -0.9222279787063599, + -24.50817108154297 + ], + [ + -0.01622784696519375, + -0.99686598777771, + 0.0774272009730339, + -20.844297409057617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2949, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_842268466", + "mask_path": "../../mask/hdr_front_02949.png" + }, + { + "file_path": "../../rgb/hdr_front_02950.png", + "transform_matrix": [ + [ + -0.9295381307601929, + 0.03852531686425209, + 0.36670777201652527, + -42.934329986572266 + ], + [ + -0.36855271458625793, + -0.0665978491306305, + -0.9272181987762451, + -24.405031204223633 + ], + [ + -0.01129942573606968, + -0.9970359206199646, + 0.07610385864973068, + -20.840011596679688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2950, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_942268371", + "mask_path": "../../mask/hdr_front_02950.png" + }, + { + "file_path": "../../rgb/hdr_front_02951.png", + "transform_matrix": [ + [ + -0.9359310865402222, + 0.03148898109793663, + 0.35077255964279175, + -42.9512939453125 + ], + [ + -0.35209932923316956, + -0.06193744018673897, + -0.9339110255241394, + -24.341163635253906 + ], + [ + -0.007681953255087137, + -0.9975832104682922, + 0.0690564289689064, + -20.840335845947266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2951, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_42268276", + "mask_path": "../../mask/hdr_front_02951.png" + }, + { + "file_path": "../../rgb/hdr_front_02952.png", + "transform_matrix": [ + [ + -0.9401331543922424, + 0.034088414162397385, + 0.3390982747077942, + -42.98891067504883 + ], + [ + -0.3405841290950775, + -0.05796714127063751, + -0.9384253621101379, + -24.239084243774414 + ], + [ + -0.012332881800830364, + -0.997736394405365, + 0.06610680371522903, + -20.84614372253418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2952, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_142269372", + "mask_path": "../../mask/hdr_front_02952.png" + }, + { + "file_path": "../../rgb/hdr_front_02953.png", + "transform_matrix": [ + [ + -0.9392237663269043, + 0.042277801781892776, + 0.3406923711299896, + -43.03923034667969 + ], + [ + -0.34270456433296204, + -0.056767795234918594, + -0.9377265572547913, + -24.13134002685547 + ], + [ + -0.020304661244153976, + -0.9974918961524963, + 0.06780645996332169, + -20.86658477783203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2953, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_242268323", + "mask_path": "../../mask/hdr_front_02953.png" + }, + { + "file_path": "../../rgb/hdr_front_02954.png", + "transform_matrix": [ + [ + -0.9364067912101746, + 0.04455574229359627, + 0.3480762243270874, + -43.072811126708984 + ], + [ + -0.35016125440597534, + -0.053603027015924454, + -0.9351544976234436, + -24.056970596313477 + ], + [ + -0.02300856076180935, + -0.9975677728652954, + 0.06579593569040298, + -20.878938674926758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2954, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_342268466", + "mask_path": "../../mask/hdr_front_02954.png" + }, + { + "file_path": "../../rgb/hdr_front_02955.png", + "transform_matrix": [ + [ + -0.9358534812927246, + 0.04425683990120888, + 0.34959933161735535, + -43.106903076171875 + ], + [ + -0.3517250418663025, + -0.056418146938085556, + -0.9344016909599304, + -23.95709228515625 + ], + [ + -0.02162991836667061, + -0.9974258542060852, + 0.06836535036563873, + -20.889127731323242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2955, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_442267656", + "mask_path": "../../mask/hdr_front_02955.png" + }, + { + "file_path": "../../rgb/hdr_front_02956.png", + "transform_matrix": [ + [ + -0.9396928548812866, + 0.043516796082258224, + 0.3392398953437805, + -43.13577651977539 + ], + [ + -0.3413010537624359, + -0.05505126714706421, + -0.9383405447006226, + -23.848474502563477 + ], + [ + -0.02215798757970333, + -0.9975348114967346, + 0.06658361852169037, + -20.88397789001465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2956, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_542267560", + "mask_path": "../../mask/hdr_front_02956.png" + }, + { + "file_path": "../../rgb/hdr_front_02957.png", + "transform_matrix": [ + [ + -0.9455764293670654, + 0.03927360475063324, + 0.3230211138725281, + -43.145938873291016 + ], + [ + -0.32471272349357605, + -0.04940680414438248, + -0.9445213675498962, + -23.778690338134766 + ], + [ + -0.021135317161679268, + -0.9980063438415527, + 0.05947055295109749, + -20.876659393310547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2957, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_642268419", + "mask_path": "../../mask/hdr_front_02957.png" + }, + { + "file_path": "../../rgb/hdr_front_02958.png", + "transform_matrix": [ + [ + -0.9499313235282898, + 0.03956901654601097, + 0.30994296073913574, + -43.1707878112793 + ], + [ + -0.31157559156417847, + -0.04543868824839592, + -0.949134349822998, + -23.683067321777344 + ], + [ + -0.023472905158996582, + -0.9981831908226013, + 0.055492378771305084, + -20.88477325439453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2958, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_742267847", + "mask_path": "../../mask/hdr_front_02958.png" + }, + { + "file_path": "../../rgb/hdr_front_02959.png", + "transform_matrix": [ + [ + -0.9506956338882446, + 0.046715300530195236, + 0.3065868020057678, + -43.206947326660156 + ], + [ + -0.3086830973625183, + -0.04730655625462532, + -0.9499877691268921, + -23.576072692871094 + ], + [ + -0.029875393956899643, + -0.9977874755859375, + 0.05939435586333275, + -20.90622901916504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2959, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_842267513", + "mask_path": "../../mask/hdr_front_02959.png" + }, + { + "file_path": "../../rgb/hdr_front_02960.png", + "transform_matrix": [ + [ + -0.950736403465271, + 0.04840296134352684, + 0.3061981797218323, + -43.22825622558594 + ], + [ + -0.3083896338939667, + -0.04711822792887688, + -0.9500924944877625, + -23.500043869018555 + ], + [ + -0.031559769064188004, + -0.9977158904075623, + 0.05972398445010185, + -20.917871475219727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2960, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_942267179", + "mask_path": "../../mask/hdr_front_02960.png" + }, + { + "file_path": "../../rgb/hdr_front_02961.png", + "transform_matrix": [ + [ + -0.9519941210746765, + 0.04526187852025032, + 0.302751749753952, + -43.2532958984375 + ], + [ + -0.3048751950263977, + -0.05121936649084091, + -0.9510141015052795, + -23.401235580444336 + ], + [ + -0.027537928894162178, + -0.9976612329483032, + 0.06255975365638733, + -20.923250198364258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2961, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_42268276", + "mask_path": "../../mask/hdr_front_02961.png" + }, + { + "file_path": "../../rgb/hdr_front_02962.png", + "transform_matrix": [ + [ + -0.9549729824066162, + 0.04206584393978119, + 0.2936953008174896, + -43.27794647216797 + ], + [ + -0.2957168519496918, + -0.054740745574235916, + -0.9537059664726257, + -23.297176361083984 + ], + [ + -0.024041349068284035, + -0.9976141452789307, + 0.06471552699804306, + -20.922683715820312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2962, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_142267704", + "mask_path": "../../mask/hdr_front_02962.png" + }, + { + "file_path": "../../rgb/hdr_front_02963.png", + "transform_matrix": [ + [ + -0.9587840437889099, + 0.03676494210958481, + 0.28174707293510437, + -43.290626525878906 + ], + [ + -0.28340405225753784, + -0.05262913182377815, + -0.9575554728507996, + -23.23701286315918 + ], + [ + -0.02037636563181877, + -0.9979371428489685, + 0.060879308730363846, + -20.925344467163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2963, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_242267370", + "mask_path": "../../mask/hdr_front_02963.png" + }, + { + "file_path": "../../rgb/hdr_front_02964.png", + "transform_matrix": [ + [ + -0.9589712619781494, + 0.03150075674057007, + 0.28174805641174316, + -43.32533645629883 + ], + [ + -0.2830699682235718, + -0.05145055428147316, + -0.9577182531356812, + -23.14160919189453 + ], + [ + -0.015672756358981133, + -0.9981786012649536, + 0.05825651437044144, + -20.93568229675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2964, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_342267036", + "mask_path": "../../mask/hdr_front_02964.png" + }, + { + "file_path": "../../rgb/hdr_front_02965.png", + "transform_matrix": [ + [ + -0.9533333778381348, + 0.034268513321876526, + 0.29996830224990845, + -43.37627029418945 + ], + [ + -0.3014860153198242, + -0.054835207760334015, + -0.9518924355506897, + -23.03795051574707 + ], + [ + -0.016171110793948174, + -0.9979072213172913, + 0.06260771304368973, + -20.949478149414062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2965, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_442268610", + "mask_path": "../../mask/hdr_front_02965.png" + }, + { + "file_path": "../../rgb/hdr_front_02966.png", + "transform_matrix": [ + [ + -0.9444290995597839, + 0.03375476598739624, + 0.32697752118110657, + -43.41327667236328 + ], + [ + -0.32845303416252136, + -0.057181429117918015, + -0.9427878856658936, + -22.969755172729492 + ], + [ + -0.013126539066433907, + -0.9977930784225464, + 0.06509065628051758, + -20.964767456054688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2966, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_542266368", + "mask_path": "../../mask/hdr_front_02966.png" + }, + { + "file_path": "../../rgb/hdr_front_02967.png", + "transform_matrix": [ + [ + -0.935509979724884, + 0.02848496288061142, + 0.35215023159980774, + -43.453025817871094 + ], + [ + -0.3532715141773224, + -0.06267616152763367, + -0.9334190487861633, + -22.878742218017578 + ], + [ + -0.0045169806107878685, + -0.9976273775100708, + 0.06869710236787796, + -20.9751033782959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2967, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_642267942", + "mask_path": "../../mask/hdr_front_02967.png" + }, + { + "file_path": "../../rgb/hdr_front_02968.png", + "transform_matrix": [ + [ + -0.9294331073760986, + 0.023845365270972252, + 0.36821937561035156, + -43.492671966552734 + ], + [ + -0.3689868152141571, + -0.06458622962236404, + -0.9271878600120544, + -22.776670455932617 + ], + [ + 0.0016727654729038477, + -0.9976272583007812, + 0.06882720440626144, + -20.971752166748047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2968, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_742267608", + "mask_path": "../../mask/hdr_front_02968.png" + }, + { + "file_path": "../../rgb/hdr_front_02969.png", + "transform_matrix": [ + [ + -0.9247057437896729, + 0.016414321959018707, + 0.3803287446498871, + -43.51924514770508 + ], + [ + -0.3805740475654602, + -0.06373558938503265, + -0.9225514531135559, + -22.713420867919922 + ], + [ + 0.009097420610487461, + -0.9978318810462952, + 0.06518352031707764, + -20.96945571899414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2969, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_842267036", + "mask_path": "../../mask/hdr_front_02969.png" + }, + { + "file_path": "../../rgb/hdr_front_02970.png", + "transform_matrix": [ + [ + -0.9186280965805054, + 0.016263974830508232, + 0.39478835463523865, + -43.56459426879883 + ], + [ + -0.3949865996837616, + -0.06406581401824951, + -0.9164503216743469, + -22.631446838378906 + ], + [ + 0.01038731075823307, + -0.9978131651878357, + 0.06527671217918396, + -20.98394203186035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2970, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_942267417", + "mask_path": "../../mask/hdr_front_02970.png" + }, + { + "file_path": "../../rgb/hdr_front_02971.png", + "transform_matrix": [ + [ + -0.9100682735443115, + 0.02219570055603981, + 0.4138636291027069, + -43.62397384643555 + ], + [ + -0.41437023878097534, + -0.06931804865598679, + -0.9074648022651672, + -22.533226013183594 + ], + [ + 0.00854640081524849, + -0.9973477125167847, + 0.07228139042854309, + -21.00713348388672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2971, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_42267560", + "mask_path": "../../mask/hdr_front_02971.png" + }, + { + "file_path": "../../rgb/hdr_front_02972.png", + "transform_matrix": [ + [ + -0.8993443846702576, + 0.02223237417638302, + 0.43667545914649963, + -43.67068099975586 + ], + [ + -0.4370874762535095, + -0.07218091189861298, + -0.8965178728103638, + -22.463741302490234 + ], + [ + 0.011587911285459995, + -0.9971438646316528, + 0.07463297992944717, + -21.01643943786621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2972, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_142267465", + "mask_path": "../../mask/hdr_front_02972.png" + }, + { + "file_path": "../../rgb/hdr_front_02973.png", + "transform_matrix": [ + [ + -0.8888939023017883, + 0.016042005270719528, + 0.45783206820487976, + -43.7233772277832 + ], + [ + -0.45757272839546204, + -0.07961588352918625, + -0.8856006860733032, + -22.381595611572266 + ], + [ + 0.022243892773985863, + -0.9966965317726135, + 0.0781104564666748, + -21.033113479614258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2973, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_242267608", + "mask_path": "../../mask/hdr_front_02973.png" + }, + { + "file_path": "../../rgb/hdr_front_02974.png", + "transform_matrix": [ + [ + -0.8833103775978088, + 0.015821730718016624, + 0.4685215353965759, + -43.779945373535156 + ], + [ + -0.46804386377334595, + -0.08607508987188339, + -0.8795033097267151, + -22.28655242919922 + ], + [ + 0.02641277015209198, + -0.996163010597229, + 0.08343629539012909, + -21.036357879638672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2974, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_342268466", + "mask_path": "../../mask/hdr_front_02974.png" + }, + { + "file_path": "../../rgb/hdr_front_02975.png", + "transform_matrix": [ + [ + -0.8808222413063049, + 0.011269284412264824, + 0.4733128845691681, + -43.818878173828125 + ], + [ + -0.4723525047302246, + -0.08885681629180908, + -0.8769193291664124, + -22.221521377563477 + ], + [ + 0.03217482194304466, + -0.9959806799888611, + 0.08359013497829437, + -21.0338077545166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2975, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_442268133", + "mask_path": "../../mask/hdr_front_02975.png" + }, + { + "file_path": "../../rgb/hdr_front_02976.png", + "transform_matrix": [ + [ + -0.8784871101379395, + 0.018083466216921806, + 0.4774238169193268, + -43.86616897583008 + ], + [ + -0.4772319793701172, + -0.08045504242181778, + -0.8750866055488586, + -22.153493881225586 + ], + [ + 0.022586552426218987, + -0.996594250202179, + 0.07930871844291687, + -21.039812088012695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2976, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_542267322", + "mask_path": "../../mask/hdr_front_02976.png" + }, + { + "file_path": "../../rgb/hdr_front_02977.png", + "transform_matrix": [ + [ + -0.8744281530380249, + 0.029356857761740685, + 0.4842659831047058, + -43.93262481689453 + ], + [ + -0.4849690794944763, + -0.0805189236998558, + -0.8708167672157288, + -22.057645797729492 + ], + [ + 0.013428130187094212, + -0.9963206648826599, + 0.08464518189430237, + -21.067655563354492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2977, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_642267704", + "mask_path": "../../mask/hdr_front_02977.png" + }, + { + "file_path": "../../rgb/hdr_front_02978.png", + "transform_matrix": [ + [ + -0.8698711395263672, + 0.03479154035449028, + 0.4920505881309509, + -43.98589324951172 + ], + [ + -0.4931888282299042, + -0.08042451739311218, + -0.8661968111991882, + -21.9905948638916 + ], + [ + 0.009436612948775291, + -0.9961534142494202, + 0.0871177613735199, + -21.07955551147461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2978, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_742267847", + "mask_path": "../../mask/hdr_front_02978.png" + }, + { + "file_path": "../../rgb/hdr_front_02979.png", + "transform_matrix": [ + [ + -0.8661013841629028, + 0.030147211626172066, + 0.49895840883255005, + -44.0369758605957 + ], + [ + -0.49967119097709656, + -0.08024368435144424, + -0.8624904155731201, + -21.932058334350586 + ], + [ + 0.014036576263606548, + -0.9963193535804749, + 0.08456284552812576, + -21.090274810791016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2979, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_842268466", + "mask_path": "../../mask/hdr_front_02979.png" + }, + { + "file_path": "../../rgb/hdr_front_02980.png", + "transform_matrix": [ + [ + -0.8660988807678223, + 0.03726447373628616, + 0.49848175048828125, + -44.09856414794922 + ], + [ + -0.4997418522834778, + -0.08736366778612137, + -0.8617573380470276, + -21.853071212768555 + ], + [ + 0.011436260305345058, + -0.9954792857170105, + 0.0942881852388382, + -21.102733612060547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2980, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_942268848", + "mask_path": "../../mask/hdr_front_02980.png" + }, + { + "file_path": "../../rgb/hdr_front_02981.png", + "transform_matrix": [ + [ + -0.8694970011711121, + 0.04314425587654114, + 0.49205029010772705, + -44.148380279541016 + ], + [ + -0.4938942790031433, + -0.0892193391919136, + -0.8649325966835022, + -21.769174575805664 + ], + [ + 0.006583523936569691, + -0.9950772523880005, + 0.09888465702533722, + -21.101999282836914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2981, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_42267322", + "mask_path": "../../mask/hdr_front_02981.png" + }, + { + "file_path": "../../rgb/hdr_front_02982.png", + "transform_matrix": [ + [ + -0.8744730353355408, + 0.039625972509384155, + 0.48345282673835754, + -44.1873779296875 + ], + [ + -0.4850269556045532, + -0.08532177656888962, + -0.8703269958496094, + -21.700912475585938 + ], + [ + 0.006761503405869007, + -0.9955651760101318, + 0.09383127093315125, + -21.103809356689453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2982, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_142268419", + "mask_path": "../../mask/hdr_front_02982.png" + }, + { + "file_path": "../../rgb/hdr_front_02983.png", + "transform_matrix": [ + [ + -0.8762698769569397, + 0.04562386870384216, + 0.4796556234359741, + -44.25516128540039 + ], + [ + -0.4818204343318939, + -0.08235009014606476, + -0.8723918795585632, + -21.590539932250977 + ], + [ + -0.00030220765620470047, + -0.9955585598945618, + 0.09414342045783997, + -21.124229431152344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2983, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_242267608", + "mask_path": "../../mask/hdr_front_02983.png" + }, + { + "file_path": "../../rgb/hdr_front_02984.png", + "transform_matrix": [ + [ + -0.8745220899581909, + 0.056596603244543076, + 0.48167189955711365, + -44.32135772705078 + ], + [ + -0.4848695993423462, + -0.08031360059976578, + -0.8708910346031189, + -21.490468978881836 + ], + [ + -0.010604665614664555, + -0.9951615929603577, + 0.09767799824476242, + -21.15279197692871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2984, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_342267990", + "mask_path": "../../mask/hdr_front_02984.png" + }, + { + "file_path": "../../rgb/hdr_front_02985.png", + "transform_matrix": [ + [ + -0.8724464774131775, + 0.05690336972475052, + 0.4853854775428772, + -44.37253189086914 + ], + [ + -0.48855534195899963, + -0.07659979164600372, + -0.8691640496253967, + -21.41551399230957 + ], + [ + -0.012277936562895775, + -0.9954368472099304, + 0.09462966024875641, + -21.168476104736328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2985, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_442272424", + "mask_path": "../../mask/hdr_front_02985.png" + }, + { + "file_path": "../../rgb/hdr_front_02986.png", + "transform_matrix": [ + [ + -0.8735705614089966, + 0.06400423496961594, + 0.48247066140174866, + -44.43060302734375 + ], + [ + -0.4864022433757782, + -0.0802854374051094, + -0.8700385093688965, + -21.31525230407715 + ], + [ + -0.016950778663158417, + -0.9947149157524109, + 0.10126679390668869, + -21.17957305908203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2986, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_542267560", + "mask_path": "../../mask/hdr_front_02986.png" + }, + { + "file_path": "../../rgb/hdr_front_02987.png", + "transform_matrix": [ + [ + -0.87896728515625, + 0.06581275165081024, + 0.4723189175128937, + -44.478633880615234 + ], + [ + -0.47653210163116455, + -0.08328024297952652, + -0.8752037882804871, + -21.21242904663086 + ], + [ + -0.018264735117554665, + -0.9943506121635437, + 0.10456249117851257, + -21.18169403076172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2987, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_642267942", + "mask_path": "../../mask/hdr_front_02987.png" + }, + { + "file_path": "../../rgb/hdr_front_02988.png", + "transform_matrix": [ + [ + -0.886578381061554, + 0.0584099255502224, + 0.458875834941864, + -44.512149810791016 + ], + [ + -0.462343692779541, + -0.08030074089765549, + -0.8830572366714478, + -21.144487380981445 + ], + [ + -0.01473123487085104, + -0.9950578808784485, + 0.09819836914539337, + -21.18619728088379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2988, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_742267131", + "mask_path": "../../mask/hdr_front_02988.png" + }, + { + "file_path": "../../rgb/hdr_front_02989.png", + "transform_matrix": [ + [ + -0.8908725380897522, + 0.05975405499339104, + 0.4503059685230255, + -44.571842193603516 + ], + [ + -0.45394167304039, + -0.08039896190166473, + -0.8873966932296753, + -21.034452438354492 + ], + [ + -0.016821421682834625, + -0.9949700832366943, + 0.09875009953975677, + -21.202524185180664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2989, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_842266559", + "mask_path": "../../mask/hdr_front_02989.png" + }, + { + "file_path": "../../rgb/hdr_front_02990.png", + "transform_matrix": [ + [ + -0.8908621072769165, + 0.06595667451620102, + 0.4494602382183075, + -44.63572311401367 + ], + [ + -0.45375344157218933, + -0.08184976875782013, + -0.8873603343963623, + -20.928630828857422 + ], + [ + -0.02173912525177002, + -0.994459867477417, + 0.10284490883350372, + -21.22892189025879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2990, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_942264080", + "mask_path": "../../mask/hdr_front_02990.png" + }, + { + "file_path": "../../rgb/hdr_front_02991.png", + "transform_matrix": [ + [ + -0.8891752362251282, + 0.06256096065044403, + 0.45326969027519226, + -44.679927825927734 + ], + [ + -0.45714667439460754, + -0.07902967929840088, + -0.8858731389045715, + -20.858030319213867 + ], + [ + -0.019599322229623795, + -0.9949072599411011, + 0.09887076914310455, + -21.239492416381836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2991, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_42266607", + "mask_path": "../../mask/hdr_front_02991.png" + }, + { + "file_path": "../../rgb/hdr_front_02992.png", + "transform_matrix": [ + [ + -0.8896278738975525, + 0.06209183111786842, + 0.45244547724723816, + -44.73429489135742 + ], + [ + -0.456290066242218, + -0.07959050685167313, + -0.8862645030021667, + -20.755571365356445 + ], + [ + -0.01901940628886223, + -0.9948919415473938, + 0.0991378054022789, + -21.24856948852539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2992, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_142266988", + "mask_path": "../../mask/hdr_front_02992.png" + }, + { + "file_path": "../../rgb/hdr_front_02993.png", + "transform_matrix": [ + [ + -0.8948383331298828, + 0.05721971020102501, + 0.4427078366279602, + -44.78327560424805 + ], + [ + -0.4461556375026703, + -0.082491435110569, + -0.8911455273628235, + -20.64802360534668 + ], + [ + -0.014471479691565037, + -0.9949477910995483, + 0.09934540092945099, + -21.25021743774414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2993, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_242267131", + "mask_path": "../../mask/hdr_front_02993.png" + }, + { + "file_path": "../../rgb/hdr_front_02994.png", + "transform_matrix": [ + [ + -0.9023731350898743, + 0.050052009522914886, + 0.4280392527580261, + -44.813629150390625 + ], + [ + -0.43081754446029663, + -0.0796254351735115, + -0.8989193439483643, + -20.582210540771484 + ], + [ + -0.01090991124510765, + -0.9955675005912781, + 0.09341514110565186, + -21.251283645629883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2994, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_342266321", + "mask_path": "../../mask/hdr_front_02994.png" + }, + { + "file_path": "../../rgb/hdr_front_02995.png", + "transform_matrix": [ + [ + -0.907730221748352, + 0.049296896904706955, + 0.4166482090950012, + -44.86774826049805 + ], + [ + -0.41932934522628784, + -0.07407603412866592, + -0.9048069715499878, + -20.471010208129883 + ], + [ + -0.013740533031523228, + -0.9960333704948425, + 0.0879126787185669, + -21.261756896972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2995, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_442268133", + "mask_path": "../../mask/hdr_front_02995.png" + }, + { + "file_path": "../../rgb/hdr_front_02996.png", + "transform_matrix": [ + [ + -0.9084392189979553, + 0.055932920426130295, + 0.41425803303718567, + -44.928157806396484 + ], + [ + -0.41751182079315186, + -0.07269858568906784, + -0.9057587385177612, + -20.358335494995117 + ], + [ + -0.020545758306980133, + -0.995784342288971, + 0.08939488977193832, + -21.283336639404297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2996, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_542268037", + "mask_path": "../../mask/hdr_front_02996.png" + }, + { + "file_path": "../../rgb/hdr_front_02997.png", + "transform_matrix": [ + [ + -0.9076047539710999, + 0.05703096464276314, + 0.4159340262413025, + -44.96916198730469 + ], + [ + -0.41920536756515503, + -0.06926892697811127, + -0.9052451252937317, + -20.281824111938477 + ], + [ + -0.02281569130718708, + -0.9959664940834045, + 0.0867764875292778, + -21.29828453063965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2997, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_642267227", + "mask_path": "../../mask/hdr_front_02997.png" + }, + { + "file_path": "../../rgb/hdr_front_02998.png", + "transform_matrix": [ + [ + -0.9083206057548523, + 0.05738791823387146, + 0.41431912779808044, + -45.010215759277344 + ], + [ + -0.4176342785358429, + -0.0696401596069336, + -0.9059425592422485, + -20.186542510986328 + ], + [ + -0.02313690073788166, + -0.9959201216697693, + 0.08722275495529175, + -21.307247161865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2998, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_742267131", + "mask_path": "../../mask/hdr_front_02998.png" + }, + { + "file_path": "../../rgb/hdr_front_02999.png", + "transform_matrix": [ + [ + -0.9121831059455872, + 0.05347969010472298, + 0.40627795457839966, + -45.049564361572266 + ], + [ + -0.40932556986808777, + -0.07209819555282593, + -0.90953528881073, + -20.077159881591797 + ], + [ + -0.019349755719304085, + -0.9959627985954285, + 0.08765736222267151, + -21.303943634033203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2999, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_842265844", + "mask_path": "../../mask/hdr_front_02999.png" + }, + { + "file_path": "../../rgb/hdr_front_03000.png", + "transform_matrix": [ + [ + -0.9169610738754272, + 0.0486595556139946, + 0.39599817991256714, + -45.07426071166992 + ], + [ + -0.3986399471759796, + -0.07097586244344711, + -0.9143570065498352, + -20.000967025756836 + ], + [ + -0.016385886818170547, + -0.9962904453277588, + 0.08447974175214767, + -21.30472183227539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3000, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_942266941", + "mask_path": "../../mask/hdr_front_03000.png" + }, + { + "file_path": "../../rgb/hdr_front_03001.png", + "transform_matrix": [ + [ + -0.9190649390220642, + 0.052939847111701965, + 0.39053431153297424, + -45.10947799682617 + ], + [ + -0.3935168385505676, + -0.06910296529531479, + -0.9167166352272034, + -19.903310775756836 + ], + [ + -0.02154375985264778, + -0.9962039589881897, + 0.0843428447842598, + -21.318328857421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3001, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_42266845", + "mask_path": "../../mask/hdr_front_03001.png" + }, + { + "file_path": "../../rgb/hdr_front_03002.png", + "transform_matrix": [ + [ + -0.9173775911331177, + 0.06028599292039871, + 0.39342576265335083, + -45.15726089477539 + ], + [ + -0.39695844054222107, + -0.06650780886411667, + -0.9154238104820251, + -19.794530868530273 + ], + [ + -0.02902134507894516, + -0.9959629774093628, + 0.08494381606578827, + -21.339906692504883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3002, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_142267227", + "mask_path": "../../mask/hdr_front_03002.png" + }, + { + "file_path": "../../rgb/hdr_front_03003.png", + "transform_matrix": [ + [ + -0.9156023263931274, + 0.06326770782470703, + 0.3970766067504883, + -45.18855667114258 + ], + [ + -0.4006623327732086, + -0.060548700392246246, + -0.9142229557037354, + -19.71375846862793 + ], + [ + -0.03379831835627556, + -0.996158242225647, + 0.08078750967979431, + -21.354890823364258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3003, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_242266893", + "mask_path": "../../mask/hdr_front_03003.png" + }, + { + "file_path": "../../rgb/hdr_front_03004.png", + "transform_matrix": [ + [ + -0.9159382581710815, + 0.06379550695419312, + 0.3962160348892212, + -45.22579574584961 + ], + [ + -0.3998681604862213, + -0.06119883805513382, + -0.9145272970199585, + -19.603458404541016 + ], + [ + -0.03409477323293686, + -0.9960847496986389, + 0.08156415820121765, + -21.365209579467773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3004, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_342267751", + "mask_path": "../../mask/hdr_front_03004.png" + }, + { + "file_path": "../../rgb/hdr_front_03005.png", + "transform_matrix": [ + [ + -0.9202948212623596, + 0.06010129302740097, + 0.38658154010772705, + -45.26068115234375 + ], + [ + -0.3900519907474518, + -0.06447378545999527, + -0.9185329079627991, + -19.495336532592773 + ], + [ + -0.03028063289821148, + -0.9961079359054565, + 0.08277752995491028, + -21.364648818969727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3005, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_442267656", + "mask_path": "../../mask/hdr_front_03005.png" + }, + { + "file_path": "../../rgb/hdr_front_03006.png", + "transform_matrix": [ + [ + -0.9273707270622253, + 0.05231795087456703, + 0.3704676926136017, + -45.2813720703125 + ], + [ + -0.3733386993408203, + -0.06448269635438919, + -0.925451397895813, + -19.428876876831055 + ], + [ + -0.02452896535396576, + -0.9965464472770691, + 0.07933168113231659, + -21.370344161987305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3006, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_542268037", + "mask_path": "../../mask/hdr_front_03006.png" + }, + { + "file_path": "../../rgb/hdr_front_03007.png", + "transform_matrix": [ + [ + -0.9316821098327637, + 0.0491386353969574, + 0.3599359095096588, + -45.32835388183594 + ], + [ + -0.36265814304351807, + -0.0681123360991478, + -0.9294297695159912, + -19.32071304321289 + ], + [ + -0.021154839545488358, + -0.996466875076294, + 0.08127957582473755, + -21.38286590576172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3007, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_642267465", + "mask_path": "../../mask/hdr_front_03007.png" + }, + { + "file_path": "../../rgb/hdr_front_03008.png", + "transform_matrix": [ + [ + -0.930647611618042, + 0.05269259214401245, + 0.36210280656814575, + -45.38298034667969 + ], + [ + -0.36518922448158264, + -0.07138370722532272, + -0.9281925559043884, + -19.209945678710938 + ], + [ + -0.023060627281665802, + -0.9960561394691467, + 0.08567583560943604, + -21.400402069091797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3008, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_742267370", + "mask_path": "../../mask/hdr_front_03008.png" + }, + { + "file_path": "../../rgb/hdr_front_03009.png", + "transform_matrix": [ + [ + -0.9282278418540955, + 0.050649579614400864, + 0.368548184633255, + -45.42089080810547 + ], + [ + -0.3713933825492859, + -0.06904464215040207, + -0.9259049296379089, + -19.134923934936523 + ], + [ + -0.021450407803058624, + -0.9963269829750061, + 0.08290008455514908, + -21.41522216796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3009, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_842267990", + "mask_path": "../../mask/hdr_front_03009.png" + }, + { + "file_path": "../../rgb/hdr_front_03010.png", + "transform_matrix": [ + [ + -0.9281339645385742, + 0.05209119990468025, + 0.36858347058296204, + -45.458953857421875 + ], + [ + -0.3716607093811035, + -0.07416318356990814, + -0.9254016280174255, + -19.038475036621094 + ], + [ + -0.02086995728313923, + -0.9958847165107727, + 0.0881936252117157, + -21.42620277404785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3010, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_942268133", + "mask_path": "../../mask/hdr_front_03010.png" + }, + { + "file_path": "../../rgb/hdr_front_03011.png", + "transform_matrix": [ + [ + -0.9312270283699036, + 0.05229659751057625, + 0.36066773533821106, + -45.49134826660156 + ], + [ + -0.3638491630554199, + -0.07710419595241547, + -0.9282612204551697, + -18.941814422607422 + ], + [ + -0.020735902711749077, + -0.995650589466095, + 0.09082958847284317, + -21.42364501953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3011, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_42267560", + "mask_path": "../../mask/hdr_front_03011.png" + }, + { + "file_path": "../../rgb/hdr_front_03012.png", + "transform_matrix": [ + [ + -0.9355780482292175, + 0.04540225863456726, + 0.3501891791820526, + -45.51545715332031 + ], + [ + -0.3527415692806244, + -0.0742521658539772, + -0.9327701330184937, + -18.87715721130371 + ], + [ + -0.01634756289422512, + -0.9962054491043091, + 0.08548395335674286, + -21.418338775634766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3012, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_142267465", + "mask_path": "../../mask/hdr_front_03012.png" + }, + { + "file_path": "../../rgb/hdr_front_03013.png", + "transform_matrix": [ + [ + -0.9362649917602539, + 0.04347078874707222, + 0.3485945165157318, + -45.562416076660156 + ], + [ + -0.3509739935398102, + -0.07337132841348648, + -0.9335062503814697, + -18.777009963989258 + ], + [ + -0.015003410167992115, + -0.9963569045066833, + 0.08395211398601532, + -21.42860221862793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3013, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_242267131", + "mask_path": "../../mask/hdr_front_03013.png" + }, + { + "file_path": "../../rgb/hdr_front_03014.png", + "transform_matrix": [ + [ + -0.9331634640693665, + 0.04565342143177986, + 0.35654115676879883, + -45.60965347290039 + ], + [ + -0.35909655690193176, + -0.07429388910531998, + -0.9303387403488159, + -18.684091567993164 + ], + [ + -0.015984313562512398, + -0.9961908459663391, + 0.08572233468294144, + -21.44780158996582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3014, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_342267513", + "mask_path": "../../mask/hdr_front_03014.png" + }, + { + "file_path": "../../rgb/hdr_front_03015.png", + "transform_matrix": [ + [ + -0.9302883744239807, + 0.04145351052284241, + 0.3644792437553406, + -45.643531799316406 + ], + [ + -0.36662232875823975, + -0.07171841710805893, + -0.9276015758514404, + -18.61355972290039 + ], + [ + -0.01231246255338192, + -0.9965631365776062, + 0.08191658556461334, + -21.46499252319336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3015, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_442266941", + "mask_path": "../../mask/hdr_front_03015.png" + }, + { + "file_path": "../../rgb/hdr_front_03016.png", + "transform_matrix": [ + [ + -0.9297478199005127, + 0.04221370071172714, + 0.3657689690589905, + -45.68279266357422 + ], + [ + -0.36800509691238403, + -0.0744805559515953, + -0.9268359541893005, + -18.513843536376953 + ], + [ + -0.011882500723004341, + -0.9963286519050598, + 0.08478299528360367, + -21.46770477294922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3016, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_542267799", + "mask_path": "../../mask/hdr_front_03016.png" + }, + { + "file_path": "../../rgb/hdr_front_03017.png", + "transform_matrix": [ + [ + -0.931568443775177, + 0.04075388237833977, + 0.36127445101737976, + -45.71339416503906 + ], + [ + -0.36339879035949707, + -0.07425890862941742, + -0.9286694526672363, + -18.428058624267578 + ], + [ + -0.011019036173820496, + -0.9964058995246887, + 0.08398716151714325, + -21.466428756713867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3017, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_642268896", + "mask_path": "../../mask/hdr_front_03017.png" + }, + { + "file_path": "../../rgb/hdr_front_03018.png", + "transform_matrix": [ + [ + -0.9332389831542969, + 0.032618261873722076, + 0.3577724099159241, + -45.738712310791016 + ], + [ + -0.35921040177345276, + -0.06881491094827652, + -0.9307160973548889, + -18.36402702331543 + ], + [ + -0.005738266743719578, + -0.997096061706543, + 0.07593757659196854, + -21.461599349975586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3018, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_742267608", + "mask_path": "../../mask/hdr_front_03018.png" + }, + { + "file_path": "../../rgb/hdr_front_03019.png", + "transform_matrix": [ + [ + -0.9287481307983398, + 0.03754193335771561, + 0.3688056170940399, + -45.78274917602539 + ], + [ + -0.37061411142349243, + -0.07123857736587524, + -0.9260509014129639, + -18.271276473999023 + ], + [ + -0.008492552675306797, + -0.9967525601387024, + 0.08007626235485077, + -21.479469299316406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3019, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_842267274", + "mask_path": "../../mask/hdr_front_03019.png" + }, + { + "file_path": "../../rgb/hdr_front_03020.png", + "transform_matrix": [ + [ + -0.9219048619270325, + 0.04346148297190666, + 0.38497087359428406, + -45.826839447021484 + ], + [ + -0.3872295320034027, + -0.07251165062189102, + -0.9191275238990784, + -18.185806274414062 + ], + [ + -0.012031766586005688, + -0.9964202046394348, + 0.08367840945720673, + -21.500282287597656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3020, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_942267894", + "mask_path": "../../mask/hdr_front_03020.png" + }, + { + "file_path": "../../rgb/hdr_front_03021.png", + "transform_matrix": [ + [ + -0.9170714616775513, + 0.04042256996035576, + 0.39666876196861267, + -45.86219024658203 + ], + [ + -0.3986171782016754, + -0.07002582401037216, + -0.9144401550292969, + -18.10880470275879 + ], + [ + -0.009186960756778717, + -0.9967259168624878, + 0.08033180981874466, + -21.5148868560791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3021, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_42268037", + "mask_path": "../../mask/hdr_front_03021.png" + }, + { + "file_path": "../../rgb/hdr_front_03022.png", + "transform_matrix": [ + [ + -0.9167057871818542, + 0.04197555407881737, + 0.39735186100006104, + -45.901920318603516 + ], + [ + -0.399415522813797, + -0.06926625221967697, + -0.9141495823860168, + -18.00871467590332 + ], + [ + -0.01084885559976101, + -0.99671471118927, + 0.08026246726512909, + -21.51637840270996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3022, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_142267465", + "mask_path": "../../mask/hdr_front_03022.png" + }, + { + "file_path": "../../rgb/hdr_front_03023.png", + "transform_matrix": [ + [ + -0.917396068572998, + 0.03831585869193077, + 0.39612650871276855, + -45.925140380859375 + ], + [ + -0.3978712856769562, + -0.06554920226335526, + -0.9150965809822083, + -17.9418888092041 + ], + [ + -0.009096931666135788, + -0.9971134662628174, + 0.07537936419248581, + -21.505443572998047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3023, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_242267370", + "mask_path": "../../mask/hdr_front_03023.png" + }, + { + "file_path": "../../rgb/hdr_front_03024.png", + "transform_matrix": [ + [ + -0.9131452441215515, + 0.03588945046067238, + 0.4060513973236084, + -45.96600341796875 + ], + [ + -0.40755680203437805, + -0.06095457077026367, + -0.9111432433128357, + -17.870267868041992 + ], + [ + -0.00794974248856306, + -0.9974951148033142, + 0.07028736174106598, + -21.510175704956055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3024, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_342268466", + "mask_path": "../../mask/hdr_front_03024.png" + }, + { + "file_path": "../../rgb/hdr_front_03025.png", + "transform_matrix": [ + [ + -0.9005649089813232, + 0.035639699548482895, + 0.43325844407081604, + -46.03327178955078 + ], + [ + -0.434689998626709, + -0.061776790767908096, + -0.8984588980674744, + -17.77608871459961 + ], + [ + -0.005255489144474268, + -0.997453510761261, + 0.07112623006105423, + -21.530441284179688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3025, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_442267656", + "mask_path": "../../mask/hdr_front_03025.png" + }, + { + "file_path": "../../rgb/hdr_front_03026.png", + "transform_matrix": [ + [ + -0.8825976848602295, + 0.03512303903698921, + 0.4688153564929962, + -46.08782958984375 + ], + [ + -0.47012391686439514, + -0.061242859810590744, + -0.8804730176925659, + -17.71231460571289 + ], + [ + -0.00221329927444458, + -0.9975047707557678, + 0.07056498527526855, + -21.547447204589844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3026, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_542267799", + "mask_path": "../../mask/hdr_front_03026.png" + }, + { + "file_path": "../../rgb/hdr_front_03027.png", + "transform_matrix": [ + [ + -0.8640547394752502, + 0.03174061328172684, + 0.5023962259292603, + -46.140106201171875 + ], + [ + -0.503386378288269, + -0.06123409420251846, + -0.8618890047073364, + -17.638206481933594 + ], + [ + 0.0034068943932652473, + -0.9976187348365784, + 0.06888739764690399, + -21.552383422851562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3027, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_642267942", + "mask_path": "../../mask/hdr_front_03027.png" + }, + { + "file_path": "../../rgb/hdr_front_03028.png", + "transform_matrix": [ + [ + -0.8494205474853516, + 0.029796278104186058, + 0.5268746018409729, + -46.192283630371094 + ], + [ + -0.5276755094528198, + -0.06038803607225418, + -0.8472967743873596, + -17.555347442626953 + ], + [ + 0.006570631638169289, + -0.9977302551269531, + 0.06701760739088058, + -21.546096801757812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3028, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_742268323", + "mask_path": "../../mask/hdr_front_03028.png" + }, + { + "file_path": "../../rgb/hdr_front_03029.png", + "transform_matrix": [ + [ + -0.8380811810493469, + 0.021850258111953735, + 0.5451079607009888, + -46.232391357421875 + ], + [ + -0.5453758239746094, + -0.05849267542362213, + -0.8361483216285706, + -17.50623321533203 + ], + [ + 0.01361476443707943, + -0.998048722743988, + 0.06093820556998253, + -21.545940399169922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3029, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_842267751", + "mask_path": "../../mask/hdr_front_03029.png" + }, + { + "file_path": "../../rgb/hdr_front_03030.png", + "transform_matrix": [ + [ + -0.8280172348022461, + 0.02445959858596325, + 0.560168981552124, + -46.289581298828125 + ], + [ + -0.5605553388595581, + -0.05901739001274109, + -0.8260112404823303, + -17.437570571899414 + ], + [ + 0.01285580638796091, + -0.9979572296142578, + 0.06257837265729904, + -21.55869483947754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3030, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_942268610", + "mask_path": "../../mask/hdr_front_03030.png" + }, + { + "file_path": "../../rgb/hdr_front_03031.png", + "transform_matrix": [ + [ + -0.8187904953956604, + 0.031453218311071396, + 0.5732302665710449, + -46.35505676269531 + ], + [ + -0.5739992260932922, + -0.06285469979047775, + -0.8164399266242981, + -17.361103057861328 + ], + [ + 0.010350548662245274, + -0.997527003288269, + 0.06951894611120224, + -21.577573776245117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3031, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_42267799", + "mask_path": "../../mask/hdr_front_03031.png" + }, + { + "file_path": "../../rgb/hdr_front_03032.png", + "transform_matrix": [ + [ + -0.8097012639045715, + 0.03152715414762497, + 0.5859947204589844, + -46.407257080078125 + ], + [ + -0.5867416262626648, + -0.0619761124253273, + -0.8073989748954773, + -17.308027267456055 + ], + [ + 0.010862689465284348, + -0.9975796341896057, + 0.06868043541908264, + -21.58582878112793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3032, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_142266511", + "mask_path": "../../mask/hdr_front_03032.png" + }, + { + "file_path": "../../rgb/hdr_front_03033.png", + "transform_matrix": [ + [ + -0.8060876727104187, + 0.027199095115065575, + 0.5911708474159241, + -46.463809967041016 + ], + [ + -0.5916233062744141, + -0.06117574870586395, + -0.8038901686668396, + -17.242595672607422 + ], + [ + 0.014300236478447914, + -0.9977563619613647, + 0.06540463864803314, + -21.59505271911621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3033, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_242267847", + "mask_path": "../../mask/hdr_front_03033.png" + }, + { + "file_path": "../../rgb/hdr_front_03034.png", + "transform_matrix": [ + [ + -0.809444785118103, + 0.03298778459429741, + 0.5862687230110168, + -46.52731704711914 + ], + [ + -0.5870610475540161, + -0.06686617434024811, + -0.8067764639854431, + -17.154199600219727 + ], + [ + 0.01258777640759945, + -0.9972164630889893, + 0.07349032163619995, + -21.60434913635254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3034, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_342268466", + "mask_path": "../../mask/hdr_front_03034.png" + }, + { + "file_path": "../../rgb/hdr_front_03035.png", + "transform_matrix": [ + [ + -0.8140444755554199, + 0.0330827496945858, + 0.5798595547676086, + -46.57518768310547 + ], + [ + -0.5806387662887573, + -0.07006548345088959, + -0.8111408948898315, + -17.08713150024414 + ], + [ + 0.013793368823826313, + -0.9969936609268188, + 0.07624555379152298, + -21.60381317138672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3035, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_442268133", + "mask_path": "../../mask/hdr_front_03035.png" + }, + { + "file_path": "../../rgb/hdr_front_03036.png", + "transform_matrix": [ + [ + -0.8199446797370911, + 0.02898196317255497, + 0.5717085599899292, + -46.6231689453125 + ], + [ + -0.5723220109939575, + -0.062016066163778305, + -0.8176805973052979, + -17.030025482177734 + ], + [ + 0.011757131665945053, + -0.9976543188095093, + 0.06743676960468292, + -21.60268783569336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3036, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_542266845", + "mask_path": "../../mask/hdr_front_03036.png" + }, + { + "file_path": "../../rgb/hdr_front_03037.png", + "transform_matrix": [ + [ + -0.8223865032196045, + 0.034192875027656555, + 0.5679008960723877, + -46.70027542114258 + ], + [ + -0.5688996315002441, + -0.059607818722724915, + -0.8202438950538635, + -16.93393325805664 + ], + [ + 0.005804838612675667, + -0.9976361393928528, + 0.0684729814529419, + -21.622703552246094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3037, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_642267704", + "mask_path": "../../mask/hdr_front_03037.png" + }, + { + "file_path": "../../rgb/hdr_front_03038.png", + "transform_matrix": [ + [ + -0.8214197158813477, + 0.040450505912303925, + 0.5688877105712891, + -46.763179779052734 + ], + [ + -0.5703240633010864, + -0.05861329287290573, + -0.8193259835243225, + -16.860441207885742 + ], + [ + 0.00020223486353643239, + -0.9974609017372131, + 0.07121601700782776, + -21.643592834472656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3038, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_742267370", + "mask_path": "../../mask/hdr_front_03038.png" + }, + { + "file_path": "../../rgb/hdr_front_03039.png", + "transform_matrix": [ + [ + -0.8213261961936951, + 0.03945820778608322, + 0.5690926909446716, + -46.81119155883789 + ], + [ + -0.570458173751831, + -0.05526868253946304, + -0.8194650411605835, + -16.799602508544922 + ], + [ + -0.0008816231274977326, + -0.9976915717124939, + 0.06790287792682648, + -21.65605926513672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3039, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_842267274", + "mask_path": "../../mask/hdr_front_03039.png" + }, + { + "file_path": "../../rgb/hdr_front_03040.png", + "transform_matrix": [ + [ + -0.824414074420929, + 0.0455540232360363, + 0.564150869846344, + -46.86998748779297 + ], + [ + -0.5659500956535339, + -0.05493864417076111, + -0.8226070404052734, + -16.707801818847656 + ], + [ + -0.006479376927018166, + -0.997450053691864, + 0.0710734948515892, + -21.661399841308594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3040, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_942267417", + "mask_path": "../../mask/hdr_front_03040.png" + }, + { + "file_path": "../../rgb/hdr_front_03041.png", + "transform_matrix": [ + [ + -0.8295896649360657, + 0.04867090657353401, + 0.5562482476234436, + -46.91435241699219 + ], + [ + -0.5582785606384277, + -0.05392979457974434, + -0.8278988599777222, + -16.629993438720703 + ], + [ + -0.01029623206704855, + -0.9973578453063965, + 0.07191152125597, + -21.657257080078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3041, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_42267560", + "mask_path": "../../mask/hdr_front_03041.png" + }, + { + "file_path": "../../rgb/hdr_front_03042.png", + "transform_matrix": [ + [ + -0.8365876078605652, + 0.044264987111091614, + 0.5460420250892639, + -46.94686508178711 + ], + [ + -0.5477362871170044, + -0.04883529618382454, + -0.8352246284484863, + -16.57897186279297 + ], + [ + -0.010305086150765419, + -0.997825562953949, + 0.0651005357503891, + -21.657546997070312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3042, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_142266750", + "mask_path": "../../mask/hdr_front_03042.png" + }, + { + "file_path": "../../rgb/hdr_front_03043.png", + "transform_matrix": [ + [ + -0.8389135003089905, + 0.04810643941164017, + 0.5421345829963684, + -47.00782012939453 + ], + [ + -0.5440618991851807, + -0.04693247005343437, + -0.8377314209938049, + -16.489665985107422 + ], + [ + -0.014856561087071896, + -0.9977390170097351, + 0.06554515659809113, + -21.670103073120117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3043, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_242267608", + "mask_path": "../../mask/hdr_front_03043.png" + }, + { + "file_path": "../../rgb/hdr_front_03044.png", + "transform_matrix": [ + [ + -0.8356723785400391, + 0.055240873247385025, + 0.5464431047439575, + -47.06801986694336 + ], + [ + -0.5488048791885376, + -0.04493457451462746, + -0.8347418308258057, + -16.409080505371094 + ], + [ + -0.021557679399847984, + -0.9974614381790161, + 0.06786704063415527, + -21.687511444091797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3044, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_342267274", + "mask_path": "../../mask/hdr_front_03044.png" + }, + { + "file_path": "../../rgb/hdr_front_03045.png", + "transform_matrix": [ + [ + -0.8327656388282776, + 0.05417393147945404, + 0.5509687066078186, + -47.109619140625 + ], + [ + -0.5531951785087585, + -0.04218503087759018, + -0.8319829702377319, + -16.35153579711914 + ], + [ + -0.02182915061712265, + -0.997640073299408, + 0.06509900093078613, + -21.703649520874023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3045, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_442268371", + "mask_path": "../../mask/hdr_front_03045.png" + }, + { + "file_path": "../../rgb/hdr_front_03046.png", + "transform_matrix": [ + [ + -0.8337591886520386, + 0.05495025962591171, + 0.5493869781494141, + -47.15972900390625 + ], + [ + -0.5517788529396057, + -0.04753242805600166, + -0.8326348662376404, + -16.269489288330078 + ], + [ + -0.01963980495929718, + -0.9973570704460144, + 0.06995098292827606, + -21.708742141723633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3046, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_542267799", + "mask_path": "../../mask/hdr_front_03046.png" + }, + { + "file_path": "../../rgb/hdr_front_03047.png", + "transform_matrix": [ + [ + -0.839709997177124, + 0.05394762009382248, + 0.5403487086296082, + -47.20259094238281 + ], + [ + -0.5427259206771851, + -0.04980608820915222, + -0.8384318947792053, + -16.182926177978516 + ], + [ + -0.018318749964237213, + -0.9973008632659912, + 0.07110144197940826, + -21.708599090576172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3047, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_642267704", + "mask_path": "../../mask/hdr_front_03047.png" + }, + { + "file_path": "../../rgb/hdr_front_03048.png", + "transform_matrix": [ + [ + -0.8481278419494629, + 0.04617202654480934, + 0.5277758240699768, + -47.22886657714844 + ], + [ + -0.529607355594635, + -0.04761587455868721, + -0.8469054698944092, + -16.130046844482422 + ], + [ + -0.013972830027341843, + -0.9977980256080627, + 0.06483739614486694, + -21.70824432373047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3048, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_742268562", + "mask_path": "../../mask/hdr_front_03048.png" + }, + { + "file_path": "../../rgb/hdr_front_03049.png", + "transform_matrix": [ + [ + -0.8525298237800598, + 0.04147243872284889, + 0.521030604839325, + -47.276161193847656 + ], + [ + -0.5225798487663269, + -0.048259854316711426, + -0.851223349571228, + -16.050315856933594 + ], + [ + -0.010157446376979351, + -0.9979734420776367, + 0.06281563639640808, + -21.717405319213867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3049, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_842267274", + "mask_path": "../../mask/hdr_front_03049.png" + }, + { + "file_path": "../../rgb/hdr_front_03050.png", + "transform_matrix": [ + [ + -0.8499166965484619, + 0.04368444159626961, + 0.5251030325889587, + -47.331809997558594 + ], + [ + -0.5267975330352783, + -0.049224935472011566, + -0.8485642671585083, + -15.970337867736816 + ], + [ + -0.011220891959965229, + -0.9978319406509399, + 0.06484995037317276, + -21.733469009399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3050, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_942268133", + "mask_path": "../../mask/hdr_front_03050.png" + }, + { + "file_path": "../../rgb/hdr_front_03051.png", + "transform_matrix": [ + [ + -0.8435454368591309, + 0.04003693163394928, + 0.5355632901191711, + -47.375465393066406 + ], + [ + -0.5370210409164429, + -0.05123521387577057, + -0.8420115113258362, + -15.912890434265137 + ], + [ + -0.006271854043006897, + -0.9978837966918945, + 0.06471991539001465, + -21.74815559387207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3051, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_42267560", + "mask_path": "../../mask/hdr_front_03051.png" + }, + { + "file_path": "../../rgb/hdr_front_03052.png", + "transform_matrix": [ + [ + -0.8395611643791199, + 0.040245577692985535, + 0.5417723059654236, + -47.4273681640625 + ], + [ + -0.5432427525520325, + -0.05315461382269859, + -0.8378914594650269, + -15.828691482543945 + ], + [ + -0.004923724103718996, + -0.9977750182151794, + 0.06648967415094376, + -21.755878448486328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3052, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_142268419", + "mask_path": "../../mask/hdr_front_03052.png" + }, + { + "file_path": "../../rgb/hdr_front_03053.png", + "transform_matrix": [ + [ + -0.8419077396392822, + 0.03912649303674698, + 0.5382012724876404, + -47.46882247924805 + ], + [ + -0.5396025776863098, + -0.05267779156565666, + -0.8402702212333679, + -15.745384216308594 + ], + [ + -0.004525573458522558, + -0.9978448152542114, + 0.06546259671449661, + -21.751739501953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3053, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_242267847", + "mask_path": "../../mask/hdr_front_03053.png" + }, + { + "file_path": "../../rgb/hdr_front_03054.png", + "transform_matrix": [ + [ + -0.8479236960411072, + 0.03192562609910965, + 0.529155969619751, + -47.496490478515625 + ], + [ + -0.5301179885864258, + -0.050113797187805176, + -0.8464417457580566, + -15.691492080688477 + ], + [ + -0.0005051635671406984, + -0.9982331395149231, + 0.05941702798008919, + -21.750856399536133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3054, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_342268943", + "mask_path": "../../mask/hdr_front_03054.png" + }, + { + "file_path": "../../rgb/hdr_front_03055.png", + "transform_matrix": [ + [ + -0.8511113524436951, + 0.028281597420573235, + 0.5242230296134949, + -47.54274368286133 + ], + [ + -0.524979829788208, + -0.05039128661155701, + -0.8496216535568237, + -15.613829612731934 + ], + [ + 0.0023876142222434282, + -0.9983290433883667, + 0.0577358603477478, + -21.75775146484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3055, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_442268133", + "mask_path": "../../mask/hdr_front_03055.png" + }, + { + "file_path": "../../rgb/hdr_front_03056.png", + "transform_matrix": [ + [ + -0.8485647439956665, + 0.03262874484062195, + 0.5280845165252686, + -47.59952926635742 + ], + [ + -0.5290911793708801, + -0.05113179236650467, + -0.847023069858551, + -15.53779411315918 + ], + [ + -0.0006353909848257899, + -0.9981587529182434, + 0.06065221503376961, + -21.775314331054688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3056, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_542268514", + "mask_path": "../../mask/hdr_front_03056.png" + }, + { + "file_path": "../../rgb/hdr_front_03057.png", + "transform_matrix": [ + [ + -0.8427355289459229, + 0.03445219621062279, + 0.5372241735458374, + -47.63992691040039 + ], + [ + -0.5383229851722717, + -0.049755629152059555, + -0.8412685990333557, + -15.48702335357666 + ], + [ + -0.0022536194883286953, + -0.9981670379638672, + 0.06047724559903145, + -21.78535270690918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3057, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_642268657", + "mask_path": "../../mask/hdr_front_03057.png" + }, + { + "file_path": "../../rgb/hdr_front_03058.png", + "transform_matrix": [ + [ + -0.8385270833969116, + 0.037862442433834076, + 0.5435429215431213, + -47.6898078918457 + ], + [ + -0.5448402166366577, + -0.04976147040724754, + -0.8370620012283325, + -15.417765617370605 + ], + [ + -0.004645718727260828, + -0.9980432391166687, + 0.06235531345009804, + -21.792049407958984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3058, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_742267608", + "mask_path": "../../mask/hdr_front_03058.png" + }, + { + "file_path": "../../rgb/hdr_front_03059.png", + "transform_matrix": [ + [ + -0.8392968773841858, + 0.03699676692485809, + 0.5424131155014038, + -47.73785400390625 + ], + [ + -0.543651819229126, + -0.04820331931114197, + -0.8379256725311279, + -15.338104248046875 + ], + [ + -0.0048544215969741344, + -0.9981522560119629, + 0.06057024747133255, + -21.78990364074707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3059, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_842267274", + "mask_path": "../../mask/hdr_front_03059.png" + }, + { + "file_path": "../../rgb/hdr_front_03060.png", + "transform_matrix": [ + [ + -0.8420274257659912, + 0.030350467190146446, + 0.5385802388191223, + -47.774864196777344 + ], + [ + -0.5394340753555298, + -0.04598050191998482, + -0.8407714366912842, + -15.2832612991333 + ], + [ + -0.0007536162156611681, + -0.9984811544418335, + 0.05508892238140106, + -21.77914810180664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3060, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_942267417", + "mask_path": "../../mask/hdr_front_03060.png" + }, + { + "file_path": "../../rgb/hdr_front_03061.png", + "transform_matrix": [ + [ + -0.835288941860199, + 0.03319941461086273, + 0.5488080978393555, + -47.835044860839844 + ], + [ + -0.549807608127594, + -0.04678843170404434, + -0.8339798450469971, + -15.219558715820312 + ], + [ + -0.0020097766537219286, + -0.9983530044555664, + 0.05733514577150345, + -21.793624877929688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3061, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_42267084", + "mask_path": "../../mask/hdr_front_03061.png" + }, + { + "file_path": "../../rgb/hdr_front_03062.png", + "transform_matrix": [ + [ + -0.8222662210464478, + 0.03823421150445938, + 0.5678171515464783, + -47.89067077636719 + ], + [ + -0.5690793395042419, + -0.046145714819431305, + -0.8209866881370544, + -15.172369003295898 + ], + [ + -0.005187444854527712, + -0.9982028007507324, + 0.05970236659049988, + -21.810457229614258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3062, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_142268657", + "mask_path": "../../mask/hdr_front_03062.png" + }, + { + "file_path": "../../rgb/hdr_front_03063.png", + "transform_matrix": [ + [ + -0.8093898892402649, + 0.03569705784320831, + 0.5861858129501343, + -47.93186569213867 + ], + [ + -0.5872684717178345, + -0.0458851084113121, + -0.8080905079841614, + -15.133455276489258 + ], + [ + -0.0019492548890411854, + -0.9983087778091431, + 0.05810270458459854, + -21.817296981811523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3063, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_242267608", + "mask_path": "../../mask/hdr_front_03063.png" + }, + { + "file_path": "../../rgb/hdr_front_03064.png", + "transform_matrix": [ + [ + -0.795150876045227, + 0.03583618625998497, + 0.6053519248962402, + -47.98287582397461 + ], + [ + -0.606401801109314, + -0.05269575119018555, + -0.7934104204177856, + -15.083964347839355 + ], + [ + 0.003466671099886298, + -0.9979674220085144, + 0.06363220512866974, + -21.815820693969727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3064, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_342267274", + "mask_path": "../../mask/hdr_front_03064.png" + }, + { + "file_path": "../../rgb/hdr_front_03065.png", + "transform_matrix": [ + [ + -0.7821658849716187, + 0.03580135107040405, + 0.622040867805481, + -48.02561569213867 + ], + [ + -0.6230475902557373, + -0.05343950539827347, + -0.7803562879562378, + -15.039239883422852 + ], + [ + 0.005303746089339256, + -0.9979291558265686, + 0.06410451233386993, + -21.812631607055664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3065, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_442268133", + "mask_path": "../../mask/hdr_front_03065.png" + }, + { + "file_path": "../../rgb/hdr_front_03067.png", + "transform_matrix": [ + [ + -0.7586946487426758, + 0.021303683519363403, + 0.6510979533195496, + -48.1074333190918 + ], + [ + -0.6511591076850891, + -0.05447598546743393, + -0.7569836974143982, + -14.970943450927734 + ], + [ + 0.019342662766575813, + -0.9982878565788269, + 0.055202726274728775, + -21.818021774291992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3067, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_642266988", + "mask_path": "../../mask/hdr_front_03067.png" + }, + { + "file_path": "../../rgb/hdr_front_03068.png", + "transform_matrix": [ + [ + -0.7391225099563599, + 0.02216666005551815, + 0.6732061505317688, + -48.16707992553711 + ], + [ + -0.6732304692268372, + -0.0560876838862896, + -0.7373023629188538, + -14.928317070007324 + ], + [ + 0.021415045484900475, + -0.9981797337532043, + 0.056378938257694244, + -21.829015731811523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3068, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_742266893", + "mask_path": "../../mask/hdr_front_03068.png" + }, + { + "file_path": "../../rgb/hdr_front_03069.png", + "transform_matrix": [ + [ + -0.7184896469116211, + 0.026289060711860657, + 0.6950405836105347, + -48.21549987792969 + ], + [ + -0.695325493812561, + -0.051826003938913345, + -0.7168238759040833, + -14.902901649475098 + ], + [ + 0.017176553606987, + -0.9983100891113281, + 0.05551590397953987, + -21.83533477783203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3069, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_842267036", + "mask_path": "../../mask/hdr_front_03069.png" + }, + { + "file_path": "../../rgb/hdr_front_03071.png", + "transform_matrix": [ + [ + -0.6799236536026001, + 0.03288261592388153, + 0.7325452566146851, + -48.31180953979492 + ], + [ + -0.7330868244171143, + -0.0535852313041687, + -0.6780209541320801, + -14.85848331451416 + ], + [ + 0.016958503052592278, + -0.9980217814445496, + 0.06053968146443367, + -21.843320846557617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3071, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_42267322", + "mask_path": "../../mask/hdr_front_03071.png" + }, + { + "file_path": "../../rgb/hdr_front_03072.png", + "transform_matrix": [ + [ + -0.665305495262146, + 0.03409256041049957, + 0.7457923889160156, + -48.357688903808594 + ], + [ + -0.7463922500610352, + -0.052246224135160446, + -0.6634523272514343, + -14.826112747192383 + ], + [ + 0.016346048563718796, + -0.9980521202087402, + 0.06020611897110939, + -21.837657928466797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3072, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_142266988", + "mask_path": "../../mask/hdr_front_03072.png" + }, + { + "file_path": "../../rgb/hdr_left_02972.png", + "transform_matrix": [ + [ + -0.20028719305992126, + 0.03642911836504936, + -0.9790597558021545, + -42.69405746459961 + ], + [ + 0.9766590595245361, + -0.07172850519418716, + -0.20246493816375732, + -24.719804763793945 + ], + [ + -0.07760210335254669, + -0.996758759021759, + -0.02121252939105034, + -20.81549835205078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2972, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_642267227", + "mask_path": "../../mask/hdr_left_02972.png" + }, + { + "file_path": "../../rgb/hdr_left_02973.png", + "transform_matrix": [ + [ + -0.20677684247493744, + 0.03445754572749138, + -0.9777811169624329, + -42.734413146972656 + ], + [ + 0.9754438996315002, + -0.07021192461252213, + -0.20875687897205353, + -24.64192008972168 + ], + [ + -0.0758451446890831, + -0.9969368577003479, + -0.019093194976449013, + -20.829198837280273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2973, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_742267370", + "mask_path": "../../mask/hdr_left_02973.png" + }, + { + "file_path": "../../rgb/hdr_left_02974.png", + "transform_matrix": [ + [ + -0.20503005385398865, + 0.032786592841148376, + -0.9782063364982605, + -42.775333404541016 + ], + [ + 0.9757280945777893, + -0.07170174270868301, + -0.20691385865211487, + -24.54202651977539 + ], + [ + -0.07692309468984604, + -0.9968871474266052, + -0.017289787530899048, + -20.83763885498047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2974, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_842268466", + "mask_path": "../../mask/hdr_left_02974.png" + }, + { + "file_path": "../../rgb/hdr_left_02975.png", + "transform_matrix": [ + [ + -0.19221585988998413, + 0.026757219806313515, + -0.9809877872467041, + -42.809940338134766 + ], + [ + 0.9783652424812317, + -0.07271449267864227, + -0.19368533790111542, + -24.440567016601562 + ], + [ + -0.07651451230049133, + -0.9969938397407532, + -0.012201452627778053, + -20.833961486816406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2975, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_942268371", + "mask_path": "../../mask/hdr_left_02975.png" + }, + { + "file_path": "../../rgb/hdr_left_02976.png", + "transform_matrix": [ + [ + -0.1754128783941269, + 0.019615501165390015, + -0.9842994809150696, + -42.8275146484375 + ], + [ + 0.9819860458374023, + -0.06784652918577194, + -0.17635267972946167, + -24.3789119720459 + ], + [ + -0.0702405497431755, + -0.9975029230117798, + -0.007360993418842554, + -20.835214614868164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2976, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_42268276", + "mask_path": "../../mask/hdr_left_02976.png" + }, + { + "file_path": "../../rgb/hdr_left_02977.png", + "transform_matrix": [ + [ + -0.16316112875938416, + 0.022143403068184853, + -0.9863508343696594, + -42.86561965942383 + ], + [ + 0.9843558073043823, + -0.06373079121112823, + -0.16426187753677368, + -24.27836799621582 + ], + [ + -0.06649823486804962, + -0.9977214932441711, + -0.011398597620427608, + -20.840778350830078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2977, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_142269372", + "mask_path": "../../mask/hdr_left_02977.png" + }, + { + "file_path": "../../rgb/hdr_left_02978.png", + "transform_matrix": [ + [ + -0.16486302018165588, + 0.030346235260367393, + -0.9858494997024536, + -42.915897369384766 + ], + [ + 0.984056830406189, + -0.06255858391523361, + -0.16648893058300018, + -24.170347213745117 + ], + [ + -0.06672565639019012, + -0.9975798726081848, + -0.019548820331692696, + -20.860267639160156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2978, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_242268323", + "mask_path": "../../mask/hdr_left_02978.png" + }, + { + "file_path": "../../rgb/hdr_left_02979.png", + "transform_matrix": [ + [ + -0.1726263165473938, + 0.03267117589712143, + -0.984445333480835, + -42.94918441772461 + ], + [ + 0.9828890562057495, + -0.059488970786333084, + -0.17432773113250732, + -24.095006942749023 + ], + [ + -0.0642591267824173, + -0.997694194316864, + -0.021842775866389275, + -20.87250328063965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2979, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_342268466", + "mask_path": "../../mask/hdr_left_02979.png" + }, + { + "file_path": "../../rgb/hdr_left_02980.png", + "transform_matrix": [ + [ + -0.17422553896903992, + 0.03238166496157646, + -0.9841732978820801, + -42.98320770263672 + ], + [ + 0.982421338558197, + -0.062323447316884995, + -0.1759660542011261, + -23.99491310119629 + ], + [ + -0.06703513115644455, + -0.9975305795669556, + -0.020954100415110588, + -20.88262939453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2980, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_442267656", + "mask_path": "../../mask/hdr_left_02980.png" + }, + { + "file_path": "../../rgb/hdr_left_02981.png", + "transform_matrix": [ + [ + -0.16334502398967743, + 0.03157695755362511, + -0.9860635995864868, + -43.01251220703125 + ], + [ + 0.9844130277633667, + -0.060824524611234665, + -0.16501940786838531, + -23.887672424316406 + ], + [ + -0.06518766283988953, + -0.9976488947868347, + -0.02114938385784626, + -20.877567291259766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2981, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_542267560", + "mask_path": "../../mask/hdr_left_02981.png" + }, + { + "file_path": "../../rgb/hdr_left_02982.png", + "transform_matrix": [ + [ + -0.14634501934051514, + 0.027234474197030067, + -0.9888585805892944, + -43.02335739135742 + ], + [ + 0.9875094294548035, + -0.054970111697912216, + -0.1476593166589737, + -23.8200740814209 + ], + [ + -0.058379095047712326, + -0.9981165528297424, + -0.018849695101380348, + -20.87091636657715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2982, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_642268419", + "mask_path": "../../mask/hdr_left_02982.png" + }, + { + "file_path": "../../rgb/hdr_left_02983.png", + "transform_matrix": [ + [ + -0.13269354403018951, + 0.02745462954044342, + -0.9907766580581665, + -43.048789978027344 + ], + [ + 0.9896826148033142, + -0.050835300236940384, + -0.13395562767982483, + -23.726158142089844 + ], + [ + -0.05404413491487503, + -0.9983296394348145, + -0.02042584866285324, + -20.879104614257812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2983, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_742267847", + "mask_path": "../../mask/hdr_left_02983.png" + }, + { + "file_path": "../../rgb/hdr_left_02984.png", + "transform_matrix": [ + [ + -0.129227876663208, + 0.03458564355969429, + -0.9910115599632263, + -43.08512878417969 + ], + [ + 0.989991307258606, + -0.05266600474715233, + -0.13093286752700806, + -23.61952781677246 + ], + [ + -0.05672100931406021, + -0.9980131387710571, + -0.02743356302380562, + -20.899593353271484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2984, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_842267513", + "mask_path": "../../mask/hdr_left_02984.png" + }, + { + "file_path": "../../rgb/hdr_left_02985.png", + "transform_matrix": [ + [ + -0.12883201241493225, + 0.0362720862030983, + -0.9910027980804443, + -43.10646057128906 + ], + [ + 0.9900418519973755, + -0.05247396230697632, + -0.13062772154808044, + -23.54353904724121 + ], + [ + -0.05673997849225998, + -0.9979633688926697, + -0.029150547459721565, + -20.91103744506836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2985, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_942267179", + "mask_path": "../../mask/hdr_left_02985.png" + }, + { + "file_path": "../../rgb/hdr_left_02986.png", + "transform_matrix": [ + [ + -0.12522651255130768, + 0.03311000391840935, + -0.9915755391120911, + -43.131649017333984 + ], + [ + 0.9902966618537903, + -0.05652962997555733, + -0.12695260345935822, + -23.44516944885254 + ], + [ + -0.06025679409503937, + -0.9978517889976501, + -0.025709711015224457, + -20.91660499572754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2986, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_42268276", + "mask_path": "../../mask/hdr_left_02986.png" + }, + { + "file_path": "../../rgb/hdr_left_02987.png", + "transform_matrix": [ + [ + -0.11579244583845139, + 0.029862642288208008, + -0.9928243160247803, + -43.15671157836914 + ], + [ + 0.9912728071212769, + -0.059933532029390335, + -0.11741414666175842, + -23.34226417541504 + ], + [ + -0.06300977617502213, + -0.9977555871009827, + -0.022662179544568062, + -20.916227340698242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2987, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_142267704", + "mask_path": "../../mask/hdr_left_02987.png" + }, + { + "file_path": "../../rgb/hdr_left_02988.png", + "transform_matrix": [ + [ + -0.10337149351835251, + 0.0244956873357296, + -0.9943410754203796, + -43.169952392578125 + ], + [ + 0.9928374290466309, + -0.0576648972928524, + -0.10463573038578033, + -23.283668518066406 + ], + [ + -0.059901703149080276, + -0.9980354309082031, + -0.01835932396352291, + -20.919567108154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2988, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_242267370", + "mask_path": "../../mask/hdr_left_02988.png" + }, + { + "file_path": "../../rgb/hdr_left_02989.png", + "transform_matrix": [ + [ + -0.1033581867814064, + 0.019229497760534286, + -0.9944583177566528, + -43.204647064208984 + ], + [ + 0.9929414987564087, + -0.056482236832380295, + -0.10429272800683975, + -23.188308715820312 + ], + [ + -0.05817472189664841, + -0.9982184171676636, + -0.013255861587822437, + -20.93059730529785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2989, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_342267036", + "mask_path": "../../mask/hdr_left_02989.png" + }, + { + "file_path": "../../rgb/hdr_left_02990.png", + "transform_matrix": [ + [ + -0.12228764593601227, + 0.02209615334868431, + -0.9922486543655396, + -43.25471496582031 + ], + [ + 0.9905335307121277, + -0.06010163202881813, + -0.12341462820768356, + -23.082305908203125 + ], + [ + -0.062362752854824066, + -0.9979477524757385, + -0.014537287876009941, + -20.94399642944336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2990, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_442268610", + "mask_path": "../../mask/hdr_left_02990.png" + }, + { + "file_path": "../../rgb/hdr_left_02991.png", + "transform_matrix": [ + [ + -0.15046431124210358, + 0.02173663303256035, + -0.9883764982223511, + -43.290504455566406 + ], + [ + 0.9864528179168701, + -0.06279104202985764, + -0.15155239403247833, + -23.0106258392334 + ], + [ + -0.06535542011260986, + -0.9977900385856628, + -0.011994348838925362, + -20.959402084350586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2991, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_542266368", + "mask_path": "../../mask/hdr_left_02991.png" + }, + { + "file_path": "../../rgb/hdr_left_02992.png", + "transform_matrix": [ + [ + -0.17685522139072418, + 0.016619177535176277, + -0.9840965867042542, + -43.329185485839844 + ], + [ + 0.9817115664482117, + -0.06859997659921646, + -0.17758508026599884, + -22.916332244873047 + ], + [ + -0.07046031951904297, + -0.9975058436393738, + -0.004182972479611635, + -20.9703369140625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2992, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_642267942", + "mask_path": "../../mask/hdr_left_02992.png" + }, + { + "file_path": "../../rgb/hdr_left_02993.png", + "transform_matrix": [ + [ + -0.19377614557743073, + 0.012081999331712723, + -0.9809713959693909, + -43.36819076538086 + ], + [ + 0.9784215092658997, + -0.0707087367773056, + -0.19414333999156952, + -22.812158584594727 + ], + [ + -0.07170888036489487, + -0.9974238872528076, + 0.001880379393696785, + -20.967609405517578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2993, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_742267608", + "mask_path": "../../mask/hdr_left_02993.png" + }, + { + "file_path": "../../rgb/hdr_left_02994.png", + "transform_matrix": [ + [ + -0.20656892657279968, + 0.0047304374165833, + -0.9784206748008728, + -43.3942985534668 + ], + [ + 0.9759625792503357, + -0.07000473886728287, + -0.2063884288072586, + -22.747350692749023 + ], + [ + -0.0694703757762909, + -0.9975355267524719, + 0.009844076819717884, + -20.96636390686035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2994, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_842267036", + "mask_path": "../../mask/hdr_left_02994.png" + }, + { + "file_path": "../../rgb/hdr_left_02995.png", + "transform_matrix": [ + [ + -0.22189033031463623, + 0.004679935518652201, + -0.9750604033470154, + -43.43912887573242 + ], + [ + 0.9725704789161682, + -0.07051678001880646, + -0.22166211903095245, + -22.66341781616211 + ], + [ + -0.06979548186063766, + -0.9974996447563171, + 0.011095426045358181, + -20.980974197387695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2995, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_942267417", + "mask_path": "../../mask/hdr_left_02995.png" + }, + { + "file_path": "../../rgb/hdr_left_02996.png", + "transform_matrix": [ + [ + -0.242177814245224, + 0.010749995708465576, + -0.9701722860336304, + -43.49787139892578 + ], + [ + 0.9672231078147888, + -0.07601206004619598, + -0.2422839105129242, + -22.562503814697266 + ], + [ + -0.07634934782981873, + -0.9970489740371704, + 0.008010794408619404, + -21.0034236907959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2996, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_42267560", + "mask_path": "../../mask/hdr_left_02996.png" + }, + { + "file_path": "../../rgb/hdr_left_02997.png", + "transform_matrix": [ + [ + -0.2665538787841797, + 0.010959148406982422, + -0.9637577533721924, + -43.54387664794922 + ], + [ + 0.9605593681335449, + -0.07915949821472168, + -0.26656949520111084, + -22.489826202392578 + ], + [ + -0.07921194285154343, + -0.9968018531799316, + 0.010573365725576878, + -21.012853622436523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2997, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_142267465", + "mask_path": "../../mask/hdr_left_02997.png" + }, + { + "file_path": "../../rgb/hdr_left_02998.png", + "transform_matrix": [ + [ + -0.2892758250236511, + 0.00493595190346241, + -0.9572330117225647, + -43.59598159790039 + ], + [ + 0.9535036683082581, + -0.08684923499822617, + -0.28859665989875793, + -22.40472412109375 + ], + [ + -0.08455944061279297, + -0.9962092041969299, + 0.02041693590581417, + -21.03034782409668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2998, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_242267608", + "mask_path": "../../mask/hdr_left_02998.png" + }, + { + "file_path": "../../rgb/hdr_left_02999.png", + "transform_matrix": [ + [ + -0.3008001744747162, + 0.004803887568414211, + -0.9536750912666321, + -43.652278900146484 + ], + [ + 0.9493787288665771, + -0.09343773126602173, + -0.29991570115089417, + -22.30813217163086 + ], + [ + -0.09054999053478241, + -0.9956135749816895, + 0.023545382544398308, + -21.03359603881836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2999, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_342268466", + "mask_path": "../../mask/hdr_left_02999.png" + }, + { + "file_path": "../../rgb/hdr_left_03000.png", + "transform_matrix": [ + [ + -0.30597975850105286, + 0.0002911789051722735, + -0.9520379304885864, + -43.69108963012695 + ], + [ + 0.9476072192192078, + -0.0962725356221199, + -0.3045852482318878, + -22.24245834350586 + ], + [ + -0.09174379706382751, + -0.9953550100326538, + 0.029181530699133873, + -21.031625747680664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3000, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_442268133", + "mask_path": "../../mask/hdr_left_03000.png" + }, + { + "file_path": "../../rgb/hdr_left_03001.png", + "transform_matrix": [ + [ + -0.31042009592056274, + 0.007141156122088432, + -0.950572669506073, + -43.73828887939453 + ], + [ + 0.9467194080352783, + -0.08793338388204575, + -0.3098224699497223, + -22.173776626586914 + ], + [ + -0.08579955250024796, + -0.9961008429527283, + 0.020535625517368317, + -21.036985397338867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3001, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_542267322", + "mask_path": "../../mask/hdr_left_03001.png" + }, + { + "file_path": "../../rgb/hdr_left_03002.png", + "transform_matrix": [ + [ + -0.3178420066833496, + 0.01847640424966812, + -0.9479635953903198, + -43.80460739135742 + ], + [ + 0.9439206719398499, + -0.08809353411197662, + -0.3182033896446228, + -22.076797485351562 + ], + [ + -0.08938872069120407, + -0.9959408640861511, + 0.010559565387666225, + -21.063467025756836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3002, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_642267704", + "mask_path": "../../mask/hdr_left_03002.png" + }, + { + "file_path": "../../rgb/hdr_left_03003.png", + "transform_matrix": [ + [ + -0.3263026773929596, + 0.023981308564543724, + -0.9449611306190491, + -43.857723236083984 + ], + [ + 0.9408654570579529, + -0.08810129016637802, + -0.32712435722351074, + -22.00853729248047 + ], + [ + -0.0910971537232399, + -0.9958229064941406, + 0.006184508092701435, + -21.07476234436035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3003, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_742267847", + "mask_path": "../../mask/hdr_left_03003.png" + }, + { + "file_path": "../../rgb/hdr_left_03004.png", + "transform_matrix": [ + [ + -0.33379608392715454, + 0.01939651183784008, + -0.942445695400238, + -43.90864944458008 + ], + [ + 0.9383947253227234, + -0.08800096064805984, + -0.33417245745658875, + -21.94904327392578 + ], + [ + -0.08941788971424103, + -0.9959316253662109, + 0.011172795668244362, + -21.08615493774414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3004, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_842268466", + "mask_path": "../../mask/hdr_left_03004.png" + }, + { + "file_path": "../../rgb/hdr_left_03005.png", + "transform_matrix": [ + [ + -0.33330127596855164, + 0.02651253342628479, + -0.9424474835395813, + -43.970272064208984 + ], + [ + 0.9376599788665771, + -0.09512025117874146, + -0.33428406715393066, + -21.869998931884766 + ], + [ + -0.0985085517168045, + -0.9951127171516418, + 0.006843965034931898, + -21.097578048706055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3005, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_942268848", + "mask_path": "../../mask/hdr_left_03005.png" + }, + { + "file_path": "../../rgb/hdr_left_03006.png", + "transform_matrix": [ + [ + -0.3263390064239502, + 0.032338228076696396, + -0.9446994066238403, + -44.020240783691406 + ], + [ + 0.9397172927856445, + -0.09690292924642563, + -0.3279350697994232, + -21.786954879760742 + ], + [ + -0.10214897990226746, + -0.994768500328064, + 0.0012344206916168332, + -21.095983505249023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3006, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_42267322", + "mask_path": "../../mask/hdr_left_03006.png" + }, + { + "file_path": "../../rgb/hdr_left_03007.png", + "transform_matrix": [ + [ + -0.31699591875076294, + 0.028742918744683266, + -0.9479912519454956, + -44.059410095214844 + ], + [ + 0.943431556224823, + -0.09289605915546417, + -0.31828784942626953, + -21.72002410888672 + ], + [ + -0.09721317887306213, + -0.9952608942985535, + 0.0023307004012167454, + -21.09821128845215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3007, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_142268419", + "mask_path": "../../mask/hdr_left_03007.png" + }, + { + "file_path": "../../rgb/hdr_left_03008.png", + "transform_matrix": [ + [ + -0.31291383504867554, + 0.03471142053604126, + -0.9491469860076904, + -44.12730407714844 + ], + [ + 0.9448928236961365, + -0.08988514542579651, + -0.314798504114151, + -21.610139846801758 + ], + [ + -0.0962413102388382, + -0.9953470826148987, + -0.004672267474234104, + -21.117881774902344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3008, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_242267608", + "mask_path": "../../mask/hdr_left_03008.png" + }, + { + "file_path": "../../rgb/hdr_left_03009.png", + "transform_matrix": [ + [ + -0.31517231464385986, + 0.04570899158716202, + -0.9479329586029053, + -44.19350814819336 + ], + [ + 0.9439764022827148, + -0.08788701891899109, + -0.3180947005748749, + -21.50963592529297 + ], + [ + -0.09785079210996628, + -0.9950812458992004, + -0.015448648482561111, + -21.14510726928711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3009, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_342267990", + "mask_path": "../../mask/hdr_left_03009.png" + }, + { + "file_path": "../../rgb/hdr_left_03010.png", + "transform_matrix": [ + [ + -0.3191991448402405, + 0.04604816064238548, + -0.9465682506561279, + -44.244598388671875 + ], + [ + 0.942959189414978, + -0.0842198058962822, + -0.32207924127578735, + -21.434162139892578 + ], + [ + -0.09455094486474991, + -0.9953826665878296, + -0.01653863675892353, + -21.160860061645508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3010, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_442272424", + "mask_path": "../../mask/hdr_left_03010.png" + }, + { + "file_path": "../../rgb/hdr_left_03011.png", + "transform_matrix": [ + [ + -0.316102534532547, + 0.05312960594892502, + -0.947236180305481, + -44.30277633666992 + ], + [ + 0.9434155821800232, + -0.08787791430950165, + -0.3197566270828247, + -21.33419418334961 + ], + [ + -0.10022968053817749, + -0.9947134256362915, + -0.022344859316945076, + -21.17095375061035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3011, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_542267560", + "mask_path": "../../mask/hdr_left_03011.png" + }, + { + "file_path": "../../rgb/hdr_left_03012.png", + "transform_matrix": [ + [ + -0.3051348626613617, + 0.05485296621918678, + -0.9507281184196472, + -44.35105514526367 + ], + [ + 0.9466973543167114, + -0.09074926376342773, + -0.30907705426216125, + -21.23279571533203 + ], + [ + -0.10323165357112885, + -0.9943619966506958, + -0.02423839643597603, + -21.172677993774414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3012, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_642267942", + "mask_path": "../../mask/hdr_left_03012.png" + }, + { + "file_path": "../../rgb/hdr_left_03013.png", + "transform_matrix": [ + [ + -0.2905636727809906, + 0.04733211174607277, + -0.9556843042373657, + -44.38486099243164 + ], + [ + 0.9518634080886841, + -0.08759351819753647, + -0.2937402129173279, + -21.166927337646484 + ], + [ + -0.097615085542202, + -0.9950312376022339, + -0.019602209329605103, + -21.17804718017578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3013, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_742267131", + "mask_path": "../../mask/hdr_left_03013.png" + }, + { + "file_path": "../../rgb/hdr_left_03014.png", + "transform_matrix": [ + [ + -0.28135302662849426, + 0.04860782250761986, + -0.9583723545074463, + -44.44478988647461 + ], + [ + 0.9546096324920654, + -0.08758678287267685, + -0.2846907377243042, + -21.05809783935547 + ], + [ + -0.09777895361185074, + -0.9949702620506287, + -0.02175869420170784, + -21.194116592407227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3014, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_842266559", + "mask_path": "../../mask/hdr_left_03014.png" + }, + { + "file_path": "../../rgb/hdr_left_03015.png", + "transform_matrix": [ + [ + -0.2805000841617584, + 0.054808881133794785, + -0.9582878947257996, + -44.50872802734375 + ], + [ + 0.9545344114303589, + -0.08903492242097855, + -0.28449374437332153, + -20.952293395996094 + ], + [ + -0.10091385990381241, + -0.9945194125175476, + -0.02734266221523285, + -21.21968650817871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3015, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_942264080", + "mask_path": "../../mask/hdr_left_03015.png" + }, + { + "file_path": "../../rgb/hdr_left_03016.png", + "transform_matrix": [ + [ + -0.2845646142959595, + 0.05144090577960014, + -0.9572756886482239, + -44.55281066894531 + ], + [ + 0.9536966681480408, + -0.08625783026218414, + -0.2881357967853546, + -20.881223678588867 + ], + [ + -0.09739447385072708, + -0.9949439764022827, + -0.024513093754649162, + -21.230789184570312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3016, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_42266607", + "mask_path": "../../mask/hdr_left_03016.png" + }, + { + "file_path": "../../rgb/hdr_left_03017.png", + "transform_matrix": [ + [ + -0.28367382287979126, + 0.05096472427248955, + -0.9575655460357666, + -44.60719680786133 + ], + [ + 0.9539243578910828, + -0.08680783957242966, + -0.2872154116630554, + -20.778884887695312 + ], + [ + -0.09776204079389572, + -0.9949206709861755, + -0.023991359397768974, + -21.239906311035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3017, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_142266988", + "mask_path": "../../mask/hdr_left_03017.png" + }, + { + "file_path": "../../rgb/hdr_left_03018.png", + "transform_matrix": [ + [ + -0.273171991109848, + 0.046011053025722504, + -0.9608641862869263, + -44.65641784667969 + ], + [ + 0.9568790793418884, + -0.0895814448595047, + -0.2763286232948303, + -20.672765731811523 + ], + [ + -0.0987897738814354, + -0.9949162006378174, + -0.019555870443582535, + -21.242002487182617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3018, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_242267131", + "mask_path": "../../mask/hdr_left_03018.png" + }, + { + "file_path": "../../rgb/hdr_left_03019.png", + "transform_matrix": [ + [ + -0.2574084401130676, + 0.038724642246961594, + -0.9655264616012573, + -44.68716812133789 + ], + [ + 0.9617582559585571, + -0.08652391284704208, + -0.259874165058136, + -20.60913848876953 + ], + [ + -0.09360465407371521, + -0.9954968690872192, + -0.01497175544500351, + -21.24390411376953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3019, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_342266321", + "mask_path": "../../mask/hdr_left_03019.png" + }, + { + "file_path": "../../rgb/hdr_left_03020.png", + "transform_matrix": [ + [ + -0.24523870646953583, + 0.03788343816995621, + -0.9687222838401794, + -44.74163818359375 + ], + [ + 0.9654893279075623, + -0.08083144575357437, + -0.247581347823143, + -20.499574661254883 + ], + [ + -0.08768243342638016, + -0.9960075616836548, + -0.01675305888056755, + -21.25452423095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3020, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_442268133", + "mask_path": "../../mask/hdr_left_03020.png" + }, + { + "file_path": "../../rgb/hdr_left_03021.png", + "transform_matrix": [ + [ + -0.24273498356342316, + 0.04450627788901329, + -0.9690711498260498, + -44.802154541015625 + ], + [ + 0.9661015272140503, + -0.0794314295053482, + -0.24563919007778168, + -20.38715934753418 + ], + [ + -0.08790718019008636, + -0.9958463311195374, + -0.023716788738965988, + -21.275287628173828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3021, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_542268037", + "mask_path": "../../mask/hdr_left_03021.png" + }, + { + "file_path": "../../rgb/hdr_left_03022.png", + "transform_matrix": [ + [ + -0.24453027546405792, + 0.04561750963330269, + -0.9685680866241455, + -44.84311294555664 + ], + [ + 0.9659156799316406, + -0.07602371275424957, + -0.24744126200675964, + -20.3104305267334 + ], + [ + -0.08492178469896317, + -0.9960619807243347, + -0.02547256276011467, + -21.29020881652832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3022, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_642267227", + "mask_path": "../../mask/hdr_left_03022.png" + }, + { + "file_path": "../../rgb/hdr_left_03023.png", + "transform_matrix": [ + [ + -0.24281108379364014, + 0.04596279188990593, + -0.9689841270446777, + -44.88421630859375 + ], + [ + 0.9663158059120178, + -0.07637514173984528, + -0.24576526880264282, + -20.21536636352539 + ], + [ + -0.08530235290527344, + -0.9960192441940308, + -0.025869833305478096, + -21.299102783203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3023, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_742267131", + "mask_path": "../../mask/hdr_left_03023.png" + }, + { + "file_path": "../../rgb/hdr_left_03024.png", + "transform_matrix": [ + [ + -0.23421818017959595, + 0.041993025690317154, + -0.9712766408920288, + -44.92380905151367 + ], + [ + 0.968335747718811, + -0.07872822880744934, + -0.2369127869606018, + -20.10712242126465 + ], + [ + -0.08641556650400162, + -0.9960113763809204, + -0.022223759442567825, + -21.296154022216797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3024, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_842265844", + "mask_path": "../../mask/hdr_left_03024.png" + }, + { + "file_path": "../../rgb/hdr_left_03025.png", + "transform_matrix": [ + [ + -0.2232612520456314, + 0.0370963029563427, + -0.9740524888038635, + -44.94883728027344 + ], + [ + 0.971147358417511, + -0.07747157663106918, + -0.22554585337638855, + -20.032405853271484 + ], + [ + -0.08382829278707504, + -0.9963041543960571, + -0.018729569390416145, + -21.297487258911133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3025, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_942266941", + "mask_path": "../../mask/hdr_left_03025.png" + }, + { + "file_path": "../../rgb/hdr_left_03026.png", + "transform_matrix": [ + [ + -0.21749083697795868, + 0.041341040283441544, + -0.9751864671707153, + -44.9842643737793 + ], + [ + 0.9725474119186401, + -0.07553446292877197, + -0.22010444104671478, + -19.93545913696289 + ], + [ + -0.08275952935218811, + -0.9962859153747559, + -0.02377806417644024, + -21.310577392578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3026, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_42266845", + "mask_path": "../../mask/hdr_left_03026.png" + }, + { + "file_path": "../../rgb/hdr_left_03027.png", + "transform_matrix": [ + [ + -0.22061263024806976, + 0.048712726682424545, + -0.9741442799568176, + -45.031982421875 + ], + [ + 0.9719088077545166, + -0.07298317551612854, + -0.22375595569610596, + -19.826221466064453 + ], + [ + -0.0819959044456482, + -0.9961428046226501, + -0.03124331496655941, + -21.33133888244629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3027, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_142267227", + "mask_path": "../../mask/hdr_left_03027.png" + }, + { + "file_path": "../../rgb/hdr_left_03028.png", + "transform_matrix": [ + [ + -0.22451342642307281, + 0.05172256380319595, + -0.9730974435806274, + -45.063167572021484 + ], + [ + 0.9714204668998718, + -0.0670718252658844, + -0.2276916354894638, + -19.744966506958008 + ], + [ + -0.07704420387744904, + -0.9964067339897156, + -0.035185832530260086, + -21.346160888671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3028, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_242266893", + "mask_path": "../../mask/hdr_left_03028.png" + }, + { + "file_path": "../../rgb/hdr_left_03029.png", + "transform_matrix": [ + [ + -0.22360430657863617, + 0.05224471911787987, + -0.9732787609100342, + -45.100440979003906 + ], + [ + 0.9715735912322998, + -0.06771184504032135, + -0.22684724628925323, + -19.63477325439453 + ], + [ + -0.07775408029556274, + -0.9963361024856567, + -0.03561893478035927, + -21.356388092041016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3029, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_342267751", + "mask_path": "../../mask/hdr_left_03029.png" + }, + { + "file_path": "../../rgb/hdr_left_03030.png", + "transform_matrix": [ + [ + -0.21335414052009583, + 0.04848025366663933, + -0.9757713079452515, + -45.135643005371094 + ], + [ + 0.9737235903739929, + -0.07086244970560074, + -0.21642717719078064, + -19.527976989746094 + ], + [ + -0.07963798940181732, + -0.9963073134422302, + -0.032087575644254684, + -21.356122970581055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3030, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_442267656", + "mask_path": "../../mask/hdr_left_03030.png" + }, + { + "file_path": "../../rgb/hdr_left_03031.png", + "transform_matrix": [ + [ + -0.19625459611415863, + 0.04058234766125679, + -0.9797127842903137, + -45.156890869140625 + ], + [ + 0.9775019288063049, + -0.07066027075052261, + -0.19873866438865662, + -19.463781356811523 + ], + [ + -0.07729203999042511, + -0.9966745972633362, + -0.025801917538046837, + -21.362682342529297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3031, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_542268037", + "mask_path": "../../mask/hdr_left_03031.png" + }, + { + "file_path": "../../rgb/hdr_left_03032.png", + "transform_matrix": [ + [ + -0.18512824177742004, + 0.037332117557525635, + -0.9820050001144409, + -45.20426559448242 + ], + [ + 0.9794673919677734, + -0.0741540938615799, + -0.18746893107891083, + -19.357030868530273 + ], + [ + -0.07981828600168228, + -0.9965478181838989, + -0.022837577387690544, + -21.375394821166992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3032, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_642267465", + "mask_path": "../../mask/hdr_left_03032.png" + }, + { + "file_path": "../../rgb/hdr_left_03033.png", + "transform_matrix": [ + [ + -0.1874333769083023, + 0.04090235382318497, + -0.9814252853393555, + -45.25882339477539 + ], + [ + 0.9786966443061829, + -0.07745688408613205, + -0.19014038145542145, + -19.24591064453125 + ], + [ + -0.08379531651735306, + -0.9961563348770142, + -0.02551298774778843, + -21.39238739013672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3033, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_742267370", + "mask_path": "../../mask/hdr_left_03033.png" + }, + { + "file_path": "../../rgb/hdr_left_03034.png", + "transform_matrix": [ + [ + -0.19421790540218353, + 0.03890020400285721, + -0.9801867604255676, + -45.29647445678711 + ], + [ + 0.9775787591934204, + -0.0751967653632164, + -0.19668546319007874, + -19.170068740844727 + ], + [ + -0.08135798573493958, + -0.9964096546173096, + -0.0234234519302845, + -21.4075927734375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3034, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_842267990", + "mask_path": "../../mask/hdr_left_03034.png" + }, + { + "file_path": "../../rgb/hdr_left_03035.png", + "transform_matrix": [ + [ + -0.19426420331001282, + 0.04034298658370972, + -0.9801192283630371, + -45.33454132080078 + ], + [ + 0.9771131873130798, + -0.08031769841909409, + -0.19697435200214386, + -19.073556900024414 + ], + [ + -0.08666745573282242, + -0.9959526062011719, + -0.023816805332899094, + -21.418214797973633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3035, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_942268133", + "mask_path": "../../mask/hdr_left_03035.png" + }, + { + "file_path": "../../rgb/hdr_left_03036.png", + "transform_matrix": [ + [ + -0.1859186291694641, + 0.04049680009484291, + -0.9817302227020264, + -45.367244720458984 + ], + [ + 0.978500247001648, + -0.08315928280353546, + -0.18873733282089233, + -18.977928161621094 + ], + [ + -0.08928323537111282, + -0.9957131147384644, + -0.024165263399481773, + -21.415462493896484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3036, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_42267560", + "mask_path": "../../mask/hdr_left_03036.png" + }, + { + "file_path": "../../rgb/hdr_left_03037.png", + "transform_matrix": [ + [ + -0.17485126852989197, + 0.033531419932842255, + -0.9840237498283386, + -45.391746520996094 + ], + [ + 0.9809343814849854, + -0.08016709238290787, + -0.17703410983085632, + -18.914764404296875 + ], + [ + -0.08482252061367035, + -0.9962173104286194, + -0.018874801695346832, + -21.411027908325195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3037, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_142267465", + "mask_path": "../../mask/hdr_left_03037.png" + }, + { + "file_path": "../../rgb/hdr_left_03038.png", + "transform_matrix": [ + [ + -0.17316578328609467, + 0.03158888965845108, + -0.9843860268592834, + -45.43876266479492 + ], + [ + 0.9813416004180908, + -0.07926401495933533, + -0.1751738041639328, + -18.81485366821289 + ], + [ + -0.08355991542339325, + -0.9963530898094177, + -0.01727367751300335, + -21.421552658081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3038, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_242267131", + "mask_path": "../../mask/hdr_left_03038.png" + }, + { + "file_path": "../../rgb/hdr_left_03039.png", + "transform_matrix": [ + [ + -0.18153437972068787, + 0.03382305055856705, + -0.98280268907547, + -45.48568344116211 + ], + [ + 0.9796935319900513, + -0.0802893415093422, + -0.18372327089309692, + -18.720853805541992 + ], + [ + -0.08512266725301743, + -0.9961975812911987, + -0.01856094039976597, + -21.440509796142578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3039, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_342267513", + "mask_path": "../../mask/hdr_left_03039.png" + }, + { + "file_path": "../../rgb/hdr_left_03040.png", + "transform_matrix": [ + [ + -0.1898774355649948, + 0.029672229662537575, + -0.9813593029975891, + -45.51923751831055 + ], + [ + 0.978373646736145, + -0.0778096616268158, + -0.19165241718292236, + -18.64933204650879 + ], + [ + -0.08204598724842072, + -0.9965265989303589, + -0.014256221242249012, + -21.4583797454834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3040, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_442266941", + "mask_path": "../../mask/hdr_left_03040.png" + }, + { + "file_path": "../../rgb/hdr_left_03041.png", + "transform_matrix": [ + [ + -0.1912408471107483, + 0.03044123947620392, + -0.9810709357261658, + -45.55845260620117 + ], + [ + 0.9778608083724976, + -0.08058875799179077, + -0.1931157112121582, + -18.549413681030273 + ], + [ + -0.08494196832180023, + -0.9962825775146484, + -0.014355425722897053, + -21.460908889770508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3041, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_542267799", + "mask_path": "../../mask/hdr_left_03041.png" + }, + { + "file_path": "../../rgb/hdr_left_03042.png", + "transform_matrix": [ + [ + -0.18649645149707794, + 0.02895141765475273, + -0.9820288419723511, + -45.5892219543457 + ], + [ + 0.978830873966217, + -0.08030885457992554, + -0.18825672566890717, + -18.464248657226562 + ], + [ + -0.08431591093540192, + -0.9963494539260864, + -0.013361217454075813, + -21.45978546142578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3042, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_642268896", + "mask_path": "../../mask/hdr_left_03042.png" + }, + { + "file_path": "../../rgb/hdr_left_03043.png", + "transform_matrix": [ + [ + -0.1827802062034607, + 0.02078971639275551, + -0.9829339385032654, + -45.614654541015625 + ], + [ + 0.9801056981086731, + -0.0748128667473793, + -0.18383660912513733, + -18.400800704956055 + ], + [ + -0.07735801488161087, + -0.9969809055328369, + -0.006701807491481304, + -21.456132888793945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3043, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_742267608", + "mask_path": "../../mask/hdr_left_03043.png" + }, + { + "file_path": "../../rgb/hdr_left_03044.png", + "transform_matrix": [ + [ + -0.19442568719387054, + 0.025787197053432465, + -0.9805782437324524, + -45.65827560424805 + ], + [ + 0.977573037147522, + -0.07738042622804642, + -0.19586479663848877, + -18.306514739990234 + ], + [ + -0.08092835545539856, + -0.9966681003570557, + -0.01016412302851677, + -21.473392486572266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3044, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_842267274", + "mask_path": "../../mask/hdr_left_03044.png" + }, + { + "file_path": "../../rgb/hdr_left_03045.png", + "transform_matrix": [ + [ + -0.21154062449932098, + 0.03181847929954529, + -0.9768511056900024, + -45.7017822265625 + ], + [ + 0.9737675189971924, + -0.07886317372322083, + -0.2134416252374649, + -18.218793869018555 + ], + [ + -0.08382897078990936, + -0.9963775277137756, + -0.01430103462189436, + -21.493558883666992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3045, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_942267894", + "mask_path": "../../mask/hdr_left_03045.png" + }, + { + "file_path": "../../rgb/hdr_left_03046.png", + "transform_matrix": [ + [ + -0.2239314317703247, + 0.028859497979283333, + -0.9741775989532471, + -45.73670959472656 + ], + [ + 0.9712285995483398, + -0.07652142643928528, + -0.225520521402359, + -18.14025115966797 + ], + [ + -0.08105386793613434, + -0.9966502785682678, + -0.010893610306084156, + -21.508718490600586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3046, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_42268037", + "mask_path": "../../mask/hdr_left_03046.png" + }, + { + "file_path": "../../rgb/hdr_left_03047.png", + "transform_matrix": [ + [ + -0.22466368973255157, + 0.030418099835515022, + -0.9739614129066467, + -45.776424407958984 + ], + [ + 0.9710901975631714, + -0.07577206939458847, + -0.22636784613132477, + -18.040056228637695 + ], + [ + -0.08068475872278214, + -0.9966611266136169, + -0.012515479698777199, + -21.510046005249023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3047, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_142267465", + "mask_path": "../../mask/hdr_left_03047.png" + }, + { + "file_path": "../../rgb/hdr_left_03048.png", + "transform_matrix": [ + [ + -0.2233472615480423, + 0.02674795128405094, + -0.9743717908859253, + -45.7996711730957 + ], + [ + 0.9717558026313782, + -0.0720362588763237, + -0.22472511231899261, + -17.97345733642578 + ], + [ + -0.07620103657245636, + -0.9970433115959167, + -0.009903373196721077, + -21.499677658081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3048, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_242267370", + "mask_path": "../../mask/hdr_left_03048.png" + }, + { + "file_path": "../../rgb/hdr_left_03049.png", + "transform_matrix": [ + [ + -0.23388667404651642, + 0.024391330778598785, + -0.9719578623771667, + -45.840187072753906 + ], + [ + 0.969638466835022, + -0.06756443530321121, + -0.23502406477928162, + -17.90052604675293 + ], + [ + -0.07140232622623444, + -0.9974167346954346, + -0.007848347537219524, + -21.50493049621582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3049, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_342268466", + "mask_path": "../../mask/hdr_left_03049.png" + }, + { + "file_path": "../../rgb/hdr_left_03050.png", + "transform_matrix": [ + [ + -0.2629224359989166, + 0.02434455044567585, + -0.9645098447799683, + -45.90659713745117 + ], + [ + 0.9620729684829712, + -0.06872729957103729, + -0.26399287581443787, + -17.802560806274414 + ], + [ + -0.07271494716405869, + -0.9973384737968445, + -0.005351283121854067, + -21.525405883789062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3050, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_442267656", + "mask_path": "../../mask/hdr_left_03050.png" + }, + { + "file_path": "../../rgb/hdr_left_03051.png", + "transform_matrix": [ + [ + -0.3011462986469269, + 0.024113299325108528, + -0.9532730579376221, + -45.96018981933594 + ], + [ + 0.9508015513420105, + -0.0686364397406578, + -0.3021017014980316, + -17.73373031616211 + ], + [ + -0.0727139338850975, + -0.9973503351211548, + -0.0022573533933609724, + -21.542768478393555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3051, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_542267799", + "mask_path": "../../mask/hdr_left_03051.png" + }, + { + "file_path": "../../rgb/hdr_left_03052.png", + "transform_matrix": [ + [ + -0.33754169940948486, + 0.021021448075771332, + -0.9410758018493652, + -46.01171875 + ], + [ + 0.9385465979576111, + -0.06904123723506927, + -0.33817675709724426, + -17.654741287231445 + ], + [ + -0.07208199799060822, + -0.9973924160003662, + 0.00357469217851758, + -21.54841423034668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3052, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_642267942", + "mask_path": "../../mask/hdr_left_03052.png" + }, + { + "file_path": "../../rgb/hdr_left_03053.png", + "transform_matrix": [ + [ + -0.36427202820777893, + 0.019303617998957634, + -0.9310924410820007, + -46.0634651184082 + ], + [ + 0.9285961985588074, + -0.06849586218595505, + -0.36471542716026306, + -17.568235397338867 + ], + [ + -0.07081630825996399, + -0.9974647164344788, + 0.007025863043963909, + -21.542598724365234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3053, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_742268323", + "mask_path": "../../mask/hdr_left_03053.png" + }, + { + "file_path": "../../rgb/hdr_left_03054.png", + "transform_matrix": [ + [ + -0.384286493062973, + 0.01153267826884985, + -0.9231419563293457, + -46.10330581665039 + ], + [ + 0.9208435416221619, + -0.06681902706623077, + -0.38416457176208496, + -17.516422271728516 + ], + [ + -0.06611388176679611, + -0.9976984858512878, + 0.015057857148349285, + -21.54364776611328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3054, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_842267751", + "mask_path": "../../mask/hdr_left_03054.png" + }, + { + "file_path": "../../rgb/hdr_left_03055.png", + "transform_matrix": [ + [ + -0.4009108245372772, + 0.014295031316578388, + -0.9160056114196777, + -46.160335540771484 + ], + [ + 0.9136203527450562, + -0.06753017753362656, + -0.4009207785129547, + -17.445402145385742 + ], + [ + -0.0675891861319542, + -0.9976148009300232, + 0.014013349078595638, + -21.556194305419922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3055, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_942268610", + "mask_path": "../../mask/hdr_left_03055.png" + }, + { + "file_path": "../../rgb/hdr_left_03056.png", + "transform_matrix": [ + [ + -0.41540050506591797, + 0.021427514031529427, + -0.9093862175941467, + -46.22571563720703 + ], + [ + 0.9066268801689148, + -0.0715315043926239, + -0.41582557559013367, + -17.366802215576172 + ], + [ + -0.07395985722541809, + -0.9972082376480103, + 0.01028746459633112, + -21.57426643371582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3056, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_42267799", + "mask_path": "../../mask/hdr_left_03056.png" + }, + { + "file_path": "../../rgb/hdr_left_03057.png", + "transform_matrix": [ + [ + -0.4295993149280548, + 0.02163870446383953, + -0.9027603268623352, + -46.27783966064453 + ], + [ + 0.9000455737113953, + -0.07080881297588348, + -0.43000462651252747, + -17.311702728271484 + ], + [ + -0.0732281282544136, + -0.997255265712738, + 0.010943600907921791, + -21.582639694213867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3057, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_142266511", + "mask_path": "../../mask/hdr_left_03057.png" + }, + { + "file_path": "../../rgb/hdr_left_03058.png", + "transform_matrix": [ + [ + -0.4353601038455963, + 0.01736573502421379, + -0.9000888466835022, + -46.33435821533203 + ], + [ + 0.8974815011024475, + -0.07006815075874329, + -0.43545079231262207, + -17.245494842529297 + ], + [ + -0.07062948495149612, + -0.9973910450935364, + 0.014919456094503403, + -21.59247589111328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3058, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_242267847", + "mask_path": "../../mask/hdr_left_03058.png" + }, + { + "file_path": "../../rgb/hdr_left_03059.png", + "transform_matrix": [ + [ + -0.4299096465110779, + 0.023102963343262672, + -0.902576208114624, + -46.39790344238281 + ], + [ + 0.8994728922843933, + -0.07570181041955948, + -0.4303692579269409, + -17.157800674438477 + ], + [ + -0.07826945930719376, + -0.9968628287315369, + 0.01176445372402668, + -21.6009578704834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3059, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_342268466", + "mask_path": "../../mask/hdr_left_03059.png" + }, + { + "file_path": "../../rgb/hdr_left_03060.png", + "transform_matrix": [ + [ + -0.4227733314037323, + 0.023128528147935867, + -0.9059402346611023, + -46.44580841064453 + ], + [ + 0.9025905728340149, + -0.0788220465183258, + -0.4232225716114044, + -17.091739654541016 + ], + [ + -0.08119658380746841, + -0.9966204166412354, + 0.012448273599147797, + -21.600326538085938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3060, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_442268133", + "mask_path": "../../mask/hdr_left_03060.png" + }, + { + "file_path": "../../rgb/hdr_left_03061.png", + "transform_matrix": [ + [ + -0.4137042760848999, + 0.01893918216228485, + -0.9102142453193665, + -46.493831634521484 + ], + [ + 0.9075464606285095, + -0.07067250460386276, + -0.4139622747898102, + -17.035993576049805 + ], + [ + -0.07216723263263702, + -0.9973198175430298, + 0.01204933226108551, + -21.599689483642578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3061, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_542266845", + "mask_path": "../../mask/hdr_left_03061.png" + }, + { + "file_path": "../../rgb/hdr_left_03062.png", + "transform_matrix": [ + [ + -0.40949806571006775, + 0.024112245067954063, + -0.9119923710823059, + -46.57098388671875 + ], + [ + 0.9094567894935608, + -0.06822279840707779, + -0.4101633131504059, + -16.940452575683594 + ], + [ + -0.07210862636566162, + -0.9973787069320679, + 0.006008062046021223, + -21.6190128326416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3062, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_642267704", + "mask_path": "../../mask/hdr_left_03062.png" + }, + { + "file_path": "../../rgb/hdr_left_03063.png", + "transform_matrix": [ + [ + -0.4106202721595764, + 0.03038342110812664, + -0.911300003528595, + -46.63390350341797 + ], + [ + 0.9088155627250671, + -0.06724590808153152, + -0.4117428958415985, + -16.866741180419922 + ], + [ + -0.07379135489463806, + -0.9972737431526184, + -3.9319536426773993e-07, + -21.639108657836914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3063, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_742267370", + "mask_path": "../../mask/hdr_left_03063.png" + }, + { + "file_path": "../../rgb/hdr_left_03064.png", + "transform_matrix": [ + [ + -0.4108423888683319, + 0.029392724856734276, + -0.9112324714660645, + -46.681907653808594 + ], + [ + 0.9089891314506531, + -0.06390354782342911, + -0.41189220547676086, + -16.805896759033203 + ], + [ + -0.07033761590719223, + -0.9975231885910034, + -0.0004633782082237303, + -21.6517276763916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3064, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_842267274", + "mask_path": "../../mask/hdr_left_03064.png" + }, + { + "file_path": "../../rgb/hdr_left_03065.png", + "transform_matrix": [ + [ + -0.4054006338119507, + 0.03544054925441742, + -0.9134518504142761, + -46.74077224731445 + ], + [ + 0.911264181137085, + -0.06351833790540695, + -0.4068942368030548, + -16.714805603027344 + ], + [ + -0.07244148850440979, + -0.9973512291908264, + -0.006545332260429859, + -21.65624237060547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3065, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_942267417", + "mask_path": "../../mask/hdr_left_03065.png" + }, + { + "file_path": "../../rgb/hdr_left_03066.png", + "transform_matrix": [ + [ + -0.39667996764183044, + 0.03847813606262207, + -0.9171501398086548, + -46.78522872924805 + ], + [ + 0.9150834679603577, + -0.062415558844804764, + -0.3984048068523407, + -16.638202667236328 + ], + [ + -0.07257429510354996, + -0.9973082542419434, + -0.010451696813106537, + -21.651641845703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3066, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_42267560", + "mask_path": "../../mask/hdr_left_03066.png" + }, + { + "file_path": "../../rgb/hdr_left_03067.png", + "transform_matrix": [ + [ + -0.3853919804096222, + 0.03396641090512276, + -0.9221276640892029, + -46.817832946777344 + ], + [ + 0.9203985333442688, + -0.05719238519668579, + -0.38677600026130676, + -16.588834762573242 + ], + [ + -0.0658760592341423, + -0.9977852702140808, + -0.009221145883202553, + -21.652469635009766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3067, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_142266750", + "mask_path": "../../mask/hdr_left_03067.png" + }, + { + "file_path": "../../rgb/hdr_left_03068.png", + "transform_matrix": [ + [ + -0.3811136782169342, + 0.03777152672410011, + -0.9237562417984009, + -46.87885284423828 + ], + [ + 0.9222056865692139, + -0.05524465814232826, + -0.38273289799690247, + -16.500102996826172 + ], + [ + -0.06548900157213211, + -0.9977582097053528, + -0.013778617605566978, + -21.66452407836914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3068, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_242267608", + "mask_path": "../../mask/hdr_left_03068.png" + }, + { + "file_path": "../../rgb/hdr_left_03069.png", + "transform_matrix": [ + [ + -0.3859112560749054, + 0.04495394602417946, + -0.9214399456977844, + -46.93903732299805 + ], + [ + 0.9201317429542542, + -0.05330544710159302, + -0.3879639208316803, + -16.418790817260742 + ], + [ + -0.06655827909708023, + -0.9975658655166626, + -0.020792381837964058, + -21.681060791015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3069, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_342267274", + "mask_path": "../../mask/hdr_left_03069.png" + }, + { + "file_path": "../../rgb/hdr_left_03070.png", + "transform_matrix": [ + [ + -0.39089223742485046, + 0.04393159970641136, + -0.9193873405456543, + -46.9805793762207 + ], + [ + 0.9182234406471252, + -0.050610315054655075, + -0.39281579852104187, + -16.36057472229004 + ], + [ + -0.06378751248121262, + -0.9977518320083618, + -0.02055583894252777, + -21.697389602661133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3070, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_442268371", + "mask_path": "../../mask/hdr_left_03070.png" + }, + { + "file_path": "../../rgb/hdr_left_03071.png", + "transform_matrix": [ + [ + -0.38915395736694336, + 0.04469260200858116, + -0.9200878739356995, + -47.03070831298828 + ], + [ + 0.9185882806777954, + -0.0559394434094429, + -0.39123690128326416, + -16.278732299804688 + ], + [ + -0.06895459443330765, + -0.9974333643913269, + -0.019285045564174652, + -21.70232391357422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3071, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_542267799", + "mask_path": "../../mask/hdr_left_03071.png" + }, + { + "file_path": "../../rgb/hdr_left_03072.png", + "transform_matrix": [ + [ + -0.37919145822525024, + 0.04359925910830498, + -0.9242904782295227, + -47.07367706298828 + ], + [ + 0.9226419925689697, + -0.0581013523042202, + -0.38125571608543396, + -16.193557739257812 + ], + [ + -0.07032499462366104, + -0.9973581433296204, + -0.018194977194070816, + -21.702226638793945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3072, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_642267704", + "mask_path": "../../mask/hdr_left_03072.png" + }, + { + "file_path": "../../rgb/hdr_left_03073.png", + "transform_matrix": [ + [ + -0.36533138155937195, + 0.035696208477020264, + -0.9301928281784058, + -47.10009002685547 + ], + [ + 0.9286086559295654, + -0.05574977770447731, + -0.3668486475944519, + -16.14269256591797 + ], + [ + -0.06495314836502075, + -0.9978064894676208, + -0.012780659832060337, + -21.70281219482422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3073, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_742268562", + "mask_path": "../../mask/hdr_left_03073.png" + }, + { + "file_path": "../../rgb/hdr_left_03074.png", + "transform_matrix": [ + [ + -0.35791823267936707, + 0.030929788947105408, + -0.9332404732704163, + -47.1474723815918 + ], + [ + 0.9315805435180664, + -0.056306857615709305, + -0.359147846698761, + -16.064022064208984 + ], + [ + -0.06365621089935303, + -0.9979343414306641, + -0.008660334162414074, + -21.7125244140625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3074, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_842267274", + "mask_path": "../../mask/hdr_left_03074.png" + }, + { + "file_path": "../../rgb/hdr_left_03075.png", + "transform_matrix": [ + [ + -0.36238816380500793, + 0.033181603997945786, + -0.9314363598823547, + -47.203067779541016 + ], + [ + 0.9297254085540771, + -0.0573238842189312, + -0.3637646436691284, + -15.983403205871582 + ], + [ + -0.0654638409614563, + -0.9978041052818298, + -0.010076280683279037, + -21.72831916809082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3075, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_942268133", + "mask_path": "../../mask/hdr_left_03075.png" + }, + { + "file_path": "../../rgb/hdr_left_03076.png", + "transform_matrix": [ + [ + -0.37384265661239624, + 0.02963269129395485, + -0.9270185828208923, + -47.246551513671875 + ], + [ + 0.9251243472099304, + -0.059459950774908066, + -0.37497928738594055, + -15.924391746520996 + ], + [ + -0.06623212993144989, + -0.9977908134460449, + -0.005185254383832216, + -21.74352264404297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3076, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_42267560", + "mask_path": "../../mask/hdr_left_03076.png" + }, + { + "file_path": "../../rgb/hdr_left_03077.png", + "transform_matrix": [ + [ + -0.3806694746017456, + 0.029902320355176926, + -0.9242275357246399, + -47.298370361328125 + ], + [ + 0.9221916198730469, + -0.06145566329360008, + -0.3818192481994629, + -15.83923053741455 + ], + [ + -0.06821629405021667, + -0.997661828994751, + -0.004181366413831711, + -21.751243591308594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3077, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_142268419", + "mask_path": "../../mask/hdr_left_03077.png" + }, + { + "file_path": "../../rgb/hdr_left_03078.png", + "transform_matrix": [ + [ + -0.3767368495464325, + 0.028747523203492165, + -0.9258741140365601, + -47.33987045288086 + ], + [ + 0.923873782157898, + -0.06093409284949303, + -0.3778148889541626, + -15.756484985351562 + ], + [ + -0.06727854907512665, + -0.9977277517318726, + -0.0036029652692377567, + -21.74722671508789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3078, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_242267847", + "mask_path": "../../mask/hdr_left_03078.png" + }, + { + "file_path": "../../rgb/hdr_left_03079.png", + "transform_matrix": [ + [ + -0.36677882075309753, + 0.02145562879741192, + -0.9300606846809387, + -47.367645263671875 + ], + [ + 0.9282357096672058, + -0.058253586292266846, + -0.36740297079086304, + -15.70405101776123 + ], + [ + -0.062062229961156845, + -0.9980712532997131, + 0.001450302661396563, + -21.747234344482422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3079, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_342268943", + "mask_path": "../../mask/hdr_left_03079.png" + }, + { + "file_path": "../../rgb/hdr_left_03080.png", + "transform_matrix": [ + [ + -0.36136379837989807, + 0.017763162031769753, + -0.9322556853294373, + -47.413963317871094 + ], + [ + 0.9304318428039551, + -0.05846758931875229, + -0.3617708086967468, + -15.627166748046875 + ], + [ + -0.06093293055891991, + -0.998131275177002, + 0.0046006618067622185, + -21.754560470581055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3080, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_442268133", + "mask_path": "../../mask/hdr_left_03080.png" + }, + { + "file_path": "../../rgb/hdr_left_03081.png", + "transform_matrix": [ + [ + -0.3656063377857208, + 0.022148773074150085, + -0.9305059909820557, + -47.470699310302734 + ], + [ + 0.9286177754402161, + -0.05925873667001724, + -0.36627498269081116, + -15.550504684448242 + ], + [ + -0.06325314193964005, + -0.9979969263076782, + 0.0010976286139339209, + -21.77157974243164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3081, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_542268514", + "mask_path": "../../mask/hdr_left_03081.png" + }, + { + "file_path": "../../rgb/hdr_left_03082.png", + "transform_matrix": [ + [ + -0.37564340233802795, + 0.02406138926744461, + -0.9264518022537231, + -47.51097106933594 + ], + [ + 0.9246349334716797, + -0.05799666419625282, + -0.3764129877090454, + -15.498331069946289 + ], + [ + -0.06278813630342484, + -0.9980267882347107, + -0.0004619285464286804, + -21.78146743774414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3082, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_642268657", + "mask_path": "../../mask/hdr_left_03082.png" + }, + { + "file_path": "../../rgb/hdr_left_03083.png", + "transform_matrix": [ + [ + -0.3826069235801697, + 0.027535444125533104, + -0.9235008358955383, + -47.5607795715332 + ], + [ + 0.9216777682304382, + -0.05808276683092117, + -0.38358354568481445, + -15.428071975708008 + ], + [ + -0.06420162320137024, + -0.9979320168495178, + -0.0031559355556964874, + -21.787769317626953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3083, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_742267608", + "mask_path": "../../mask/hdr_left_03083.png" + }, + { + "file_path": "../../rgb/hdr_left_03084.png", + "transform_matrix": [ + [ + -0.38135966658592224, + 0.026658153161406517, + -0.924042284488678, + -47.60884094238281 + ], + [ + 0.9223177433013916, + -0.05651024729013443, + -0.38227835297584534, + -15.348599433898926 + ], + [ + -0.0624086819589138, + -0.9980461597442627, + -0.003036550944671035, + -21.785743713378906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3084, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_842267274", + "mask_path": "../../mask/hdr_left_03084.png" + }, + { + "file_path": "../../rgb/hdr_left_03085.png", + "transform_matrix": [ + [ + -0.3771205544471741, + 0.019971204921603203, + -0.9259488582611084, + -47.645877838134766 + ], + [ + 0.9243611693382263, + -0.054235853254795074, + -0.3776436746120453, + -15.294411659240723 + ], + [ + -0.057761624455451965, + -0.9983283877372742, + 0.0019928498659282923, + -21.775842666625977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3085, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_942267417", + "mask_path": "../../mask/hdr_left_03085.png" + }, + { + "file_path": "../../rgb/hdr_left_03086.png", + "transform_matrix": [ + [ + -0.38838863372802734, + 0.022922703996300697, + -0.921210527420044, + -47.70594024658203 + ], + [ + 0.9195569157600403, + -0.055171333253383636, + -0.38906440138816833, + -15.229107856750488 + ], + [ + -0.059742819517850876, + -0.9982137680053711, + 0.00034919011523015797, + -21.79001235961914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3086, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_42267084", + "mask_path": "../../mask/hdr_left_03086.png" + }, + { + "file_path": "../../rgb/hdr_left_03087.png", + "transform_matrix": [ + [ + -0.4094223976135254, + 0.028154699131846428, + -0.9119104146957397, + -47.76139450073242 + ], + [ + 0.9102699756622314, + -0.054765261709690094, + -0.4103768765926361, + -15.178914070129395 + ], + [ + -0.06149505078792572, + -0.9981023073196411, + -0.0032062462996691465, + -21.806331634521484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3087, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_142268657", + "mask_path": "../../mask/hdr_left_03087.png" + }, + { + "file_path": "../../rgb/hdr_left_03088.png", + "transform_matrix": [ + [ + -0.4298279583454132, + 0.025812610983848572, + -0.9025417566299438, + -47.802459716796875 + ], + [ + 0.9008809924125671, + -0.054727114737033844, + -0.4306023120880127, + -15.137114524841309 + ], + [ + -0.060508474707603455, + -0.9981676936149597, + 0.0002691575500648469, + -21.813629150390625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3088, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_242267608", + "mask_path": "../../mask/hdr_left_03088.png" + }, + { + "file_path": "../../rgb/hdr_left_03089.png", + "transform_matrix": [ + [ + -0.45125457644462585, + 0.02616562880575657, + -0.8920115828514099, + -47.853416442871094 + ], + [ + 0.8898820877075195, + -0.061769623309373856, + -0.4519892632961273, + -15.084508895874023 + ], + [ + -0.06692580133676529, + -0.9977474212646484, + 0.004589504096657038, + -21.812273025512695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3089, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_342267274", + "mask_path": "../../mask/hdr_left_03089.png" + }, + { + "file_path": "../../rgb/hdr_left_03090.png", + "transform_matrix": [ + [ + -0.470018595457077, + 0.026324786245822906, + -0.8822638392448425, + -47.89617156982422 + ], + [ + 0.8800545930862427, + -0.06271517276763916, + -0.47071290016174316, + -15.037044525146484 + ], + [ + -0.06772275269031525, + -0.9976842999458313, + 0.006310049444437027, + -21.809234619140625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3090, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_442268133", + "mask_path": "../../mask/hdr_left_03090.png" + }, + { + "file_path": "../../rgb/hdr_left_03092.png", + "transform_matrix": [ + [ + -0.5028986930847168, + 0.012177539989352226, + -0.8642595410346985, + -47.97811508178711 + ], + [ + 0.8621538877487183, + -0.06409066170454025, + -0.5025763511657715, + -14.964018821716309 + ], + [ + -0.06151110678911209, + -0.9978698492050171, + 0.02173219434916973, + -21.816768646240234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3092, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_642266988", + "mask_path": "../../mask/hdr_left_03092.png" + }, + { + "file_path": "../../rgb/hdr_left_03093.png", + "transform_matrix": [ + [ + -0.5281816124916077, + 0.01332869939506054, + -0.8490267992019653, + -48.03802490234375 + ], + [ + 0.8467879295349121, + -0.0659666433930397, + -0.527824342250824, + -14.917573928833008 + ], + [ + -0.06304266303777695, + -0.9977328181266785, + 0.02355579100549221, + -21.827882766723633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3093, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_742266893", + "mask_path": "../../mask/hdr_left_03093.png" + }, + { + "file_path": "../../rgb/hdr_left_03094.png", + "transform_matrix": [ + [ + -0.5533751249313354, + 0.017752619460225105, + -0.8327429294586182, + -48.08682632446289 + ], + [ + 0.8306639194488525, + -0.06196900084614754, + -0.553314745426178, + -14.888269424438477 + ], + [ + -0.061427030712366104, + -0.9979202151298523, + 0.019545646384358406, + -21.833833694458008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3094, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_842267036", + "mask_path": "../../mask/hdr_left_03094.png" + }, + { + "file_path": "../../rgb/hdr_left_03096.png", + "transform_matrix": [ + [ + -0.5972172021865845, + 0.024905361235141754, + -0.8016927242279053, + -48.18412399291992 + ], + [ + 0.7993323802947998, + -0.06417351216077805, + -0.5974525213241577, + -14.836912155151367 + ], + [ + -0.06632720679044724, + -0.9976279735565186, + 0.01841786503791809, + -21.841402053833008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3096, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_42267322", + "mask_path": "../../mask/hdr_left_03096.png" + }, + { + "file_path": "../../rgb/hdr_left_03097.png", + "transform_matrix": [ + [ + -0.6128873825073242, + 0.02632605843245983, + -0.789731502532959, + -48.23045349121094 + ], + [ + 0.7874183654785156, + -0.06299035251140594, + -0.6131920218467712, + -14.802023887634277 + ], + [ + -0.06588838994503021, + -0.9976668953895569, + 0.01787637174129486, + -21.835702896118164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3097, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_142266988", + "mask_path": "../../mask/hdr_left_03097.png" + }, + { + "file_path": "../../rgb/hdr_right_02959.png", + "transform_matrix": [ + [ + 0.522418200969696, + 0.04354571923613548, + 0.8515768647193909, + -42.88689422607422 + ], + [ + -0.8491988182067871, + -0.06370385736227036, + 0.5242168307304382, + -24.79537010192871 + ], + [ + 0.07707611471414566, + -0.9970183968544006, + 0.0036989236250519753, + -20.81814956665039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2959, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_642267227", + "mask_path": "../../mask/hdr_right_02959.png" + }, + { + "file_path": "../../rgb/hdr_right_02960.png", + "transform_matrix": [ + [ + 0.5280761122703552, + 0.04152153432369232, + 0.8481813073158264, + -42.92676544189453 + ], + [ + -0.845905065536499, + -0.062141142785549164, + 0.5297009348869324, + -24.718725204467773 + ], + [ + 0.07470095902681351, + -0.9972032904624939, + 0.0023080233950167894, + -20.831478118896484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2960, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_742267370", + "mask_path": "../../mask/hdr_right_02960.png" + }, + { + "file_path": "../../rgb/hdr_right_02961.png", + "transform_matrix": [ + [ + 0.5265739560127258, + 0.03986556828022003, + 0.8491941690444946, + -42.96783447265625 + ], + [ + -0.8468056917190552, + -0.0636448785662651, + 0.5280808210372925, + -24.618467330932617 + ], + [ + 0.07509909570217133, + -0.9971760511398315, + 0.0002446560247335583, + -20.83951187133789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2961, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_842268466", + "mask_path": "../../mask/hdr_right_02961.png" + }, + { + "file_path": "../../rgb/hdr_right_02962.png", + "transform_matrix": [ + [ + 0.515458881855011, + 0.033942848443984985, + 0.8562418222427368, + -43.00346374511719 + ], + [ + -0.8538010716438293, + -0.06475420296192169, + 0.5165565013885498, + -24.514400482177734 + ], + [ + 0.0729786604642868, + -0.9973238110542297, + -0.004397689364850521, + -20.83481216430664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2962, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_942268371", + "mask_path": "../../mask/hdr_right_02962.png" + }, + { + "file_path": "../../rgb/hdr_right_02963.png", + "transform_matrix": [ + [ + 0.5007718801498413, + 0.02693805657327175, + 0.8651601076126099, + -43.022308349609375 + ], + [ + -0.863102912902832, + -0.060012053698301315, + 0.501449704170227, + -24.449329376220703 + ], + [ + 0.06542811542749405, + -0.9978340864181519, + -0.006802030373364687, + -20.835296630859375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2963, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_42268276", + "mask_path": "../../mask/hdr_right_02963.png" + }, + { + "file_path": "../../rgb/hdr_right_02964.png", + "transform_matrix": [ + [ + 0.4899630844593048, + 0.02956223301589489, + 0.8712418079376221, + -43.06126022338867 + ], + [ + -0.869442880153656, + -0.055985137820243835, + 0.4908510744571686, + -24.346393585205078 + ], + [ + 0.06328725069761276, + -0.9979938864707947, + -0.0017279763706028461, + -20.841815948486328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2964, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_142269372", + "mask_path": "../../mask/hdr_right_02964.png" + }, + { + "file_path": "../../rgb/hdr_right_02965.png", + "transform_matrix": [ + [ + 0.49141737818717957, + 0.037749338895082474, + 0.8701057434082031, + -43.11136245727539 + ], + [ + -0.8683983087539673, + -0.05479579046368599, + 0.49283039569854736, + -24.23881721496582 + ], + [ + 0.06628216058015823, + -0.9977837204933167, + 0.005853862967342138, + -20.862958908081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2965, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_242268323", + "mask_path": "../../mask/hdr_right_02965.png" + }, + { + "file_path": "../../rgb/hdr_right_02966.png", + "transform_matrix": [ + [ + 0.49824294447898865, + 0.04001215472817421, + 0.8661137223243713, + -43.14409255981445 + ], + [ + -0.8646166324615479, + -0.05166655778884888, + 0.4997686445713043, + -24.1650333404541 + ], + [ + 0.0647459328174591, + -0.9978624582290649, + 0.008852674625813961, + -20.875749588012695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2966, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_342268466", + "mask_path": "../../mask/hdr_right_02966.png" + }, + { + "file_path": "../../rgb/hdr_right_02967.png", + "transform_matrix": [ + [ + 0.4996524751186371, + 0.039710041135549545, + 0.8653153777122498, + -43.17800521850586 + ], + [ + -0.8636268377304077, + -0.05448981374502182, + 0.5011781454086304, + -24.06525993347168 + ], + [ + 0.0670526772737503, + -0.9977244138717651, + 0.007068689446896315, + -20.88559913635254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2967, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_442267656", + "mask_path": "../../mask/hdr_right_02967.png" + }, + { + "file_path": "../../rgb/hdr_right_02968.png", + "transform_matrix": [ + [ + 0.49006733298301697, + 0.038991592824459076, + 0.870812177658081, + -43.208072662353516 + ], + [ + -0.8692290782928467, + -0.053072161972522736, + 0.49155279994010925, + -23.955852508544922 + ], + [ + 0.06538231670856476, + -0.9978291392326355, + 0.007883697748184204, + -20.880640029907227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2968, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_542267560", + "mask_path": "../../mask/hdr_right_02968.png" + }, + { + "file_path": "../../rgb/hdr_right_02969.png", + "transform_matrix": [ + [ + 0.47502750158309937, + 0.03478270769119263, + 0.8792831897735596, + -43.220088958740234 + ], + [ + -0.8780443668365479, + -0.047347236424684525, + 0.4762312173843384, + -23.884811401367188 + ], + [ + 0.05819624662399292, + -0.998272716999054, + 0.008049524389207363, + -20.87375831604004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2969, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_642268419", + "mask_path": "../../mask/hdr_right_02969.png" + }, + { + "file_path": "../../rgb/hdr_right_02970.png", + "transform_matrix": [ + [ + 0.46285033226013184, + 0.03510712832212448, + 0.8857408761978149, + -43.24639129638672 + ], + [ + -0.884749710559845, + -0.04331635683774948, + 0.46404922008514404, + -23.788169860839844 + ], + [ + 0.05465850606560707, + -0.9984443783760071, + 0.011012029834091663, + -20.882421493530273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2970, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_742267847", + "mask_path": "../../mask/hdr_right_02970.png" + }, + { + "file_path": "../../rgb/hdr_right_02971.png", + "transform_matrix": [ + [ + 0.4596949815750122, + 0.042262036353349686, + 0.8870707750320435, + -43.282894134521484 + ], + [ + -0.8860768675804138, + -0.04517092555761337, + 0.4613320529460907, + -23.680936813354492 + ], + [ + 0.05956663936376572, + -0.9980849027633667, + 0.016682565212249756, + -20.904247283935547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2971, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_842267513", + "mask_path": "../../mask/hdr_right_02971.png" + }, + { + "file_path": "../../rgb/hdr_right_02972.png", + "transform_matrix": [ + [ + 0.4593251049518585, + 0.04395085573196411, + 0.8871802091598511, + -43.30423355102539 + ], + [ + -0.8862279057502747, + -0.04498118907213211, + 0.46106046438217163, + -23.60488510131836 + ], + [ + 0.06017042696475983, + -0.9980205297470093, + 0.018289480358362198, + -20.916040420532227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2972, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639097_942267179", + "mask_path": "../../mask/hdr_right_02972.png" + }, + { + "file_path": "../../rgb/hdr_right_02973.png", + "transform_matrix": [ + [ + 0.456121563911438, + 0.04081706702709198, + 0.8889809846878052, + -43.32966995239258 + ], + [ + -0.8877339363098145, + -0.049066539853811264, + 0.4577345848083496, + -23.505779266357422 + ], + [ + 0.0623026043176651, + -0.997961163520813, + 0.013854386284947395, + -20.9207820892334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2973, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_42268276", + "mask_path": "../../mask/hdr_right_02973.png" + }, + { + "file_path": "../../rgb/hdr_right_02974.png", + "transform_matrix": [ + [ + 0.44766953587532043, + 0.03764129430055618, + 0.8934064507484436, + -43.35531997680664 + ], + [ + -0.8919164538383484, + -0.05254587531089783, + 0.44913676381111145, + -23.400964736938477 + ], + [ + 0.06385093182325363, + -0.9979088306427002, + 0.010049708187580109, + -20.91968536376953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2974, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_142267704", + "mask_path": "../../mask/hdr_right_02974.png" + }, + { + "file_path": "../../rgb/hdr_right_02975.png", + "transform_matrix": [ + [ + 0.43649470806121826, + 0.03236756473779678, + 0.8991244435310364, + -43.36930847167969 + ], + [ + -0.8977398872375488, + -0.05037702992558479, + 0.43763604760169983, + -23.339811325073242 + ], + [ + 0.059460438787937164, + -0.9982056021690369, + 0.007068348117172718, + -20.922256469726562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2975, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_242267370", + "mask_path": "../../mask/hdr_right_02975.png" + }, + { + "file_path": "../../rgb/hdr_right_02976.png", + "transform_matrix": [ + [ + 0.4365057945251465, + 0.027102772146463394, + 0.8992932438850403, + -43.40403747558594 + ], + [ + -0.897951066493988, + -0.04919671639800072, + 0.4373369812965393, + -23.244384765625 + ], + [ + 0.05609530955553055, + -0.9984212517738342, + 0.0028623128309845924, + -20.93230438232422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2976, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_342267036", + "mask_path": "../../mask/hdr_right_02976.png" + }, + { + "file_path": "../../rgb/hdr_right_02977.png", + "transform_matrix": [ + [ + 0.4535543620586395, + 0.02982853166759014, + 0.8907293081283569, + -43.45298767089844 + ], + [ + -0.8891748189926147, + -0.052667196840047836, + 0.45452651381492615, + -23.14220428466797 + ], + [ + 0.06047007068991661, + -0.998166561126709, + 0.002635340904816985, + -20.945817947387695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2977, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_442268610", + "mask_path": "../../mask/hdr_right_02977.png" + }, + { + "file_path": "../../rgb/hdr_right_02978.png", + "transform_matrix": [ + [ + 0.47871795296669006, + 0.029254548251628876, + 0.8774813413619995, + -43.48699951171875 + ], + [ + -0.8757473230361938, + -0.055141083896160126, + 0.479610413312912, + -23.076129913330078 + ], + [ + 0.06241605058312416, + -0.9980499148368835, + -0.00077743676956743, + -20.960599899291992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2978, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_542266368", + "mask_path": "../../mask/hdr_right_02978.png" + }, + { + "file_path": "../../rgb/hdr_right_02979.png", + "transform_matrix": [ + [ + 0.5020490884780884, + 0.023930886760354042, + 0.8645080924034119, + -43.523887634277344 + ], + [ + -0.8624268770217896, + -0.06075664237141609, + 0.5025222897529602, + -22.98699188232422 + ], + [ + 0.06455041468143463, + -0.9978656768798828, + -0.00986417941749096, + -20.96976089477539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2979, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_642267942", + "mask_path": "../../mask/hdr_right_02979.png" + }, + { + "file_path": "../../rgb/hdr_right_02980.png", + "transform_matrix": [ + [ + 0.5168742537498474, + 0.019258294254541397, + 0.8558447360992432, + -43.56167221069336 + ], + [ + -0.8536913990974426, + -0.06274425983428955, + 0.5169856548309326, + -22.886083602905273 + ], + [ + 0.06365561485290527, + -0.9978438019752502, + -0.015990251675248146, + -20.96575355529785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2980, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_742267608", + "mask_path": "../../mask/hdr_right_02980.png" + }, + { + "file_path": "../../rgb/hdr_right_02981.png", + "transform_matrix": [ + [ + 0.5280061960220337, + 0.011802969500422478, + 0.8491586446762085, + -43.58681869506836 + ], + [ + -0.8472000956535339, + -0.06195097416639328, + 0.527649462223053, + -22.82369041442871 + ], + [ + 0.0588340237736702, + -0.998009443283081, + -0.022711018100380898, + -20.96295928955078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2981, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_842267036", + "mask_path": "../../mask/hdr_right_02981.png" + }, + { + "file_path": "../../rgb/hdr_right_02982.png", + "transform_matrix": [ + [ + 0.5412615537643433, + 0.011625068262219429, + 0.8407739996910095, + -43.630428314208984 + ], + [ + -0.8388019800186157, + -0.062353651970624924, + 0.5408542156219482, + -22.742755889892578 + ], + [ + 0.05871279910206795, + -0.9979864358901978, + -0.023998504504561424, + -20.97730255126953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2982, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639098_942267417", + "mask_path": "../../mask/hdr_right_02982.png" + }, + { + "file_path": "../../rgb/hdr_right_02983.png", + "transform_matrix": [ + [ + 0.5586828589439392, + 0.017522314563393593, + 0.8291962742805481, + -43.68745422363281 + ], + [ + -0.8267569541931152, + -0.06770593672990799, + 0.5584700703620911, + -22.645872116088867 + ], + [ + 0.06592720746994019, + -0.997551441192627, + -0.02333945408463478, + -21.000152587890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2983, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_42267560", + "mask_path": "../../mask/hdr_right_02983.png" + }, + { + "file_path": "../../rgb/hdr_right_02984.png", + "transform_matrix": [ + [ + 0.5794082880020142, + 0.01751958392560482, + 0.8148491978645325, + -43.731300354003906 + ], + [ + -0.8122170567512512, + -0.07068752497434616, + 0.5790566205978394, + -22.577922821044922 + ], + [ + 0.06774448603391647, + -0.9973447322845459, + -0.026727233082056046, + -21.00895881652832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2984, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_142267465", + "mask_path": "../../mask/hdr_right_02984.png" + }, + { + "file_path": "../../rgb/hdr_right_02985.png", + "transform_matrix": [ + [ + 0.5985218286514282, + 0.011294555850327015, + 0.8010267615318298, + -43.78128433227539 + ], + [ + -0.7980934977531433, + -0.07823305577039719, + 0.5974332690238953, + -22.497079849243164 + ], + [ + 0.06941452622413635, + -0.9968710541725159, + -0.037810079753398895, + -21.024255752563477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2985, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_242267608", + "mask_path": "../../mask/hdr_right_02985.png" + }, + { + "file_path": "../../rgb/hdr_right_02986.png", + "transform_matrix": [ + [ + 0.6081404089927673, + 0.011057822965085506, + 0.7937524914741516, + -43.836448669433594 + ], + [ + -0.7903748154640198, + -0.08475051075220108, + 0.6067331433296204, + -22.402660369873047 + ], + [ + 0.07398007810115814, + -0.996340811252594, + -0.04280038923025131, + -21.026657104492188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2986, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_342268466", + "mask_path": "../../mask/hdr_right_02986.png" + }, + { + "file_path": "../../rgb/hdr_right_02987.png", + "transform_matrix": [ + [ + 0.6124365925788879, + 0.006498000118881464, + 0.7904930710792542, + -43.874752044677734 + ], + [ + -0.7871252298355103, + -0.08755645155906677, + 0.6105470657348633, + -22.337881088256836 + ], + [ + 0.07318010181188583, + -0.996138334274292, + -0.04850803315639496, + -21.02349090576172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2987, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_442268133", + "mask_path": "../../mask/hdr_right_02987.png" + }, + { + "file_path": "../../rgb/hdr_right_02988.png", + "transform_matrix": [ + [ + 0.6161318421363831, + 0.013306439854204655, + 0.7875307202339172, + -43.92148971557617 + ], + [ + -0.7844778895378113, + -0.07917851954698563, + 0.6150814294815063, + -22.270227432250977 + ], + [ + 0.07054005563259125, + -0.9967716336250305, + -0.03834579885005951, + -21.030824661254883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2988, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_542267322", + "mask_path": "../../mask/hdr_right_02988.png" + }, + { + "file_path": "../../rgb/hdr_right_02989.png", + "transform_matrix": [ + [ + 0.6222535371780396, + 0.024570893496274948, + 0.7824300527572632, + -43.987003326416016 + ], + [ + -0.7789881825447083, + -0.07928469032049179, + 0.6220059990882874, + -22.174861907958984 + ], + [ + 0.077317975461483, + -0.996549129486084, + -0.03019474446773529, + -21.059219360351562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2989, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_642267704", + "mask_path": "../../mask/hdr_right_02989.png" + }, + { + "file_path": "../../rgb/hdr_right_02990.png", + "transform_matrix": [ + [ + 0.6291992664337158, + 0.029995279386639595, + 0.7766650915145874, + -44.039207458496094 + ], + [ + -0.7730727195739746, + -0.0792355015873909, + 0.6293492317199707, + -22.10831642150879 + ], + [ + 0.08041694760322571, + -0.9964045882225037, + -0.026666389778256416, + -21.071346282958984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2990, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_742267847", + "mask_path": "../../mask/hdr_right_02990.png" + }, + { + "file_path": "../../rgb/hdr_right_02991.png", + "transform_matrix": [ + [ + 0.6353704929351807, + 0.02534094825387001, + 0.7717915177345276, + -44.089359283447266 + ], + [ + -0.7683451771736145, + -0.07909054309129715, + 0.6351302266120911, + -22.050174713134766 + ], + [ + 0.07713620364665985, + -0.9965453147888184, + -0.030781203880906105, + -21.08177947998047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2991, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_842268466", + "mask_path": "../../mask/hdr_right_02991.png" + }, + { + "file_path": "../../rgb/hdr_right_02992.png", + "transform_matrix": [ + [ + 0.6349282264709473, + 0.03245975822210312, + 0.7718889713287354, + -44.15099334716797 + ], + [ + -0.7676386833190918, + -0.08621319383382797, + 0.6350576281547546, + -21.97113609313965 + ], + [ + 0.08716081827878952, + -0.9957478046417236, + -0.02982182241976261, + -21.093769073486328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2992, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639099_942268848", + "mask_path": "../../mask/hdr_right_02992.png" + }, + { + "file_path": "../../rgb/hdr_right_02993.png", + "transform_matrix": [ + [ + 0.6291702389717102, + 0.03834923356771469, + 0.7763209939002991, + -44.201656341552734 + ], + [ + -0.7717441916465759, + -0.08803705871105194, + 0.6298098564147949, + -21.88686752319336 + ], + [ + 0.09249773621559143, + -0.995378851890564, + -0.025794491171836853, + -21.093191146850586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2993, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_42267322", + "mask_path": "../../mask/hdr_right_02993.png" + }, + { + "file_path": "../../rgb/hdr_right_02994.png", + "transform_matrix": [ + [ + 0.6214995980262756, + 0.03484249860048294, + 0.7826392650604248, + -44.24182891845703 + ], + [ + -0.778514564037323, + -0.08408936858177185, + 0.6219678521156311, + -21.818096160888672 + ], + [ + 0.08748255670070648, + -0.9958488941192627, + -0.025136124342679977, + -21.095367431640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2994, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_142268419", + "mask_path": "../../mask/hdr_right_02994.png" + }, + { + "file_path": "../../rgb/hdr_right_02995.png", + "transform_matrix": [ + [ + 0.618075430393219, + 0.04084683582186699, + 0.7850568890571594, + -44.310096740722656 + ], + [ + -0.7810693979263306, + -0.08109918236732483, + 0.6191556453704834, + -21.70754623413086 + ], + [ + 0.0889580175280571, + -0.9958686232566833, + -0.018221203237771988, + -21.11650276184082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2995, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_242267608", + "mask_path": "../../mask/hdr_right_02995.png" + }, + { + "file_path": "../../rgb/hdr_right_02996.png", + "transform_matrix": [ + [ + 0.6198185086250305, + 0.05181882157921791, + 0.7830324172973633, + -44.37596130371094 + ], + [ + -0.7790771126747131, + -0.07907876372337341, + 0.6219208240509033, + -21.607681274414062 + ], + [ + 0.09414844214916229, + -0.9955206513404846, + -0.008643630892038345, + -21.145872116088867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2996, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_342267990", + "mask_path": "../../mask/hdr_right_02996.png" + }, + { + "file_path": "../../rgb/hdr_right_02997.png", + "transform_matrix": [ + [ + 0.6231390833854675, + 0.05212035030126572, + 0.7803724408149719, + -44.426631927490234 + ], + [ + -0.7767499685287476, + -0.07538409531116486, + 0.6252813339233398, + -21.532981872558594 + ], + [ + 0.09141755104064941, + -0.995791494846344, + -0.006490298546850681, + -21.161962509155273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2997, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_442272424", + "mask_path": "../../mask/hdr_right_02997.png" + }, + { + "file_path": "../../rgb/hdr_right_02998.png", + "transform_matrix": [ + [ + 0.6204783320426941, + 0.05922704190015793, + 0.7819839119911194, + -44.48504638671875 + ], + [ + -0.777982771396637, + -0.07905899733304977, + 0.6232914924621582, + -21.432558059692383 + ], + [ + 0.09873858094215393, + -0.9951089024543762, + -0.0029767691157758236, + -21.17304229736328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2998, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_542267560", + "mask_path": "../../mask/hdr_right_02998.png" + }, + { + "file_path": "../../rgb/hdr_right_02999.png", + "transform_matrix": [ + [ + 0.6113654375076294, + 0.06105083227157593, + 0.7889899611473083, + -44.534423828125 + ], + [ + -0.7847203016281128, + -0.08200077712535858, + 0.6144021153450012, + -21.329097747802734 + ], + [ + 0.10220754891633987, + -0.9947605729103088, + -0.0022246111184358597, + -21.175046920776367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2999, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_642267942", + "mask_path": "../../mask/hdr_right_02999.png" + }, + { + "file_path": "../../rgb/hdr_right_03000.png", + "transform_matrix": [ + [ + 0.5993362069129944, + 0.05366669222712517, + 0.7986965179443359, + -44.56975555419922 + ], + [ + -0.7947991490364075, + -0.07894367724657059, + 0.6017160415649414, + -21.260276794433594 + ], + [ + 0.09534414857625961, + -0.9954334497451782, + -0.004659561440348625, + -21.179668426513672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3000, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_742267131", + "mask_path": "../../mask/hdr_right_03000.png" + }, + { + "file_path": "../../rgb/hdr_right_03001.png", + "transform_matrix": [ + [ + 0.5915993452072144, + 0.055024657398462296, + 0.8043522238731384, + -44.63055419921875 + ], + [ + -0.8004680871963501, + -0.07899698615074158, + 0.594146728515625, + -21.149694442749023 + ], + [ + 0.09623412042856216, + -0.9953550696372986, + -0.002689080312848091, + -21.196170806884766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3001, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_842266559", + "mask_path": "../../mask/hdr_right_03001.png" + }, + { + "file_path": "../../rgb/hdr_right_03002.png", + "transform_matrix": [ + [ + 0.5907880663871765, + 0.061230119317770004, + 0.8045001029968262, + -44.69449996948242 + ], + [ + -0.8004689812660217, + -0.08044721931219101, + 0.5939507484436035, + -21.043848037719727 + ], + [ + 0.10108745843172073, + -0.9948764443397522, + 0.0014855678891763091, + -21.22277069091797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3002, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639100_942264080", + "mask_path": "../../mask/hdr_right_03002.png" + }, + { + "file_path": "../../rgb/hdr_right_03003.png", + "transform_matrix": [ + [ + 0.59425288438797, + 0.057827502489089966, + 0.8021966814994812, + -44.73823928833008 + ], + [ + -0.798430323600769, + -0.07764440029859543, + 0.5970597863197327, + -20.97348976135254 + ], + [ + 0.09681256115436554, + -0.9953026175498962, + 3.0827970476821065e-05, + -21.233421325683594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3003, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_42266607", + "mask_path": "../../mask/hdr_right_03003.png" + }, + { + "file_path": "../../rgb/hdr_right_03004.png", + "transform_matrix": [ + [ + 0.593513011932373, + 0.057359565049409866, + 0.8027779459953308, + -44.7927131652832 + ], + [ + -0.7989600896835327, + -0.0782008171081543, + 0.5962780117988586, + -20.870973587036133 + ], + [ + 0.09698012471199036, + -0.9952861666679382, + -0.0005852047470398247, + -21.242416381835938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3004, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_142266988", + "mask_path": "../../mask/hdr_right_03004.png" + }, + { + "file_path": "../../rgb/hdr_right_03005.png", + "transform_matrix": [ + [ + 0.584751307964325, + 0.05250205472111702, + 0.8095118999481201, + -44.84298324584961 + ], + [ + -0.805460512638092, + -0.08104874193668365, + 0.5870813131332397, + -20.762737274169922 + ], + [ + 0.09643290191888809, + -0.9953263998031616, + -0.005105024203658104, + -21.243572235107422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3005, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_242267131", + "mask_path": "../../mask/hdr_right_03005.png" + }, + { + "file_path": "../../rgb/hdr_right_03006.png", + "transform_matrix": [ + [ + 0.5715016722679138, + 0.045357488095760345, + 0.8193464875221252, + -44.875240325927734 + ], + [ + -0.8156512975692749, + -0.07810129225254059, + 0.5732478499412537, + -20.6959171295166 + ], + [ + 0.08999310433864594, + -0.9959130883216858, + -0.0076391203328967094, + -21.244720458984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3006, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_342266321", + "mask_path": "../../mask/hdr_right_03006.png" + }, + { + "file_path": "../../rgb/hdr_right_03007.png", + "transform_matrix": [ + [ + 0.5611499547958374, + 0.04462205618619919, + 0.8265106081962585, + -44.930789947509766 + ], + [ + -0.823334813117981, + -0.07249070703983307, + 0.5629074573516846, + -20.583969116210938 + ], + [ + 0.08503241091966629, + -0.9963703751564026, + -0.003939252812415361, + -21.255910873413086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3007, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_442268133", + "mask_path": "../../mask/hdr_right_03007.png" + }, + { + "file_path": "../../rgb/hdr_right_03008.png", + "transform_matrix": [ + [ + 0.5589360594749451, + 0.051263611763715744, + 0.8276246190071106, + -44.991458892822266 + ], + [ + -0.824568510055542, + -0.07110351324081421, + 0.561276376247406, + -20.47117805480957 + ], + [ + 0.08762006461620331, + -0.9961507320404053, + 0.0025280416011810303, + -21.278087615966797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3008, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_542268037", + "mask_path": "../../mask/hdr_right_03008.png" + }, + { + "file_path": "../../rgb/hdr_right_03009.png", + "transform_matrix": [ + [ + 0.5604554414749146, + 0.05235891416668892, + 0.8265279531478882, + -45.032249450683594 + ], + [ + -0.8237684369087219, + -0.06768171489238739, + 0.5628719329833984, + -20.394807815551758 + ], + [ + 0.08541218936443329, + -0.9963321089744568, + 0.005199030041694641, + -21.293472290039062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3009, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_642267227", + "mask_path": "../../mask/hdr_right_03009.png" + }, + { + "file_path": "../../rgb/hdr_right_03010.png", + "transform_matrix": [ + [ + 0.5589824318885803, + 0.05271880701184273, + 0.8275018930435181, + -45.07350158691406 + ], + [ + -0.8247174024581909, + -0.06804493814706802, + 0.5614365935325623, + -20.299413681030273 + ], + [ + 0.08590558916330338, + -0.9962884187698364, + 0.005442185327410698, + -21.30243492126465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3010, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_742267131", + "mask_path": "../../mask/hdr_right_03010.png" + }, + { + "file_path": "../../rgb/hdr_right_03011.png", + "transform_matrix": [ + [ + 0.551675021648407, + 0.04882422089576721, + 0.8326289057731628, + -45.11386489868164 + ], + [ + -0.8296438455581665, + -0.07046091556549072, + 0.5538288354873657, + -20.189435958862305 + ], + [ + 0.08570805191993713, + -0.9963189959526062, + 0.0016351897502318025, + -21.298702239990234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3011, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_842265844", + "mask_path": "../../mask/hdr_right_03011.png" + }, + { + "file_path": "../../rgb/hdr_right_03012.png", + "transform_matrix": [ + [ + 0.5423073768615723, + 0.0440220944583416, + 0.839026153087616, + -45.13984680175781 + ], + [ + -0.8361610174179077, + -0.0692838504910469, + 0.5440906882286072, + -20.11249542236328 + ], + [ + 0.08208297193050385, + -0.9966251850128174, + -0.0007635875372216105, + -21.299413681030273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3012, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639101_942266941", + "mask_path": "../../mask/hdr_right_03012.png" + }, + { + "file_path": "../../rgb/hdr_right_03013.png", + "transform_matrix": [ + [ + 0.5372833609580994, + 0.0483134388923645, + 0.842016875743866, + -45.17570114135742 + ], + [ + -0.8393274545669556, + -0.06738457083702087, + 0.5394337177276611, + -20.014484405517578 + ], + [ + 0.08280084282159805, + -0.9965566396713257, + 0.004346190486103296, + -21.313570022583008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3013, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_42266845", + "mask_path": "../../mask/hdr_right_03013.png" + }, + { + "file_path": "../../rgb/hdr_right_03014.png", + "transform_matrix": [ + [ + 0.5398852229118347, + 0.055655673146247864, + 0.8398966789245605, + -45.22309494018555 + ], + [ + -0.8374733924865723, + -0.06480618566274643, + 0.542621910572052, + -19.905967712402344 + ], + [ + 0.08463048934936523, + -0.9963445663452148, + 0.01162224356085062, + -21.33588409423828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3014, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_142267227", + "mask_path": "../../mask/hdr_right_03014.png" + }, + { + "file_path": "../../rgb/hdr_right_03015.png", + "transform_matrix": [ + [ + 0.5432041883468628, + 0.058631256222724915, + 0.8375510573387146, + -45.25392532348633 + ], + [ + -0.8356531858444214, + -0.058864519000053406, + 0.5460940599441528, + -19.82549285888672 + ], + [ + 0.08132021874189377, + -0.996542751789093, + 0.017019953578710556, + -21.3516845703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3015, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_242266893", + "mask_path": "../../mask/hdr_right_03015.png" + }, + { + "file_path": "../../rgb/hdr_right_03016.png", + "transform_matrix": [ + [ + 0.542413055896759, + 0.05916078761219978, + 0.8380262851715088, + -45.29126739501953 + ], + [ + -0.8360872268676758, + -0.059510767459869385, + 0.5453591346740723, + -19.715133666992188 + ], + [ + 0.08213548362255096, + -0.9964730143547058, + 0.017184164375066757, + -21.361974716186523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3016, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_342267751", + "mask_path": "../../mask/hdr_right_03016.png" + }, + { + "file_path": "../../rgb/hdr_right_03017.png", + "transform_matrix": [ + [ + 0.5336166620254517, + 0.055483873933553696, + 0.8439044952392578, + -45.32733917236328 + ], + [ + -0.8416731953620911, + -0.06273683905601501, + 0.53633052110672, + -19.60628890991211 + ], + [ + 0.08270159363746643, + -0.9964866042137146, + 0.013221870176494122, + -21.36092185974121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3017, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_442267656", + "mask_path": "../../mask/hdr_right_03017.png" + }, + { + "file_path": "../../rgb/hdr_right_03018.png", + "transform_matrix": [ + [ + 0.5188633799552917, + 0.047730252146720886, + 0.8535237312316895, + -45.349998474121094 + ], + [ + -0.8512590527534485, + -0.06266225129365921, + 0.5209908485412598, + -19.53861427307129 + ], + [ + 0.0783507376909256, + -0.9968928098678589, + 0.00811766367405653, + -21.36627960205078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3018, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_542268037", + "mask_path": "../../mask/hdr_right_03018.png" + }, + { + "file_path": "../../rgb/hdr_right_03019.png", + "transform_matrix": [ + [ + 0.5091766119003296, + 0.04457145929336548, + 0.8595072031021118, + -45.398231506347656 + ], + [ + -0.8569625020027161, + -0.06624000519514084, + 0.511104166507721, + -19.429636001586914 + ], + [ + 0.07971441745758057, + -0.9968077540397644, + 0.004468213766813278, + -21.378299713134766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3019, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_642267465", + "mask_path": "../../mask/hdr_right_03019.png" + }, + { + "file_path": "../../rgb/hdr_right_03020.png", + "transform_matrix": [ + [ + 0.5111567378044128, + 0.04812168329954147, + 0.8581393361091614, + -45.45258712768555 + ], + [ + -0.8553367853164673, + -0.0695246234536171, + 0.5133861303329468, + -19.31903648376465 + ], + [ + 0.0843668133020401, + -0.9964188933372498, + 0.005622270982712507, + -21.395700454711914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3020, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_742267370", + "mask_path": "../../mask/hdr_right_03020.png" + }, + { + "file_path": "../../rgb/hdr_right_03021.png", + "transform_matrix": [ + [ + 0.5171053409576416, + 0.046065378934144974, + 0.8546813130378723, + -45.48975372314453 + ], + [ + -0.8520459532737732, + -0.06721562892198563, + 0.5191337466239929, + -19.244489669799805 + ], + [ + 0.0813620388507843, + -0.9966744780540466, + 0.004492252599447966, + -21.41056251525879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3021, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_842267990", + "mask_path": "../../mask/hdr_right_03021.png" + }, + { + "file_path": "../../rgb/hdr_right_03022.png", + "transform_matrix": [ + [ + 0.5171303749084473, + 0.04750719666481018, + 0.854587197303772, + -45.527801513671875 + ], + [ + -0.851525604724884, + -0.07233677804470062, + 0.5192990303039551, + -19.148025512695312 + ], + [ + 0.08648853003978729, + -0.996248185634613, + 0.0030460560228675604, + -21.421079635620117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3022, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639102_942268133", + "mask_path": "../../mask/hdr_right_03022.png" + }, + { + "file_path": "../../rgb/hdr_right_03023.png", + "transform_matrix": [ + [ + 0.5098356604576111, + 0.0477285161614418, + 0.8589468002319336, + -45.561126708984375 + ], + [ + -0.8556486368179321, + -0.07524000853300095, + 0.5120589137077332, + -19.050765991210938 + ], + [ + 0.08906697481870651, + -0.9960225224494934, + 0.002478803740814328, + -21.418306350708008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3023, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_42267560", + "mask_path": "../../mask/hdr_right_03023.png" + }, + { + "file_path": "../../rgb/hdr_right_03024.png", + "transform_matrix": [ + [ + 0.5001932382583618, + 0.04085442051291466, + 0.8649495840072632, + -45.58648681640625 + ], + [ + -0.8619202375411987, + -0.07233282178640366, + 0.5018579959869385, + -18.985294342041016 + ], + [ + 0.08306735754013062, + -0.9965434670448303, + -0.0009671326261013746, + -21.412948608398438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3024, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_142267465", + "mask_path": "../../mask/hdr_right_03024.png" + }, + { + "file_path": "../../rgb/hdr_right_03025.png", + "transform_matrix": [ + [ + 0.4987264573574066, + 0.03892595320940018, + 0.8658850193023682, + -45.63364028930664 + ], + [ + -0.8629350066184998, + -0.07144314795732498, + 0.5002390742301941, + -18.885019302368164 + ], + [ + 0.08133382350206375, + -0.9966848492622375, + -0.002040017396211624, + -21.42319107055664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3025, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_242267131", + "mask_path": "../../mask/hdr_right_03025.png" + }, + { + "file_path": "../../rgb/hdr_right_03026.png", + "transform_matrix": [ + [ + 0.5060596466064453, + 0.041092559695243835, + 0.8615190386772156, + -45.6799430847168 + ], + [ + -0.8584720492362976, + -0.0724056139588356, + 0.5077234506607056, + -18.792707443237305 + ], + [ + 0.08324247598648071, + -0.9965283274650574, + -0.0013647446176037192, + -21.44235610961914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3026, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_342267513", + "mask_path": "../../mask/hdr_right_03026.png" + }, + { + "file_path": "../../rgb/hdr_right_03027.png", + "transform_matrix": [ + [ + 0.5133966207504272, + 0.03687592223286629, + 0.8573588132858276, + -45.712913513183594 + ], + [ + -0.854518473148346, + -0.06986647844314575, + 0.5147008895874023, + -18.722755432128906 + ], + [ + 0.07888070493936539, + -0.9968745112419128, + -0.00435806205496192, + -21.459455490112305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3027, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_442266941", + "mask_path": "../../mask/hdr_right_03027.png" + }, + { + "file_path": "../../rgb/hdr_right_03028.png", + "transform_matrix": [ + [ + 0.5145822763442993, + 0.037633638828992844, + 0.8566147089004517, + -45.75202178955078 + ], + [ + -0.8535457253456116, + -0.07263614982366562, + 0.5159298777580261, + -18.62312126159668 + ], + [ + 0.08163751661777496, + -0.9966482520103455, + -0.005255240947008133, + -21.461902618408203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3028, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_542267799", + "mask_path": "../../mask/hdr_right_03028.png" + }, + { + "file_path": "../../rgb/hdr_right_03029.png", + "transform_matrix": [ + [ + 0.5104447603225708, + 0.036182645708322525, + 0.8591489195823669, + -45.78315353393555 + ], + [ + -0.8561145663261414, + -0.07239174097776413, + 0.511690616607666, + -18.536996841430664 + ], + [ + 0.08070961385965347, + -0.9967196583747864, + -0.005975497420877218, + -21.46059799194336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3029, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_642268896", + "mask_path": "../../mask/hdr_right_03029.png" + }, + { + "file_path": "../../rgb/hdr_right_03030.png", + "transform_matrix": [ + [ + 0.5072348117828369, + 0.02805309183895588, + 0.8613511919975281, + -45.80891418457031 + ], + [ + -0.8588038086891174, + -0.06692582368850708, + 0.5079144239425659, + -18.472686767578125 + ], + [ + 0.07189521193504333, + -0.9973635077476501, + -0.009855009615421295, + -21.455829620361328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3030, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_742267608", + "mask_path": "../../mask/hdr_right_03030.png" + }, + { + "file_path": "../../rgb/hdr_right_03031.png", + "transform_matrix": [ + [ + 0.5173933506011963, + 0.03295515105128288, + 0.8551129102706909, + -45.85163879394531 + ], + [ + -0.8523274660110474, + -0.06940624117851257, + 0.5183827877044678, + -18.380769729614258 + ], + [ + 0.07643355429172516, + -0.9970439672470093, + -0.007821749895811081, + -21.473670959472656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3031, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_842267274", + "mask_path": "../../mask/hdr_right_03031.png" + }, + { + "file_path": "../../rgb/hdr_right_03032.png", + "transform_matrix": [ + [ + 0.5322284698486328, + 0.038843993097543716, + 0.8457092046737671, + -45.89377975463867 + ], + [ + -0.8427579998970032, + -0.07076245546340942, + 0.5336213111877441, + -18.296504974365234 + ], + [ + 0.0805724561214447, + -0.9967365860939026, + -0.004925708286464214, + -21.49458122253418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3032, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639103_942267894", + "mask_path": "../../mask/hdr_right_03032.png" + }, + { + "file_path": "../../rgb/hdr_right_03033.png", + "transform_matrix": [ + [ + 0.5429543852806091, + 0.035782527178525925, + 0.8389996886253357, + -45.927730560302734 + ], + [ + -0.8362430334091187, + -0.0683334544301033, + 0.5440848469734192, + -18.220338821411133 + ], + [ + 0.07680048048496246, + -0.9970207214355469, + -0.0071790642105042934, + -21.509143829345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3033, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_42268037", + "mask_path": "../../mask/hdr_right_03033.png" + }, + { + "file_path": "../../rgb/hdr_right_03034.png", + "transform_matrix": [ + [ + 0.5435737371444702, + 0.03733447194099426, + 0.8385306596755981, + -45.96737289428711 + ], + [ + -0.8358213901519775, + -0.06757774949073792, + 0.5448263883590698, + -18.120309829711914 + ], + [ + 0.07700683921575546, + -0.9970152378082275, + -0.005528544541448355, + -21.510812759399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3034, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_142267465", + "mask_path": "../../mask/hdr_right_03034.png" + }, + { + "file_path": "../../rgb/hdr_right_03035.png", + "transform_matrix": [ + [ + 0.5424649119377136, + 0.03367652744054794, + 0.8394032120704651, + -45.99075698852539 + ], + [ + -0.8369960188865662, + -0.0638519823551178, + 0.5434709787368774, + -18.053396224975586 + ], + [ + 0.07189977169036865, + -0.9973909854888916, + -0.006450342945754528, + -21.500070571899414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3035, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_242267370", + "mask_path": "../../mask/hdr_right_03035.png" + }, + { + "file_path": "../../rgb/hdr_right_03036.png", + "transform_matrix": [ + [ + 0.5515409708023071, + 0.031231524422764778, + 0.833562970161438, + -46.03041076660156 + ], + [ + -0.8314778804779053, + -0.05930560082197189, + 0.5523833632469177, + -17.98248863220215 + ], + [ + 0.0666867196559906, + -0.9977511763572693, + -0.0067411451600492, + -21.505069732666016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3036, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_342268466", + "mask_path": "../../mask/hdr_right_03036.png" + }, + { + "file_path": "../../rgb/hdr_right_03037.png", + "transform_matrix": [ + [ + 0.5762931108474731, + 0.030934030190110207, + 0.816657543182373, + -46.09428787231445 + ], + [ + -0.8144865036010742, + -0.06026831641793251, + 0.577043890953064, + -17.890172958374023 + ], + [ + 0.06706886738538742, + -0.9977027773857117, + -0.009536865167319775, + -21.52499008178711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3037, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_442267656", + "mask_path": "../../mask/hdr_right_03037.png" + }, + { + "file_path": "../../rgb/hdr_right_03038.png", + "transform_matrix": [ + [ + 0.6083887815475464, + 0.030360443517565727, + 0.7930583953857422, + -46.14424514770508 + ], + [ + -0.7908890843391418, + -0.0599227249622345, + 0.6090186238288879, + -17.82872772216797 + ], + [ + 0.06601230055093765, + -0.997741162776947, + -0.012444564141333103, + -21.54172134399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3038, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_542267799", + "mask_path": "../../mask/hdr_right_03038.png" + }, + { + "file_path": "../../rgb/hdr_right_03039.png", + "transform_matrix": [ + [ + 0.6384290456771851, + 0.026929935440421104, + 0.7692094445228577, + -46.1920166015625 + ], + [ + -0.7670627236366272, + -0.06009655445814133, + 0.6387513279914856, + -17.756675720214844 + ], + [ + 0.0634283721446991, + -0.9978293180465698, + -0.01771043799817562, + -21.546199798583984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3039, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_642267942", + "mask_path": "../../mask/hdr_right_03039.png" + }, + { + "file_path": "../../rgb/hdr_right_03040.png", + "transform_matrix": [ + [ + 0.6601439118385315, + 0.024954548105597496, + 0.7507245540618896, + -46.24079132080078 + ], + [ + -0.7486532330513, + -0.05938732996582985, + 0.6602964997291565, + -17.67523956298828 + ], + [ + 0.061060935258865356, + -0.9979230761528015, + -0.02052188292145729, + -21.539722442626953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3040, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_742268323", + "mask_path": "../../mask/hdr_right_03040.png" + }, + { + "file_path": "../../rgb/hdr_right_03041.png", + "transform_matrix": [ + [ + 0.6762205958366394, + 0.01698704995214939, + 0.7365034818649292, + -46.278316497802734 + ], + [ + -0.7347248792648315, + -0.0575934574007988, + 0.6759159564971924, + -17.627124786376953 + ], + [ + 0.05389959365129471, + -0.9981955885887146, + -0.02646506577730179, + -21.539295196533203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3041, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_842267751", + "mask_path": "../../mask/hdr_right_03041.png" + }, + { + "file_path": "../../rgb/hdr_right_03042.png", + "transform_matrix": [ + [ + 0.6894211769104004, + 0.019581034779548645, + 0.7240961790084839, + -46.33330535888672 + ], + [ + -0.7222204804420471, + -0.05820714309811592, + 0.6892093420028687, + -17.55927276611328 + ], + [ + 0.0556429959833622, + -0.9981124401092529, + -0.025987407192587852, + -21.552003860473633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3042, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639104_942268610", + "mask_path": "../../mask/hdr_right_03042.png" + }, + { + "file_path": "../../rgb/hdr_right_03043.png", + "transform_matrix": [ + [ + 0.7008051872253418, + 0.026563068851828575, + 0.7128580212593079, + -46.396820068359375 + ], + [ + -0.7105738520622253, + -0.06212523952126503, + 0.7008745670318604, + -17.483476638793945 + ], + [ + 0.06290384382009506, + -0.9977148175239563, + -0.02466265857219696, + -21.570613861083984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3043, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_42267799", + "mask_path": "../../mask/hdr_right_03043.png" + }, + { + "file_path": "../../rgb/hdr_right_03044.png", + "transform_matrix": [ + [ + 0.7118918895721436, + 0.026626024395227432, + 0.7017841935157776, + -46.44709396362305 + ], + [ + -0.6995476484298706, + -0.06132316589355469, + 0.7119498252868652, + -17.431041717529297 + ], + [ + 0.061992015689611435, + -0.9977627992630005, + -0.025029297918081284, + -21.57887840270996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3044, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_142266511", + "mask_path": "../../mask/hdr_right_03044.png" + }, + { + "file_path": "../../rgb/hdr_right_03045.png", + "transform_matrix": [ + [ + 0.7163822650909424, + 0.02229330874979496, + 0.6973517537117004, + -46.502872467041016 + ], + [ + -0.6952769756317139, + -0.06055227667093277, + 0.7161867022514343, + -17.365854263305664 + ], + [ + 0.058192409574985504, + -0.997916042804718, + -0.02787856012582779, + -21.587995529174805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3045, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_242267847", + "mask_path": "../../mask/hdr_right_03045.png" + }, + { + "file_path": "../../rgb/hdr_right_03046.png", + "transform_matrix": [ + [ + 0.7121254801750183, + 0.028086621314287186, + 0.7014902234077454, + -46.567108154296875 + ], + [ + -0.6989001631736755, + -0.06621643900871277, + 0.7121474146842957, + -17.277198791503906 + ], + [ + 0.06645198911428452, + -0.9974098801612854, + -0.027524664998054504, + -21.596853256225586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3046, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_342268466", + "mask_path": "../../mask/hdr_right_03046.png" + }, + { + "file_path": "../../rgb/hdr_right_03047.png", + "transform_matrix": [ + [ + 0.7065651416778564, + 0.028186971321702003, + 0.7070863842964172, + -46.61595153808594 + ], + [ + -0.704278826713562, + -0.06937780231237411, + 0.706525444984436, + -17.209789276123047 + ], + [ + 0.06897091120481491, + -0.9971921443939209, + -0.02916845865547657, + -21.595979690551758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3047, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_442268133", + "mask_path": "../../mask/hdr_right_03047.png" + }, + { + "file_path": "../../rgb/hdr_right_03048.png", + "transform_matrix": [ + [ + 0.6994854807853699, + 0.02409289963543415, + 0.7142406105995178, + -46.66516876220703 + ], + [ + -0.7120712995529175, + -0.06127636879682541, + 0.6994280815124512, + -17.152318954467773 + ], + [ + 0.060617320239543915, + -0.9978300333023071, + -0.02570607140660286, + -21.595741271972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3048, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_542266845", + "mask_path": "../../mask/hdr_right_03048.png" + }, + { + "file_path": "../../rgb/hdr_right_03049.png", + "transform_matrix": [ + [ + 0.6961544156074524, + 0.02930798940360546, + 0.7172936797142029, + -46.742828369140625 + ], + [ + -0.7151555418968201, + -0.05884714424610138, + 0.6964837312698364, + -17.056066513061523 + ], + [ + 0.06262322515249252, + -0.997836709022522, + -0.020006928592920303, + -21.61629867553711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3049, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_642267704", + "mask_path": "../../mask/hdr_right_03049.png" + }, + { + "file_path": "../../rgb/hdr_right_03050.png", + "transform_matrix": [ + [ + 0.6969925761222839, + 0.03556564077734947, + 0.7161957621574402, + -46.80555725097656 + ], + [ + -0.7140108346939087, + -0.05786086618900299, + 0.6977396607398987, + -16.982654571533203 + ], + [ + 0.06625526398420334, + -0.9976909160614014, + -0.01493434514850378, + -21.637563705444336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3050, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_742267370", + "mask_path": "../../mask/hdr_right_03050.png" + }, + { + "file_path": "../../rgb/hdr_right_03051.png", + "transform_matrix": [ + [ + 0.6971753239631653, + 0.034572992473840714, + 0.7160666584968567, + -46.85354232788086 + ], + [ + -0.7141126394271851, + -0.054516300559043884, + 0.6979049444198608, + -16.921842575073242 + ], + [ + 0.06316596269607544, + -0.99791419506073, + -0.013318410143256187, + -21.65039825439453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3051, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_842267274", + "mask_path": "../../mask/hdr_right_03051.png" + }, + { + "file_path": "../../rgb/hdr_right_03052.png", + "transform_matrix": [ + [ + 0.6928361654281616, + 0.04067452996969223, + 0.7199470400810242, + -46.91304016113281 + ], + [ + -0.7179551720619202, + -0.054159391671419144, + 0.6939792037010193, + -16.829811096191406 + ], + [ + 0.06721917539834976, + -0.997703492641449, + -0.008321091532707214, + -21.65608024597168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3052, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639105_942267417", + "mask_path": "../../mask/hdr_right_03052.png" + }, + { + "file_path": "../../rgb/hdr_right_03053.png", + "transform_matrix": [ + [ + 0.6859101057052612, + 0.043799787759780884, + 0.7263670563697815, + -46.95855712890625 + ], + [ + -0.7244383096694946, + -0.05310501158237457, + 0.6872910857200623, + -16.751605987548828 + ], + [ + 0.0686769187450409, + -0.997627854347229, + -0.00469501968473196, + -21.652271270751953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3053, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_42267560", + "mask_path": "../../mask/hdr_right_03053.png" + }, + { + "file_path": "../../rgb/hdr_right_03054.png", + "transform_matrix": [ + [ + 0.6769835352897644, + 0.03940366953611374, + 0.7349426746368408, + -46.992576599121094 + ], + [ + -0.7333856225013733, + -0.047947805374860764, + 0.6781200170516968, + -16.700044631958008 + ], + [ + 0.061959296464920044, + -0.9980723261833191, + -0.003561788471415639, + -21.65308380126953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3054, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_142266750", + "mask_path": "../../mask/hdr_right_03054.png" + }, + { + "file_path": "../../rgb/hdr_right_03055.png", + "transform_matrix": [ + [ + 0.6735295653343201, + 0.04325006902217865, + 0.7378938794136047, + -47.054073333740234 + ], + [ + -0.7364577054977417, + -0.046023283153772354, + 0.6749160885810852, + -16.61054801940918 + ], + [ + 0.06315047293901443, + -0.9980036616325378, + 0.000853806093800813, + -21.66608238220215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3055, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_242267608", + "mask_path": "../../mask/hdr_right_03055.png" + }, + { + "file_path": "../../rgb/hdr_right_03056.png", + "transform_matrix": [ + [ + 0.67727130651474, + 0.05038132891058922, + 0.7340063452720642, + -47.113609313964844 + ], + [ + -0.7327173948287964, + -0.0440526083111763, + 0.6791056394577026, + -16.530229568481445 + ], + [ + 0.0665491446852684, + -0.9977579712867737, + 0.007079711649566889, + -21.68401336669922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3056, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_342267274", + "mask_path": "../../mask/hdr_right_03056.png" + }, + { + "file_path": "../../rgb/hdr_right_03057.png", + "transform_matrix": [ + [ + 0.6812499165534973, + 0.0493093766272068, + 0.730388343334198, + -47.15456008911133 + ], + [ + -0.7292599081993103, + -0.04132824391126633, + 0.6829875707626343, + -16.47293472290039 + ], + [ + 0.0638633593916893, + -0.9979281425476074, + 0.007804485037922859, + -21.70039176940918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3057, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_442268371", + "mask_path": "../../mask/hdr_right_03057.png" + }, + { + "file_path": "../../rgb/hdr_right_03058.png", + "transform_matrix": [ + [ + 0.6798572540283203, + 0.05008753389120102, + 0.7316319942474365, + -47.204891204833984 + ], + [ + -0.7301581501960754, + -0.04666827246546745, + 0.6816827058792114, + -16.39078712463379 + ], + [ + 0.06828780472278595, + -0.9976538419723511, + 0.004844054114073515, + -21.704883575439453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3058, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_542267799", + "mask_path": "../../mask/hdr_right_03058.png" + }, + { + "file_path": "../../rgb/hdr_right_03059.png", + "transform_matrix": [ + [ + 0.6719231009483337, + 0.04909441992640495, + 0.7389920353889465, + -47.24906921386719 + ], + [ + -0.7373806834220886, + -0.04888968914747238, + 0.6737058162689209, + -16.303720474243164 + ], + [ + 0.06920428574085236, + -0.997596800327301, + 0.003351172897964716, + -21.70451545715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3059, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_642267704", + "mask_path": "../../mask/hdr_right_03059.png" + }, + { + "file_path": "../../rgb/hdr_right_03060.png", + "transform_matrix": [ + [ + 0.6608838438987732, + 0.04133165255188942, + 0.7493492364883423, + -47.27717971801758 + ], + [ + -0.7478973865509033, + -0.046623583883047104, + 0.6621749997138977, + -16.250118255615234 + ], + [ + 0.06230614334344864, + -0.9980570673942566, + 9.906045306706801e-05, + -21.704185485839844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3060, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_742268562", + "mask_path": "../../mask/hdr_right_03060.png" + }, + { + "file_path": "../../rgb/hdr_right_03061.png", + "transform_matrix": [ + [ + 0.6549404859542847, + 0.03663935884833336, + 0.7547917366027832, + -47.32544708251953 + ], + [ + -0.753320038318634, + -0.047227643430233, + 0.6559560894966125, + -16.16998291015625 + ], + [ + 0.05968085676431656, + -0.9982119202613831, + -0.003330131061375141, + -21.71310043334961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3061, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_842267274", + "mask_path": "../../mask/hdr_right_03061.png" + }, + { + "file_path": "../../rgb/hdr_right_03062.png", + "transform_matrix": [ + [ + 0.6585336923599243, + 0.038846805691719055, + 0.7515479922294617, + -47.380516052246094 + ], + [ + -0.7500041723251343, + -0.04821689799427986, + 0.6596733331680298, + -16.090242385864258 + ], + [ + 0.06186350807547569, + -0.9980811476707458, + -0.002617181045934558, + -21.729122161865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3062, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639106_942268133", + "mask_path": "../../mask/hdr_right_03062.png" + }, + { + "file_path": "../../rgb/hdr_right_03063.png", + "transform_matrix": [ + [ + 0.6677824854850769, + 0.03518648445606232, + 0.7435243725776672, + -47.422698974609375 + ], + [ + -0.7418597340583801, + -0.05028614029288292, + 0.6686670184135437, + -16.033361434936523 + ], + [ + 0.06091701611876488, + -0.998114824295044, + -0.007476770784705877, + -21.74329948425293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3063, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_42267560", + "mask_path": "../../mask/hdr_right_03063.png" + }, + { + "file_path": "../../rgb/hdr_right_03064.png", + "transform_matrix": [ + [ + 0.6732482314109802, + 0.035388220101594925, + 0.7385692596435547, + -47.47371292114258 + ], + [ + -0.7367755174636841, + -0.052241869270801544, + 0.6741162538528442, + -15.949496269226074 + ], + [ + 0.06244000792503357, + -0.9980072379112244, + -0.00909857265651226, + -21.75074577331543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3064, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_142268419", + "mask_path": "../../mask/hdr_right_03064.png" + }, + { + "file_path": "../../rgb/hdr_right_03065.png", + "transform_matrix": [ + [ + 0.670109748840332, + 0.034272924065589905, + 0.741470456123352, + -47.51568603515625 + ], + [ + -0.7397213578224182, + -0.05174389109015465, + 0.6709209084510803, + -15.865991592407227 + ], + [ + 0.06136098504066467, + -0.99807208776474, + -0.009321671910583973, + -21.746644973754883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3065, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_242267847", + "mask_path": "../../mask/hdr_right_03065.png" + }, + { + "file_path": "../../rgb/hdr_right_03066.png", + "transform_matrix": [ + [ + 0.6621549725532532, + 0.027081450447440147, + 0.7488775253295898, + -47.54467010498047 + ], + [ + -0.7473655343055725, + -0.049124885350465775, + 0.6625945568084717, + -15.811580657958984 + ], + [ + 0.0547325424849987, + -0.9984254240989685, + -0.01228854525834322, + -21.745803833007812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3066, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_342268943", + "mask_path": "../../mask/hdr_right_03066.png" + }, + { + "file_path": "../../rgb/hdr_right_03067.png", + "transform_matrix": [ + [ + 0.6578022837638855, + 0.02344287373125553, + 0.7528258562088013, + -47.59163284301758 + ], + [ + -0.7513521313667297, + -0.04937311261892319, + 0.6580519080162048, + -15.733624458312988 + ], + [ + 0.05259598791599274, + -0.9985052347183228, + -0.014863894321024418, + -21.752525329589844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3067, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_442268133", + "mask_path": "../../mask/hdr_right_03067.png" + }, + { + "file_path": "../../rgb/hdr_right_03068.png", + "transform_matrix": [ + [ + 0.6612069010734558, + 0.02778591960668564, + 0.7496889233589172, + -47.647857666015625 + ], + [ + -0.7481126189231873, + -0.05013721063733101, + 0.661674976348877, + -15.657818794250488 + ], + [ + 0.05597255006432533, + -0.9983557462692261, + -0.012364071793854237, + -21.770179748535156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3068, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_542268514", + "mask_path": "../../mask/hdr_right_03068.png" + }, + { + "file_path": "../../rgb/hdr_right_03069.png", + "transform_matrix": [ + [ + 0.6692644357681274, + 0.029599053785204887, + 0.7424345016479492, + -47.686946868896484 + ], + [ + -0.7409059405326843, + -0.048813775181770325, + 0.6698326468467712, + -15.607574462890625 + ], + [ + 0.056067436933517456, + -0.9983691573143005, + -0.010739214718341827, + -21.7804012298584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3069, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_642268657", + "mask_path": "../../mask/hdr_right_03069.png" + }, + { + "file_path": "../../rgb/hdr_right_03070.png", + "transform_matrix": [ + [ + 0.6748141050338745, + 0.03300277888774872, + 0.7372495532035828, + -47.73590850830078 + ], + [ + -0.735680103302002, + -0.048857320100069046, + 0.6755647659301758, + -15.538675308227539 + ], + [ + 0.05831555277109146, + -0.9982603788375854, + -0.00869012251496315, + -21.78720474243164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3070, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_742267608", + "mask_path": "../../mask/hdr_right_03070.png" + }, + { + "file_path": "../../rgb/hdr_right_03071.png", + "transform_matrix": [ + [ + 0.6738237142562866, + 0.03213820978999138, + 0.7381929755210876, + -47.784122467041016 + ], + [ + -0.7367220520973206, + -0.04729198291897774, + 0.6745400428771973, + -15.45895767211914 + ], + [ + 0.05658911168575287, + -0.9983640313148499, + -0.008189533837139606, + -21.78521728515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3071, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_842267274", + "mask_path": "../../mask/hdr_right_03071.png" + }, + { + "file_path": "../../rgb/hdr_right_03072.png", + "transform_matrix": [ + [ + 0.6704686284065247, + 0.025495285168290138, + 0.7414998412132263, + -47.82170486450195 + ], + [ + -0.7402170896530151, + -0.045044369995594025, + 0.6708574295043945, + -15.403892517089844 + ], + [ + 0.05050409212708473, + -0.9986595511436462, + -0.011328792199492455, + -21.774452209472656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3072, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639107_942267417", + "mask_path": "../../mask/hdr_right_03072.png" + }, + { + "file_path": "../../rgb/hdr_right_03073.png", + "transform_matrix": [ + [ + 0.6794531345367432, + 0.028333449736237526, + 0.7331717610359192, + -47.880401611328125 + ], + [ + -0.7318074703216553, + -0.04591263458132744, + 0.6799631118774414, + -15.340753555297852 + ], + [ + 0.052927546203136444, + -0.9985435605049133, + -0.010460850782692432, + -21.788888931274414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3073, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_42267084", + "mask_path": "../../mask/hdr_right_03073.png" + }, + { + "file_path": "../../rgb/hdr_right_03074.png", + "transform_matrix": [ + [ + 0.6960678696632385, + 0.03334999457001686, + 0.7172009348869324, + -47.9332160949707 + ], + [ + -0.7158051133155823, + -0.04538331553339958, + 0.69682377576828, + -15.294585227966309 + ], + [ + 0.05578802525997162, + -0.9984128475189209, + -0.007717778440564871, + -21.805871963500977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3074, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_142268657", + "mask_path": "../../mask/hdr_right_03074.png" + }, + { + "file_path": "../../rgb/hdr_right_03075.png", + "transform_matrix": [ + [ + 0.7120453715324402, + 0.030796341598033905, + 0.7014578580856323, + -47.971656799316406 + ], + [ + -0.7000788450241089, + -0.0452318899333477, + 0.7126314640045166, + -15.256587028503418 + ], + [ + 0.05367470532655716, + -0.998501718044281, + -0.010647287592291832, + -21.8124942779541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3075, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_242267608", + "mask_path": "../../mask/hdr_right_03075.png" + }, + { + "file_path": "../../rgb/hdr_right_03076.png", + "transform_matrix": [ + [ + 0.7285946011543274, + 0.030921099707484245, + 0.6842470169067383, + -48.019718170166016 + ], + [ + -0.682465136051178, + -0.052161093801259995, + 0.7290545701980591, + -15.207969665527344 + ], + [ + 0.05823424085974693, + -0.9981598258018494, + -0.016901718452572823, + -21.810029983520508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3076, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_342267274", + "mask_path": "../../mask/hdr_right_03076.png" + }, + { + "file_path": "../../rgb/hdr_right_03077.png", + "transform_matrix": [ + [ + 0.7429074048995972, + 0.030875854194164276, + 0.668681800365448, + -48.0598258972168 + ], + [ + -0.6668422818183899, + -0.0530090257525444, + 0.7433111667633057, + -15.163986206054688 + ], + [ + 0.05839654058218002, + -0.9981166124343872, + -0.018791472539305687, + -21.80661392211914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3077, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_442268133", + "mask_path": "../../mask/hdr_right_03077.png" + }, + { + "file_path": "../../rgb/hdr_right_03079.png", + "transform_matrix": [ + [ + 0.7676275968551636, + 0.01636333577334881, + 0.6406872272491455, + -48.136959075927734 + ], + [ + -0.6391487121582031, + -0.05422596633434296, + 0.767169177532196, + -15.096840858459473 + ], + [ + 0.047295328229665756, + -0.9983946084976196, + -0.031166747212409973, + -21.811216354370117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3079, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_642266988", + "mask_path": "../../mask/hdr_right_03079.png" + }, + { + "file_path": "../../rgb/hdr_right_03080.png", + "transform_matrix": [ + [ + 0.7861998081207275, + 0.017221005633473396, + 0.6177324056625366, + -48.19287109375 + ], + [ + -0.616096556186676, + -0.055983882397413254, + 0.7856785655021667, + -15.055014610290527 + ], + [ + 0.04811323434114456, + -0.9982830882072449, + -0.033404722809791565, + -21.8219051361084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3080, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_742266893", + "mask_path": "../../mask/hdr_right_03080.png" + }, + { + "file_path": "../../rgb/hdr_right_03081.png", + "transform_matrix": [ + [ + 0.804339587688446, + 0.021342795342206955, + 0.5937864184379578, + -48.237464904785156 + ], + [ + -0.5922308564186096, + -0.051871299743652344, + 0.8040969967842102, + -15.030345916748047 + ], + [ + 0.04796215519309044, + -0.9984257221221924, + -0.02908228151500225, + -21.828731536865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3081, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639108_842267036", + "mask_path": "../../mask/hdr_right_03081.png" + }, + { + "file_path": "../../rgb/hdr_right_03083.png", + "transform_matrix": [ + [ + 0.8349794745445251, + 0.027946505695581436, + 0.5495710372924805, + -48.326881408691406 + ], + [ + -0.5477273464202881, + -0.05389820784330368, + 0.8349190950393677, + -14.986906051635742 + ], + [ + 0.052953965961933136, + -0.9981552958488464, + -0.029696829617023468, + -21.83635711669922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3083, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_42267322", + "mask_path": "../../mask/hdr_right_03083.png" + }, + { + "file_path": "../../rgb/hdr_right_03084.png", + "transform_matrix": [ + [ + 0.845632791519165, + 0.029163623228669167, + 0.5329678058624268, + -48.37022018432617 + ], + [ + -0.5311545729637146, + -0.05265659838914871, + 0.8456371426582336, + -14.954813003540039 + ], + [ + 0.052726104855537415, + -0.9981867074966431, + -0.029037754982709885, + -21.83078384399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3084, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639109_142266988", + "mask_path": "../../mask/hdr_right_03084.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/637ed86c/mesh.ply b/2024-11-03-13-59-54/splats/637ed86c/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..1a39bbc7f23313f87d5433c424da9e762e5dd8d9 --- /dev/null +++ b/2024-11-03-13-59-54/splats/637ed86c/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a37a49cf1684e74df9031361626957ac73dc3761fa15f21c3899f605f45ed22 +size 43011884 diff --git a/2024-11-03-13-59-54/splats/637ed86c/mesh_filled_decimated.ply b/2024-11-03-13-59-54/splats/637ed86c/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..7b42ad7abeff7ad73a92662e4527c18c16f5fdd6 --- /dev/null +++ b/2024-11-03-13-59-54/splats/637ed86c/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3277973c9aecaac835b1814e538a44965564129b10ce2e62ed989d07c552d4b2 +size 1573206 diff --git a/2024-11-03-13-59-54/splats/637ed86c/splatfacto/config.yml b/2024-11-03-13-59-54/splats/637ed86c/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..f449b5949a7090f00cddae6f1972a33cad8ab5f7 --- /dev/null +++ b/2024-11-03-13-59-54/splats/637ed86c/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-03-13-59-54_nerfstudio +- slices +- slice_637ed86c +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-03-13-59-54_nerfstudio + - slices + - slice_637ed86c + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-03-13-59-54/splats/637ed86c/splatfacto/dataparser_transforms.json b/2024-11-03-13-59-54/splats/637ed86c/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a6994d348b67b321fd4b387b54531f23b354e8af --- /dev/null +++ b/2024-11-03-13-59-54/splats/637ed86c/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + 0.32897716760635376, + 0.9436564445495605, + -0.03586804121732712, + 40.728641510009766 + ], + [ + 0.9436564445495605, + -0.32705986499786377, + 0.05044107139110565, + 29.408817291259766 + ], + [ + 0.03586804121732712, + -0.05044107139110565, + -0.9980827569961548, + -20.341190338134766 + ] + ], + "scale": 0.249248623943058 +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/637ed86c/splatfacto/splat.ply b/2024-11-03-13-59-54/splats/637ed86c/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..f6a557011d23a674811d831335fa5cbecefe8abd --- /dev/null +++ b/2024-11-03-13-59-54/splats/637ed86c/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:280629b48a7f207564c6ad32bf6325327a2f6212232178a3748b87de70591f3f +size 403634490 diff --git a/2024-11-03-13-59-54/splats/637ed86c/transforms.json b/2024-11-03-13-59-54/splats/637ed86c/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a22fc770e61db73d2707812019a3f79c1e8c3303 --- /dev/null +++ b/2024-11-03-13-59-54/splats/637ed86c/transforms.json @@ -0,0 +1,14748 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_02830.png", + "transform_matrix": [ + [ + -0.9167666435241699, + 0.026548830792307854, + 0.3985399007797241, + -38.201271057128906 + ], + [ + -0.3993321359157562, + -0.0396166667342186, + -0.9159500002861023, + -34.6839599609375 + ], + [ + -0.008528579026460648, + -0.9988622069358826, + 0.04692104458808899, + -19.912317276000977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2830, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_942267894", + "mask_path": "../../mask/hdr_front_02830.png" + }, + { + "file_path": "../../rgb/hdr_front_02831.png", + "transform_matrix": [ + [ + -0.9108534455299377, + 0.025896120816469193, + 0.41191673278808594, + -38.246299743652344 + ], + [ + -0.41267129778862, + -0.04031894728541374, + -0.9099872708320618, + -34.60023498535156 + ], + [ + -0.006957091391086578, + -0.9988512396812439, + 0.0474112369120121, + -19.92843246459961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2831, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_42267799", + "mask_path": "../../mask/hdr_front_02831.png" + }, + { + "file_path": "../../rgb/hdr_front_02832.png", + "transform_matrix": [ + [ + -0.9015228748321533, + 0.03731013461947441, + 0.4311198592185974, + -38.29716491699219 + ], + [ + -0.4324530363082886, + -0.04195597022771835, + -0.9006798267364502, + -34.511165618896484 + ], + [ + -0.015516434796154499, + -0.9984226226806641, + 0.053959157317876816, + -19.942485809326172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2832, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_142267465", + "mask_path": "../../mask/hdr_front_02832.png" + }, + { + "file_path": "../../rgb/hdr_front_02833.png", + "transform_matrix": [ + [ + -0.8914418816566467, + 0.04222537577152252, + 0.4511634111404419, + -38.335289001464844 + ], + [ + -0.45277148485183716, + -0.0431247353553772, + -0.8905830979347229, + -34.44935607910156 + ], + [ + -0.01814890280365944, + -0.9981769919395447, + 0.05756164342164993, + -19.94832992553711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2833, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_242268562", + "mask_path": "../../mask/hdr_front_02833.png" + }, + { + "file_path": "../../rgb/hdr_front_02834.png", + "transform_matrix": [ + [ + -0.8809724450111389, + 0.035319261252880096, + 0.4718475043773651, + -38.378135681152344 + ], + [ + -0.47306668758392334, + -0.045159727334976196, + -0.8798685669898987, + -34.37856674194336 + ], + [ + -0.009767800569534302, + -0.9983552098274231, + 0.056492842733860016, + -19.961511611938477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2834, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_342268228", + "mask_path": "../../mask/hdr_front_02834.png" + }, + { + "file_path": "../../rgb/hdr_front_02835.png", + "transform_matrix": [ + [ + -0.8755002617835999, + 0.03163016587495804, + 0.482181191444397, + -38.429439544677734 + ], + [ + -0.4832005500793457, + -0.048945557326078415, + -0.8741405010223389, + -34.284278869628906 + ], + [ + -0.004048579838126898, + -0.9983005523681641, + 0.058135565370321274, + -19.96053695678711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2835, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_442268133", + "mask_path": "../../mask/hdr_front_02835.png" + }, + { + "file_path": "../../rgb/hdr_front_02836.png", + "transform_matrix": [ + [ + -0.8744097352027893, + 0.02574465051293373, + 0.4845046103000641, + -38.4610481262207 + ], + [ + -0.48518452048301697, + -0.05023832246661186, + -0.8729674220085144, + -34.219032287597656 + ], + [ + 0.0018664582166820765, + -0.9984054565429688, + 0.05641978606581688, + -19.952678680419922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2836, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_542267799", + "mask_path": "../../mask/hdr_front_02836.png" + }, + { + "file_path": "../../rgb/hdr_front_02837.png", + "transform_matrix": [ + [ + -0.8782956600189209, + 0.02202574908733368, + 0.47761020064353943, + -38.4871826171875 + ], + [ + -0.4781087636947632, + -0.04659000784158707, + -0.8770641088485718, + -34.16537857055664 + ], + [ + 0.0029338710010051727, + -0.998671293258667, + 0.05145050585269928, + -19.94914436340332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2837, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_642267942", + "mask_path": "../../mask/hdr_front_02837.png" + }, + { + "file_path": "../../rgb/hdr_front_02838.png", + "transform_matrix": [ + [ + -0.8808555603027344, + 0.03299664333462715, + 0.47223371267318726, + -38.534549713134766 + ], + [ + -0.4733335077762604, + -0.046667251735925674, + -0.8796462416648865, + -34.06589889526367 + ], + [ + -0.006987523287534714, + -0.9983653426170349, + 0.056725528091192245, + -19.971233367919922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2838, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_742267608", + "mask_path": "../../mask/hdr_front_02838.png" + }, + { + "file_path": "../../rgb/hdr_front_02839.png", + "transform_matrix": [ + [ + -0.8803902268409729, + 0.043231382966041565, + 0.47227540612220764, + -38.57825469970703 + ], + [ + -0.4740028977394104, + -0.0480743907392025, + -0.8792099356651306, + -33.98444747924805 + ], + [ + -0.015305105596780777, + -0.997907817363739, + 0.06281602382659912, + -19.994850158691406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2839, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_842268228", + "mask_path": "../../mask/hdr_front_02839.png" + }, + { + "file_path": "../../rgb/hdr_front_02840.png", + "transform_matrix": [ + [ + -0.8789131045341492, + 0.0413062646985054, + 0.4751899540424347, + -38.61724090576172 + ], + [ + -0.47679030895233154, + -0.0478515587747097, + -0.8777135610580444, + -33.91261291503906 + ], + [ + -0.013516492210328579, + -0.9980000257492065, + 0.06175179407000542, + -20.00821876525879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2840, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_942268133", + "mask_path": "../../mask/hdr_front_02840.png" + }, + { + "file_path": "../../rgb/hdr_front_02841.png", + "transform_matrix": [ + [ + -0.8804258704185486, + 0.04312741383910179, + 0.47221848368644714, + -38.66756057739258 + ], + [ + -0.47403451800346375, + -0.0550672672688961, + -0.8787826299667358, + -33.81801986694336 + ], + [ + -0.011895843781530857, + -0.997550904750824, + 0.06892652809619904, + -20.017858505249023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2841, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_42267322", + "mask_path": "../../mask/hdr_front_02841.png" + }, + { + "file_path": "../../rgb/hdr_front_02842.png", + "transform_matrix": [ + [ + -0.8861657977104187, + 0.04087567701935768, + 0.4615618884563446, + -38.707645416259766 + ], + [ + -0.4632941484451294, + -0.06034063547849655, + -0.8841479420661926, + -33.72425842285156 + ], + [ + -0.008289207704365253, + -0.9973405599594116, + 0.07240927219390869, + -20.016637802124023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2842, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_142267227", + "mask_path": "../../mask/hdr_front_02842.png" + }, + { + "file_path": "../../rgb/hdr_front_02843.png", + "transform_matrix": [ + [ + -0.8934357166290283, + 0.03353027254343033, + 0.44793790578842163, + -38.73212432861328 + ], + [ + -0.4491764008998871, + -0.05862843245267868, + -0.8915174007415771, + -33.66440200805664 + ], + [ + -0.0036309226416051388, + -0.9977166056632996, + 0.06744173914194107, + -20.01870346069336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2843, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_242267608", + "mask_path": "../../mask/hdr_front_02843.png" + }, + { + "file_path": "../../rgb/hdr_front_02844.png", + "transform_matrix": [ + [ + -0.8977193236351013, + 0.03778408467769623, + 0.43894466757774353, + -38.77972412109375 + ], + [ + -0.4404705762863159, + -0.056035976856946945, + -0.8960166573524475, + -33.5732307434082 + ], + [ + -0.009258469566702843, + -0.9977136850357056, + 0.06694735586643219, + -20.031314849853516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2844, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_342267751", + "mask_path": "../../mask/hdr_front_02844.png" + }, + { + "file_path": "../../rgb/hdr_front_02845.png", + "transform_matrix": [ + [ + -0.896198034286499, + 0.04867382347583771, + 0.4409761130809784, + -38.83777618408203 + ], + [ + -0.44325491786003113, + -0.05607088655233383, + -0.8946402072906494, + -33.47291564941406 + ], + [ + -0.01881963573396206, + -0.9972396492958069, + 0.0718255266547203, + -20.05245590209961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2845, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_442269563", + "mask_path": "../../mask/hdr_front_02845.png" + }, + { + "file_path": "../../rgb/hdr_front_02846.png", + "transform_matrix": [ + [ + -0.892956554889679, + 0.05022403225302696, + 0.4473322927951813, + -38.88108444213867 + ], + [ + -0.44967690110206604, + -0.05432228744029999, + -0.8915379643440247, + -33.4051399230957 + ], + [ + -0.020476514473557472, + -0.9972595572471619, + 0.07109202444553375, + -20.06313705444336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2846, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_542264461", + "mask_path": "../../mask/hdr_front_02846.png" + }, + { + "file_path": "../../rgb/hdr_front_02847.png", + "transform_matrix": [ + [ + -0.8917956352233887, + 0.04904158413410187, + 0.44977280497550964, + -38.931121826171875 + ], + [ + -0.4520062506198883, + -0.05312596634030342, + -0.8904313445091248, + -33.31742858886719 + ], + [ + -0.01977354846894741, + -0.9973828792572021, + 0.06954459846019745, + -20.071958541870117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2847, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_642268180", + "mask_path": "../../mask/hdr_front_02847.png" + }, + { + "file_path": "../../rgb/hdr_front_02848.png", + "transform_matrix": [ + [ + -0.8963311314582825, + 0.05023888126015663, + 0.44052985310554504, + -38.976600646972656 + ], + [ + -0.44280800223350525, + -0.05074590817093849, + -0.8951793313026428, + -33.21079635620117 + ], + [ + -0.02261771634221077, + -0.9974471926689148, + 0.06773132085800171, + -20.067747116088867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2848, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_742267370", + "mask_path": "../../mask/hdr_front_02848.png" + }, + { + "file_path": "../../rgb/hdr_front_02849.png", + "transform_matrix": [ + [ + -0.9039655923843384, + 0.045312218368053436, + 0.4251975417137146, + -39.00424575805664 + ], + [ + -0.4271280765533447, + -0.04872850328683853, + -0.9028772115707397, + -33.14118957519531 + ], + [ + -0.02019212581217289, + -0.9977837204933167, + 0.06340301781892776, + -20.06496810913086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2849, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_842267513", + "mask_path": "../../mask/hdr_front_02849.png" + }, + { + "file_path": "../../rgb/hdr_front_02850.png", + "transform_matrix": [ + [ + -0.9102818965911865, + 0.04256627708673477, + 0.4117947220802307, + -39.043094635009766 + ], + [ + -0.41349050402641296, + -0.04469025880098343, + -0.9094110727310181, + -33.06136703491211 + ], + [ + -0.0203070230782032, + -0.9980936646461487, + 0.058281488716602325, + -20.07291030883789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2850, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_942266941", + "mask_path": "../../mask/hdr_front_02850.png" + }, + { + "file_path": "../../rgb/hdr_front_02851.png", + "transform_matrix": [ + [ + -0.9100474715232849, + 0.050437673926353455, + 0.4114239811897278, + -39.10374450683594 + ], + [ + -0.4135236144065857, + -0.04224562644958496, + -0.9095128178596497, + -32.95634078979492 + ], + [ + -0.028492843732237816, + -0.9978333115577698, + 0.059302691370248795, + -20.086393356323242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2851, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_42267560", + "mask_path": "../../mask/hdr_front_02851.png" + }, + { + "file_path": "../../rgb/hdr_front_02852.png", + "transform_matrix": [ + [ + -0.9077264666557312, + 0.053555965423583984, + 0.4161304235458374, + -39.1473274230957 + ], + [ + -0.4182879328727722, + -0.03826474770903587, + -0.907508134841919, + -32.882572174072266 + ], + [ + -0.032679345458745956, + -0.9978314638137817, + 0.05713573470711708, + -20.09827995300293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2852, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_142268180", + "mask_path": "../../mask/hdr_front_02852.png" + }, + { + "file_path": "../../rgb/hdr_front_02853.png", + "transform_matrix": [ + [ + -0.9075944423675537, + 0.05186737701296806, + 0.4166317880153656, + -39.183807373046875 + ], + [ + -0.418682336807251, + -0.03792016953229904, + -0.9073407649993896, + -32.79264450073242 + ], + [ + -0.031262628734111786, + -0.9979338049888611, + 0.05613208934664726, + -20.102453231811523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2853, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_242267131", + "mask_path": "../../mask/hdr_front_02853.png" + }, + { + "file_path": "../../rgb/hdr_front_02854.png", + "transform_matrix": [ + [ + -0.9113298058509827, + 0.05065477639436722, + 0.4085485637187958, + -39.220802307128906 + ], + [ + -0.4104933738708496, + -0.03661629557609558, + -0.9111281633377075, + -32.68621063232422 + ], + [ + -0.031193459406495094, + -0.9980447888374329, + 0.054162975400686264, + -20.09330940246582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2854, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_342266798", + "mask_path": "../../mask/hdr_front_02854.png" + }, + { + "file_path": "../../rgb/hdr_front_02855.png", + "transform_matrix": [ + [ + -0.9168719053268433, + 0.042744580656290054, + 0.39688634872436523, + -39.24353790283203 + ], + [ + -0.3983503580093384, + -0.033849820494651794, + -0.9166086316108704, + -32.61528778076172 + ], + [ + -0.025745514780282974, + -0.9985124468803406, + 0.04806326702237129, + -20.090681076049805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2855, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_442269086", + "mask_path": "../../mask/hdr_front_02855.png" + }, + { + "file_path": "../../rgb/hdr_front_02856.png", + "transform_matrix": [ + [ + -0.9192957282066345, + 0.04235808551311493, + 0.391281396150589, + -39.285823822021484 + ], + [ + -0.392698734998703, + -0.03270178660750389, + -0.919085681438446, + -32.52470397949219 + ], + [ + -0.026135103777050972, + -0.9985671639442444, + 0.046696580946445465, + -20.0981388092041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2856, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_542267322", + "mask_path": "../../mask/hdr_front_02856.png" + }, + { + "file_path": "../../rgb/hdr_front_02857.png", + "transform_matrix": [ + [ + -0.9173703789710999, + 0.04859599098563194, + 0.39505690336227417, + -39.33842086791992 + ], + [ + -0.3967965841293335, + -0.03343471884727478, + -0.9172974824905396, + -32.42299270629883 + ], + [ + -0.03136835992336273, + -0.9982588291168213, + 0.049954745918512344, + -20.119041442871094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2857, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_642268657", + "mask_path": "../../mask/hdr_front_02857.png" + }, + { + "file_path": "../../rgb/hdr_front_02858.png", + "transform_matrix": [ + [ + -0.9144689440727234, + 0.05013484135270119, + 0.4015384018421173, + -39.376922607421875 + ], + [ + -0.4032230079174042, + -0.029458194971084595, + -0.9146275520324707, + -32.349952697753906 + ], + [ + -0.03402610123157501, + -0.998308002948761, + 0.04715412110090256, + -20.1292667388916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2858, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_742268085", + "mask_path": "../../mask/hdr_front_02858.png" + }, + { + "file_path": "../../rgb/hdr_front_02859.png", + "transform_matrix": [ + [ + -0.9141613841056824, + 0.04763909429311752, + 0.40254130959510803, + -39.41456985473633 + ], + [ + -0.4041714668273926, + -0.03143905848264694, + -0.9141428470611572, + -32.25844192504883 + ], + [ + -0.030893413349986076, + -0.9983697533607483, + 0.04799473658204079, + -20.134477615356445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2859, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_842267751", + "mask_path": "../../mask/hdr_front_02859.png" + }, + { + "file_path": "../../rgb/hdr_front_02860.png", + "transform_matrix": [ + [ + -0.9183052778244019, + 0.043782107532024384, + 0.39344438910484314, + -39.4467887878418 + ], + [ + -0.3948860168457031, + -0.031175291165709496, + -0.9182010293006897, + -32.1533203125 + ], + [ + -0.027935029938817024, + -0.998554527759552, + 0.04591737687587738, + -20.126005172729492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2860, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_942268371", + "mask_path": "../../mask/hdr_front_02860.png" + }, + { + "file_path": "../../rgb/hdr_front_02861.png", + "transform_matrix": [ + [ + -0.9241421222686768, + 0.03439570590853691, + 0.38049745559692383, + -39.46870422363281 + ], + [ + -0.3814617991447449, + -0.027880070731043816, + -0.9239640235900879, + -32.08256149291992 + ], + [ + -0.02117210067808628, + -0.9990193247795105, + 0.038885798305273056, + -20.12018585205078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2861, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_42267799", + "mask_path": "../../mask/hdr_front_02861.png" + }, + { + "file_path": "../../rgb/hdr_front_02862.png", + "transform_matrix": [ + [ + -0.927333414554596, + 0.03251098841428757, + 0.37282127141952515, + -39.504573822021484 + ], + [ + -0.37373220920562744, + -0.028772104531526566, + -0.9270902872085571, + -31.99699592590332 + ], + [ + -0.019413767382502556, + -0.9990571737289429, + 0.03883173689246178, + -20.126934051513672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2862, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_142267465", + "mask_path": "../../mask/hdr_front_02862.png" + }, + { + "file_path": "../../rgb/hdr_front_02863.png", + "transform_matrix": [ + [ + -0.9265961050987244, + 0.03864742070436478, + 0.3740669786930084, + -39.551944732666016 + ], + [ + -0.37527045607566833, + -0.030682604759931564, + -0.9264073967933655, + -31.899547576904297 + ], + [ + -0.024325907230377197, + -0.9987818002700806, + 0.0429336242377758, + -20.141281127929688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2863, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_242267847", + "mask_path": "../../mask/hdr_front_02863.png" + }, + { + "file_path": "../../rgb/hdr_front_02864.png", + "transform_matrix": [ + [ + -0.925153911113739, + 0.04226664453744888, + 0.377231627702713, + -39.580204010009766 + ], + [ + -0.37854868173599243, + -0.029094748198986053, + -0.9251240491867065, + -31.831716537475586 + ], + [ + -0.02812642604112625, + -0.9986826181411743, + 0.042917102575302124, + -20.151138305664062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2864, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_342268466", + "mask_path": "../../mask/hdr_front_02864.png" + }, + { + "file_path": "../../rgb/hdr_front_02865.png", + "transform_matrix": [ + [ + -0.9260693192481995, + 0.04582170397043228, + 0.3745609223842621, + -39.61049270629883 + ], + [ + -0.37607672810554504, + -0.030493902042508125, + -0.9260866641998291, + -31.73991584777832 + ], + [ + -0.031013038009405136, + -0.998484194278717, + 0.04547194018959999, + -20.153837203979492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2865, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_442267179", + "mask_path": "../../mask/hdr_front_02865.png" + }, + { + "file_path": "../../rgb/hdr_front_02866.png", + "transform_matrix": [ + [ + -0.9301981329917908, + 0.04504980891942978, + 0.3642827868461609, + -39.637325286865234 + ], + [ + -0.36572369933128357, + -0.02921346202492714, + -0.9302648305892944, + -31.644786834716797 + ], + [ + -0.031266290694475174, + -0.9985575675964355, + 0.04365009069442749, + -20.145280838012695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2866, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_542268276", + "mask_path": "../../mask/hdr_front_02866.png" + }, + { + "file_path": "../../rgb/hdr_front_02867.png", + "transform_matrix": [ + [ + -0.9347452521324158, + 0.03781760111451149, + 0.3533003032207489, + -39.65774917602539 + ], + [ + -0.3543558120727539, + -0.026071697473526, + -0.9347471594810486, + -31.577896118164062 + ], + [ + -0.026138750836253166, + -0.9989445209503174, + 0.03777128458023071, + -20.13884925842285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2867, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_642267942", + "mask_path": "../../mask/hdr_front_02867.png" + }, + { + "file_path": "../../rgb/hdr_front_02868.png", + "transform_matrix": [ + [ + -0.9352821707725525, + 0.04176606610417366, + 0.3514295518398285, + -39.69325637817383 + ], + [ + -0.3526771664619446, + -0.027430495247244835, + -0.9353429079055786, + -31.490894317626953 + ], + [ + -0.02942570112645626, + -0.9987508058547974, + 0.04038519784808159, + -20.148780822753906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2868, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_742267608", + "mask_path": "../../mask/hdr_front_02868.png" + }, + { + "file_path": "../../rgb/hdr_front_02869.png", + "transform_matrix": [ + [ + -0.9341525435447693, + 0.047509562224149704, + 0.35369741916656494, + -39.725093841552734 + ], + [ + -0.35522615909576416, + -0.02865472249686718, + -0.9343411922454834, + -31.415348052978516 + ], + [ + -0.03425503522157669, + -0.9984596967697144, + 0.04364451766014099, + -20.16669273376465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2869, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_842267990", + "mask_path": "../../mask/hdr_front_02869.png" + }, + { + "file_path": "../../rgb/hdr_front_02870.png", + "transform_matrix": [ + [ + -0.9344574809074402, + 0.04545123502612114, + 0.35316202044487, + -39.750091552734375 + ], + [ + -0.35453000664711, + -0.02647627890110016, + -0.9346697926521301, + -31.340503692626953 + ], + [ + -0.033131472766399384, + -0.9986156821250916, + 0.04085478186607361, + -20.178058624267578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2870, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_942267894", + "mask_path": "../../mask/hdr_front_02870.png" + }, + { + "file_path": "../../rgb/hdr_front_02871.png", + "transform_matrix": [ + [ + -0.9368816018104553, + 0.045739494264125824, + 0.34664249420166016, + -39.780174255371094 + ], + [ + -0.34812629222869873, + -0.029659386724233627, + -0.9369783401489258, + -31.23973274230957 + ], + [ + -0.032575711607933044, + -0.9985130429267883, + 0.04371045529842377, + -20.17446517944336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2871, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_42267560", + "mask_path": "../../mask/hdr_front_02871.png" + }, + { + "file_path": "../../rgb/hdr_front_02872.png", + "transform_matrix": [ + [ + -0.940990686416626, + 0.04195093363523483, + 0.33582255244255066, + -39.796234130859375 + ], + [ + -0.33718764781951904, + -0.03117697685956955, + -0.9409211277961731, + -31.16937828063965 + ], + [ + -0.029002580791711807, + -0.9986331462860107, + 0.04348257556557655, + -20.16779899597168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2872, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_142267227", + "mask_path": "../../mask/hdr_front_02872.png" + }, + { + "file_path": "../../rgb/hdr_front_02873.png", + "transform_matrix": [ + [ + -0.9442020654678345, + 0.036651093512773514, + 0.3273210823535919, + -39.82001876831055 + ], + [ + -0.3284642994403839, + -0.03127174451947212, + -0.9439986348152161, + -31.098758697509766 + ], + [ + -0.024362677708268166, + -0.9988387823104858, + 0.0415654182434082, + -20.171916961669922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2873, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_242267608", + "mask_path": "../../mask/hdr_front_02873.png" + }, + { + "file_path": "../../rgb/hdr_front_02874.png", + "transform_matrix": [ + [ + -0.9434764385223389, + 0.04040377959609032, + 0.32896745204925537, + -39.862640380859375 + ], + [ + -0.330331951379776, + -0.03355800360441208, + -0.9432681202888489, + -30.999622344970703 + ], + [ + -0.027072103694081306, + -0.9986197352409363, + 0.045007847249507904, + -20.195405960083008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2874, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_342266559", + "mask_path": "../../mask/hdr_front_02874.png" + }, + { + "file_path": "../../rgb/hdr_front_02875.png", + "transform_matrix": [ + [ + -0.9409987330436707, + 0.04475534334778786, + 0.3354375958442688, + -39.89712142944336 + ], + [ + -0.33696138858795166, + -0.03229590877890587, + -0.94096440076828, + -30.9239501953125 + ], + [ + -0.031279925256967545, + -0.9984757900238037, + 0.045471228659152985, + -20.20703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2875, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_442267894", + "mask_path": "../../mask/hdr_front_02875.png" + }, + { + "file_path": "../../rgb/hdr_front_02876.png", + "transform_matrix": [ + [ + -0.9394150972366333, + 0.04065737873315811, + 0.34036171436309814, + -39.927371978759766 + ], + [ + -0.34169626235961914, + -0.03212158381938934, + -0.9392614364624023, + -30.845531463623047 + ], + [ + -0.027254944667220116, + -0.998656690120697, + 0.04406797140836716, + -20.213682174682617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2876, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_542267322", + "mask_path": "../../mask/hdr_front_02876.png" + }, + { + "file_path": "../../rgb/hdr_front_02877.png", + "transform_matrix": [ + [ + -0.9402400255203247, + 0.04243016988039017, + 0.3378584384918213, + -39.96000671386719 + ], + [ + -0.33931440114974976, + -0.03359360620379448, + -0.9400729537010193, + -30.74706268310547 + ], + [ + -0.028537573292851448, + -0.9985345005989075, + 0.045983217656612396, + -20.21245765686035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2877, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_642267465", + "mask_path": "../../mask/hdr_front_02877.png" + }, + { + "file_path": "../../rgb/hdr_front_02878.png", + "transform_matrix": [ + [ + -0.9420196413993835, + 0.04001837968826294, + 0.33316293358802795, + -39.97828674316406 + ], + [ + -0.334477961063385, + -0.032400015741586685, + -0.941846489906311, + -30.675704956054688 + ], + [ + -0.026896685361862183, + -0.9986735582351685, + 0.043906718492507935, + -20.206890106201172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2878, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_742267847", + "mask_path": "../../mask/hdr_front_02878.png" + }, + { + "file_path": "../../rgb/hdr_front_02879.png", + "transform_matrix": [ + [ + -0.9420798420906067, + 0.039036981761455536, + 0.33310920000076294, + -40.00443649291992 + ], + [ + -0.3343946039676666, + -0.03290955722332001, + -0.9418584108352661, + -30.604467391967773 + ], + [ + -0.025804830715060234, + -0.9986957311630249, + 0.04405718669295311, + -20.211795806884766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2879, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_842269420", + "mask_path": "../../mask/hdr_front_02879.png" + }, + { + "file_path": "../../rgb/hdr_front_02880.png", + "transform_matrix": [ + [ + -0.9386632442474365, + 0.0424402616918087, + 0.34221357107162476, + -40.04629898071289 + ], + [ + -0.3437902629375458, + -0.03797699511051178, + -0.9382781982421875, + -30.513084411621094 + ], + [ + -0.026824526488780975, + -0.9983770251274109, + 0.05023815855383873, + -20.23586654663086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2880, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_942267894", + "mask_path": "../../mask/hdr_front_02880.png" + }, + { + "file_path": "../../rgb/hdr_front_02881.png", + "transform_matrix": [ + [ + -0.9337800145149231, + 0.04321027547121048, + 0.3552291989326477, + -40.081058502197266 + ], + [ + -0.3568863272666931, + -0.03973911702632904, + -0.9333021640777588, + -30.442867279052734 + ], + [ + -0.02621174231171608, + -0.9982754588127136, + 0.0525287501513958, + -20.24762725830078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2881, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_42268037", + "mask_path": "../../mask/hdr_front_02881.png" + }, + { + "file_path": "../../rgb/hdr_front_02882.png", + "transform_matrix": [ + [ + -0.9299741983413696, + 0.040373191237449646, + 0.3654009699821472, + -40.11188888549805 + ], + [ + -0.3669358491897583, + -0.041122302412986755, + -0.9293369054794312, + -30.364063262939453 + ], + [ + -0.02249416708946228, + -0.9983381032943726, + 0.053057052195072174, + -20.250688552856445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2882, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_142267704", + "mask_path": "../../mask/hdr_front_02882.png" + }, + { + "file_path": "../../rgb/hdr_front_02883.png", + "transform_matrix": [ + [ + -0.9306900501251221, + 0.03966420516371727, + 0.3636518120765686, + -40.14588928222656 + ], + [ + -0.36518335342407227, + -0.042646799236536026, + -0.9299582839012146, + -30.259843826293945 + ], + [ + -0.021377472206950188, + -0.9983025789260864, + 0.054175663739442825, + -20.253074645996094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2883, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_242267131", + "mask_path": "../../mask/hdr_front_02883.png" + }, + { + "file_path": "../../rgb/hdr_front_02884.png", + "transform_matrix": [ + [ + -0.93415367603302, + 0.03321264684200287, + 0.35532206296920776, + -40.16728210449219 + ], + [ + -0.35649895668029785, + -0.04140107333660126, + -0.9333779811859131, + -30.187728881835938 + ], + [ + -0.01628923788666725, + -0.9985904097557068, + 0.05051523819565773, + -20.252981185913086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2884, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_342267751", + "mask_path": "../../mask/hdr_front_02884.png" + }, + { + "file_path": "../../rgb/hdr_front_02885.png", + "transform_matrix": [ + [ + -0.9363274574279785, + 0.029698066413402557, + 0.34986990690231323, + -40.19833755493164 + ], + [ + -0.35087475180625916, + -0.0412965752184391, + -0.9355112910270691, + -30.107770919799805 + ], + [ + -0.01333445031195879, + -0.9987055063247681, + 0.049087412655353546, + -20.258535385131836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2885, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_442267656", + "mask_path": "../../mask/hdr_front_02885.png" + }, + { + "file_path": "../../rgb/hdr_front_02886.png", + "transform_matrix": [ + [ + -0.9346175789833069, + 0.03451427444815636, + 0.3539755940437317, + -40.24806594848633 + ], + [ + -0.3552863299846649, + -0.0453418605029583, + -0.9336572289466858, + -30.008262634277344 + ], + [ + -0.01617458648979664, + -0.9983751177787781, + 0.054639752954244614, + -20.27507209777832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2886, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_542267560", + "mask_path": "../../mask/hdr_front_02886.png" + }, + { + "file_path": "../../rgb/hdr_front_02887.png", + "transform_matrix": [ + [ + -0.9312223792076111, + 0.03672075644135475, + 0.36259686946868896, + -40.28579330444336 + ], + [ + -0.3640240430831909, + -0.045544590801000595, + -0.9302753806114197, + -29.933563232421875 + ], + [ + -0.01764608733355999, + -0.9982872009277344, + 0.05577937886118889, + -20.28575897216797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2887, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_642267942", + "mask_path": "../../mask/hdr_front_02887.png" + }, + { + "file_path": "../../rgb/hdr_front_02888.png", + "transform_matrix": [ + [ + -0.9285986423492432, + 0.03320439159870148, + 0.3695973753929138, + -40.32681655883789 + ], + [ + -0.3708682656288147, + -0.048937469720840454, + -0.927395224571228, + -29.846189498901367 + ], + [ + -0.012706437148153782, + -0.9982497692108154, + 0.05775771662592888, + -20.298669815063477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2888, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_742267608", + "mask_path": "../../mask/hdr_front_02888.png" + }, + { + "file_path": "../../rgb/hdr_front_02889.png", + "transform_matrix": [ + [ + -0.9288201332092285, + 0.03477142006158829, + 0.36889588832855225, + -40.37039566040039 + ], + [ + -0.37028616666793823, + -0.0509202778339386, + -0.9275211095809937, + -29.74079704284668 + ], + [ + -0.013466943055391312, + -0.99809730052948, + 0.060171157121658325, + -20.30225372314453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2889, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_842267751", + "mask_path": "../../mask/hdr_front_02889.png" + }, + { + "file_path": "../../rgb/hdr_front_02890.png", + "transform_matrix": [ + [ + -0.9310997128486633, + 0.03080662526190281, + 0.36346152424812317, + -40.39916229248047 + ], + [ + -0.3646027445793152, + -0.048909928649663925, + -0.929877758026123, + -29.661840438842773 + ], + [ + -0.010869516991078854, + -0.9983280897140503, + 0.056772198528051376, + -20.301719665527344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2890, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_942267656", + "mask_path": "../../mask/hdr_front_02890.png" + }, + { + "file_path": "../../rgb/hdr_front_02891.png", + "transform_matrix": [ + [ + -0.9325231313705444, + 0.027706719934940338, + 0.3600457012653351, + -40.43494415283203 + ], + [ + -0.36100858449935913, + -0.04788150265812874, + -0.931332528591156, + -29.5754337310791 + ], + [ + -0.008564635179936886, + -0.9984686374664307, + 0.054652974009513855, + -20.310258865356445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2891, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_42267560", + "mask_path": "../../mask/hdr_front_02891.png" + }, + { + "file_path": "../../rgb/hdr_front_02892.png", + "transform_matrix": [ + [ + -0.9302434325218201, + 0.03148116543889046, + 0.36559006571769714, + -40.49284362792969 + ], + [ + -0.3667820394039154, + -0.050272174179553986, + -0.9289475083351135, + -29.469688415527344 + ], + [ + -0.010865345597267151, + -0.9982393980026245, + 0.05831208452582359, + -20.33080291748047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2892, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_142267465", + "mask_path": "../../mask/hdr_front_02892.png" + }, + { + "file_path": "../../rgb/hdr_front_02893.png", + "transform_matrix": [ + [ + -0.9263675212860107, + 0.03333695977926254, + 0.37514251470565796, + -40.535255432128906 + ], + [ + -0.37641844153404236, + -0.04930458962917328, + -0.9251368641853333, + -29.390422821044922 + ], + [ + -0.012345005758106709, + -0.9982273578643799, + 0.058222826570272446, + -20.342121124267578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2893, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_242267608", + "mask_path": "../../mask/hdr_front_02893.png" + }, + { + "file_path": "../../rgb/hdr_front_02894.png", + "transform_matrix": [ + [ + -0.9244202971458435, + 0.02994897961616516, + 0.3801974952220917, + -40.57322692871094 + ], + [ + -0.38129499554634094, + -0.0521358996629715, + -0.9229821562767029, + -29.300048828125 + ], + [ + -0.007820433005690575, + -0.9981909394264221, + 0.0596148855984211, + -20.352542877197266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2894, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_342270851", + "mask_path": "../../mask/hdr_front_02894.png" + }, + { + "file_path": "../../rgb/hdr_front_02895.png", + "transform_matrix": [ + [ + -0.9253435730934143, + 0.032190266996622086, + 0.37776052951812744, + -40.61286544799805 + ], + [ + -0.3790264129638672, + -0.05530213937163353, + -0.9237319827079773, + -29.190628051757812 + ], + [ + -0.00884421169757843, + -0.9979506731033325, + 0.06337443739175797, + -20.354358673095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2895, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_442267894", + "mask_path": "../../mask/hdr_front_02895.png" + }, + { + "file_path": "../../rgb/hdr_front_02896.png", + "transform_matrix": [ + [ + -0.9279253482818604, + 0.028199302032589912, + 0.37169793248176575, + -40.63353729248047 + ], + [ + -0.37272170186042786, + -0.05481237545609474, + -0.9263229370117188, + -29.122848510742188 + ], + [ + -0.005748015828430653, + -0.9980984330177307, + 0.061372287571430206, + -20.348718643188477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2896, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_542267560", + "mask_path": "../../mask/hdr_front_02896.png" + }, + { + "file_path": "../../rgb/hdr_front_02897.png", + "transform_matrix": [ + [ + -0.9303367137908936, + 0.026564931496977806, + 0.3657430410385132, + -40.66777420043945 + ], + [ + -0.36666133999824524, + -0.05173798277974129, + -0.9289147853851318, + -29.043590545654297 + ], + [ + -0.005753747187554836, + -0.9983073472976685, + 0.057874083518981934, + -20.35265350341797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2897, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_642268419", + "mask_path": "../../mask/hdr_front_02897.png" + }, + { + "file_path": "../../rgb/hdr_front_02898.png", + "transform_matrix": [ + [ + -0.9286765456199646, + 0.03495955839753151, + 0.36923927068710327, + -40.71980285644531 + ], + [ + -0.37067508697509766, + -0.05355459079146385, + -0.9272173047065735, + -28.938655853271484 + ], + [ + -0.012640646658837795, + -0.9979527592658997, + 0.0626935288310051, + -20.37881088256836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2898, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_742268085", + "mask_path": "../../mask/hdr_front_02898.png" + }, + { + "file_path": "../../rgb/hdr_front_02899.png", + "transform_matrix": [ + [ + -0.9246414303779602, + 0.04133535921573639, + 0.3785892426967621, + -40.756317138671875 + ], + [ + -0.3804329037666321, + -0.05435103923082352, + -0.923210084438324, + -28.864540100097656 + ], + [ + -0.017584500834345818, + -0.9976660013198853, + 0.06598055362701416, + -20.392642974853516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2899, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_842267513", + "mask_path": "../../mask/hdr_front_02899.png" + }, + { + "file_path": "../../rgb/hdr_front_02900.png", + "transform_matrix": [ + [ + -0.9214923977851868, + 0.03759156912565231, + 0.3865729868412018, + -40.78976821899414 + ], + [ + -0.3881557583808899, + -0.05410073325037956, + -0.9200044870376587, + -28.784013748168945 + ], + [ + -0.01367053110152483, + -0.9978276491165161, + 0.06444478034973145, + -20.39981460571289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2900, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_942268133", + "mask_path": "../../mask/hdr_front_02900.png" + }, + { + "file_path": "../../rgb/hdr_front_02901.png", + "transform_matrix": [ + [ + -0.920656681060791, + 0.03756338730454445, + 0.3885617256164551, + -40.83235549926758 + ], + [ + -0.3902117908000946, + -0.05993933230638504, + -0.9187721014022827, + -28.677806854248047 + ], + [ + -0.011222063563764095, + -0.9974949955940247, + 0.06984122097492218, + -20.407100677490234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2901, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_42268276", + "mask_path": "../../mask/hdr_front_02901.png" + }, + { + "file_path": "../../rgb/hdr_front_02902.png", + "transform_matrix": [ + [ + -0.9212948679924011, + 0.03579934686422348, + 0.3872133493423462, + -40.85764694213867 + ], + [ + -0.38878077268600464, + -0.06411014497280121, + -0.9190970659255981, + -28.602262496948242 + ], + [ + -0.008078772574663162, + -0.9973005652427673, + 0.07298244535923004, + -20.40665626525879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2902, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_142267227", + "mask_path": "../../mask/hdr_front_02902.png" + }, + { + "file_path": "../../rgb/hdr_front_02903.png", + "transform_matrix": [ + [ + -0.9227423667907715, + 0.032779261469841, + 0.3840208053588867, + -40.888858795166016 + ], + [ + -0.38534218072891235, + -0.05879756808280945, + -0.9208986163139343, + -28.53315544128418 + ], + [ + -0.007606882601976395, + -0.997731626033783, + 0.06688623130321503, + -20.40943145751953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2903, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_242268085", + "mask_path": "../../mask/hdr_front_02903.png" + }, + { + "file_path": "../../rgb/hdr_front_02904.png", + "transform_matrix": [ + [ + -0.9198349118232727, + 0.036558184772729874, + 0.3905986547470093, + -40.944156646728516 + ], + [ + -0.39218002557754517, + -0.06048441305756569, + -0.9178978800773621, + -28.423568725585938 + ], + [ + -0.009931549429893494, + -0.9974994659423828, + 0.06997306644916534, + -20.43067169189453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2904, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_342267274", + "mask_path": "../../mask/hdr_front_02904.png" + }, + { + "file_path": "../../rgb/hdr_front_02905.png", + "transform_matrix": [ + [ + -0.9129829406738281, + 0.04173240438103676, + 0.4058576226234436, + -40.993099212646484 + ], + [ + -0.40778881311416626, + -0.061520766466856, + -0.9110013842582703, + -28.34018898010254 + ], + [ + -0.013049603439867496, + -0.9972329139709473, + 0.07318542152643204, + -20.444536209106445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2905, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_442266702", + "mask_path": "../../mask/hdr_front_02905.png" + }, + { + "file_path": "../../rgb/hdr_front_02906.png", + "transform_matrix": [ + [ + -0.9060632586479187, + 0.03648938238620758, + 0.4215657711029053, + -41.030853271484375 + ], + [ + -0.4230620861053467, + -0.058754220604896545, + -0.9041938185691833, + -28.2670955657959 + ], + [ + -0.008224699646234512, + -0.9976053833961487, + 0.0686723068356514, + -20.45181655883789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2906, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_542267084", + "mask_path": "../../mask/hdr_front_02906.png" + }, + { + "file_path": "../../rgb/hdr_front_02907.png", + "transform_matrix": [ + [ + -0.9036738276481628, + 0.033064164221286774, + 0.42694300413131714, + -41.080631256103516 + ], + [ + -0.42821142077445984, + -0.0629931390285492, + -0.9014802575111389, + -28.160444259643555 + ], + [ + -0.00291221565566957, + -0.9974661469459534, + 0.07108370959758759, + -20.45370864868164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2907, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_642266988", + "mask_path": "../../mask/hdr_front_02907.png" + }, + { + "file_path": "../../rgb/hdr_front_02908.png", + "transform_matrix": [ + [ + -0.9046565890312195, + 0.0287923663854599, + 0.42516762018203735, + -41.11872863769531 + ], + [ + -0.4261389672756195, + -0.06450404971837997, + -0.9023551940917969, + -28.076322555541992 + ], + [ + 0.001444096677005291, + -0.9975020289421082, + 0.07062356173992157, + -20.450759887695312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2908, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_742268085", + "mask_path": "../../mask/hdr_front_02908.png" + }, + { + "file_path": "../../rgb/hdr_front_02909.png", + "transform_matrix": [ + [ + -0.9057072997093201, + 0.02506660856306553, + 0.42316174507141113, + -41.14881134033203 + ], + [ + -0.42389875650405884, + -0.0582939051091671, + -0.9038316607475281, + -28.011201858520508 + ], + [ + 0.002011757344007492, + -0.9979847073554993, + 0.06342291831970215, + -20.45111846923828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2909, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_842267513", + "mask_path": "../../mask/hdr_front_02909.png" + }, + { + "file_path": "../../rgb/hdr_front_02910.png", + "transform_matrix": [ + [ + -0.9025847315788269, + 0.02907770499587059, + 0.4295291006565094, + -41.204532623291016 + ], + [ + -0.4305110573768616, + -0.058615632355213165, + -0.9006800651550293, + -27.910062789916992 + ], + [ + -0.0010125866392627358, + -0.9978570938110352, + 0.06542385369539261, + -20.469087600708008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2910, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_942268848", + "mask_path": "../../mask/hdr_front_02910.png" + }, + { + "file_path": "../../rgb/hdr_front_02911.png", + "transform_matrix": [ + [ + -0.8965567350387573, + 0.03470106050372124, + 0.44156762957572937, + -41.25579071044922 + ], + [ + -0.4429079294204712, + -0.060502056032419205, + -0.8945233821868896, + -27.83096694946289 + ], + [ + -0.004325164016336203, + -0.9975647330284119, + 0.06961289793252945, + -20.49136734008789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2911, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_42267560", + "mask_path": "../../mask/hdr_front_02911.png" + }, + { + "file_path": "../../rgb/hdr_front_02912.png", + "transform_matrix": [ + [ + -0.8900813460350037, + 0.03377050533890724, + 0.45454874634742737, + -41.2990837097168 + ], + [ + -0.4557829201221466, + -0.05694122985005379, + -0.8882677555084229, + -27.75868797302246 + ], + [ + -0.004114686045795679, + -0.9978062510490417, + 0.06607434898614883, + -20.503326416015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2912, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_142268180", + "mask_path": "../../mask/hdr_front_02912.png" + }, + { + "file_path": "../../rgb/hdr_front_02913.png", + "transform_matrix": [ + [ + -0.8861967325210571, + 0.03821811079978943, + 0.46173012256622314, + -41.352970123291016 + ], + [ + -0.4632473886013031, + -0.0568283312022686, + -0.8844051957130432, + -27.650991439819336 + ], + [ + -0.007560938596725464, + -0.9976521730422974, + 0.06806551665067673, + -20.503387451171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2913, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_242268085", + "mask_path": "../../mask/hdr_front_02913.png" + }, + { + "file_path": "../../rgb/hdr_front_02914.png", + "transform_matrix": [ + [ + -0.88551926612854, + 0.037895143032073975, + 0.46305450797080994, + -41.392845153808594 + ], + [ + -0.464547336101532, + -0.05685122683644295, + -0.8837215304374695, + -27.568796157836914 + ], + [ + -0.00716353626921773, + -0.9976632595062256, + 0.06794695556163788, + -20.498462677001953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2914, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_342268228", + "mask_path": "../../mask/hdr_front_02914.png" + }, + { + "file_path": "../../rgb/hdr_front_02915.png", + "transform_matrix": [ + [ + -0.8860042095184326, + 0.03351129591464996, + 0.4624645411968231, + -41.42905807495117 + ], + [ + -0.46364954113960266, + -0.05315147340297699, + -0.8844229578971863, + -27.50153350830078 + ], + [ + -0.0050574857741594315, + -0.9980239868164062, + 0.06262993067502975, + -20.492977142333984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2915, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_442267656", + "mask_path": "../../mask/hdr_front_02915.png" + }, + { + "file_path": "../../rgb/hdr_front_02916.png", + "transform_matrix": [ + [ + -0.8820081353187561, + 0.038041140884160995, + 0.46969619393348694, + -41.488128662109375 + ], + [ + -0.47116532921791077, + -0.054159969091415405, + -0.8803805112838745, + -27.398719787597656 + ], + [ + -0.008051954209804535, + -0.9978074431419373, + 0.065693199634552, + -20.51609230041504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2916, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_542267322", + "mask_path": "../../mask/hdr_front_02916.png" + }, + { + "file_path": "../../rgb/hdr_front_02917.png", + "transform_matrix": [ + [ + -0.8750520944595337, + 0.04441247507929802, + 0.4819868803024292, + -41.54621124267578 + ], + [ + -0.48387643694877625, + -0.0552905797958374, + -0.8733880519866943, + -27.312511444091797 + ], + [ + -0.01213998906314373, + -0.9974820613861084, + 0.06987228989601135, + -20.540830612182617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2917, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_642268419", + "mask_path": "../../mask/hdr_front_02917.png" + }, + { + "file_path": "../../rgb/hdr_front_02918.png", + "transform_matrix": [ + [ + -0.8687055706977844, + 0.03961408510804176, + 0.4937421679496765, + -41.5947265625 + ], + [ + -0.4952634274959564, + -0.0532735176384449, + -0.8671078681945801, + -27.238447189331055 + ], + [ + -0.008046302944421768, + -0.997793972492218, + 0.06589841842651367, + -20.55143165588379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2918, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_742267370", + "mask_path": "../../mask/hdr_front_02918.png" + }, + { + "file_path": "../../rgb/hdr_front_02919.png", + "transform_matrix": [ + [ + -0.8665978908538818, + 0.04052340239286423, + 0.4973590075969696, + -41.65252685546875 + ], + [ + -0.4989752173423767, + -0.059099163860082626, + -0.8645988702774048, + -27.135461807250977 + ], + [ + -0.00564297940582037, + -0.9974292516708374, + 0.07143538445234299, + -20.556934356689453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2919, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_842267990", + "mask_path": "../../mask/hdr_front_02919.png" + }, + { + "file_path": "../../rgb/hdr_front_02920.png", + "transform_matrix": [ + [ + -0.8706811666488647, + 0.038038235157728195, + 0.49037474393844604, + -41.69408416748047 + ], + [ + -0.4918454885482788, + -0.06431272625923157, + -0.8683040738105774, + -27.047285079956055 + ], + [ + -0.0014914204366505146, + -0.997204601764679, + 0.07470481097698212, + -20.556278228759766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2920, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_942267417", + "mask_path": "../../mask/hdr_front_02920.png" + }, + { + "file_path": "../../rgb/hdr_front_02921.png", + "transform_matrix": [ + [ + -0.8771274089813232, + 0.036462798714637756, + 0.4788716733455658, + -41.7388916015625 + ], + [ + -0.48024487495422363, + -0.05926552414894104, + -0.8751299381256104, + -26.96731185913086 + ], + [ + -0.0035291051026433706, + -0.997576117515564, + 0.06949447840452194, + -20.555973052978516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2921, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_42268514", + "mask_path": "../../mask/hdr_front_02921.png" + }, + { + "file_path": "../../rgb/hdr_front_02922.png", + "transform_matrix": [ + [ + -0.878629207611084, + 0.039854444563388824, + 0.47583848237991333, + -41.80816650390625 + ], + [ + -0.4774568974971771, + -0.059232842177152634, + -0.8766564726829529, + -26.860109329223633 + ], + [ + -0.00675338925793767, + -0.9974483251571655, + 0.07107249647378922, + -20.580541610717773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2922, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_142267465", + "mask_path": "../../mask/hdr_front_02922.png" + }, + { + "file_path": "../../rgb/hdr_front_02923.png", + "transform_matrix": [ + [ + -0.8772549033164978, + 0.0392734557390213, + 0.4784156084060669, + -41.86206817626953 + ], + [ + -0.4799884855747223, + -0.05949639901518822, + -0.8752550482749939, + -26.784225463867188 + ], + [ + -0.005910282488912344, + -0.9974556565284729, + 0.07104431092739105, + -20.596294403076172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2923, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_242268085", + "mask_path": "../../mask/hdr_front_02923.png" + }, + { + "file_path": "../../rgb/hdr_front_02924.png", + "transform_matrix": [ + [ + -0.8769278526306152, + 0.03793982043862343, + 0.4791221618652344, + -41.9099235534668 + ], + [ + -0.4805830121040344, + -0.056524209678173065, + -0.8751257061958313, + -26.710227966308594 + ], + [ + -0.006120109930634499, + -0.997680127620697, + 0.06780089437961578, + -20.610631942749023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2924, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_342267990", + "mask_path": "../../mask/hdr_front_02924.png" + }, + { + "file_path": "../../rgb/hdr_front_02925.png", + "transform_matrix": [ + [ + -0.8805551528930664, + 0.04395247623324394, + 0.4719013571739197, + -41.957275390625 + ], + [ + -0.4738066494464874, + -0.05768735334277153, + -0.8787373900413513, + -26.60735321044922 + ], + [ + -0.011399943381547928, + -0.997366726398468, + 0.07162187248468399, + -20.613971710205078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2925, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_442267417", + "mask_path": "../../mask/hdr_front_02925.png" + }, + { + "file_path": "../../rgb/hdr_front_02926.png", + "transform_matrix": [ + [ + -0.8867861032485962, + 0.04230794683098793, + 0.4602394998073578, + -41.987937927246094 + ], + [ + -0.46208643913269043, + -0.061127349734306335, + -0.8847257494926453, + -26.529748916625977 + ], + [ + -0.009297709912061691, + -0.997232973575592, + 0.07375681400299072, + -20.606369018554688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2926, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_542268991", + "mask_path": "../../mask/hdr_front_02926.png" + }, + { + "file_path": "../../rgb/hdr_front_02927.png", + "transform_matrix": [ + [ + -0.8929739594459534, + 0.04473159462213516, + 0.44788020849227905, + -42.025333404541016 + ], + [ + -0.44992417097091675, + -0.06024150177836418, + -0.8910327553749084, + -26.45216941833496 + ], + [ + -0.01287633366882801, + -0.9971809983253479, + 0.07391991466283798, + -20.61211395263672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2927, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_642266988", + "mask_path": "../../mask/hdr_front_02927.png" + }, + { + "file_path": "../../rgb/hdr_front_02928.png", + "transform_matrix": [ + [ + -0.8936300873756409, + 0.0528571642935276, + 0.4456808269023895, + -42.080406188964844 + ], + [ + -0.4483546316623688, + -0.06069917604327202, + -0.8917925357818604, + -26.349231719970703 + ], + [ + -0.020085159689188004, + -0.9967556595802307, + 0.07794136554002762, + -20.64215660095215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2928, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_742267608", + "mask_path": "../../mask/hdr_front_02928.png" + }, + { + "file_path": "../../rgb/hdr_front_02929.png", + "transform_matrix": [ + [ + -0.8915483951568604, + 0.05670658499002457, + 0.4493615925312042, + -42.12308883666992 + ], + [ + -0.45230522751808167, + -0.05956561863422394, + -0.8898718357086182, + -26.271894454956055 + ], + [ + -0.023695092648267746, + -0.9966124296188354, + 0.07875431329011917, + -20.65837287902832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2929, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_842267751", + "mask_path": "../../mask/hdr_front_02929.png" + }, + { + "file_path": "../../rgb/hdr_front_02930.png", + "transform_matrix": [ + [ + -0.8912357687950134, + 0.052720483392477036, + 0.4504657983779907, + -42.15510940551758 + ], + [ + -0.4530337154865265, + -0.056551072746515274, + -0.8896979093551636, + -26.191879272460938 + ], + [ + -0.021430980414152145, + -0.9970068335533142, + 0.07428450137376785, + -20.66761016845703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2930, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_942267417", + "mask_path": "../../mask/hdr_front_02930.png" + }, + { + "file_path": "../../rgb/hdr_front_02931.png", + "transform_matrix": [ + [ + -0.8940643072128296, + 0.05356565862894058, + 0.44472435116767883, + -42.196372985839844 + ], + [ + -0.4474674165248871, + -0.06127358227968216, + -0.8921986818313599, + -26.084386825561523 + ], + [ + -0.02054135501384735, + -0.9966827034950256, + 0.07875141501426697, + -20.672697067260742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2931, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_42268276", + "mask_path": "../../mask/hdr_front_02931.png" + }, + { + "file_path": "../../rgb/hdr_front_02932.png", + "transform_matrix": [ + [ + -0.8988801836967468, + 0.051803212612867355, + 0.4351215958595276, + -42.22365188598633 + ], + [ + -0.43782445788383484, + -0.06537707895040512, + -0.8966802954673767, + -26.012147903442383 + ], + [ + -0.018003936856985092, + -0.9965150952339172, + 0.08144687861204147, + -20.6712589263916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2932, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_142267942", + "mask_path": "../../mask/hdr_front_02932.png" + }, + { + "file_path": "../../rgb/hdr_front_02933.png", + "transform_matrix": [ + [ + -0.9047390222549438, + 0.0480513758957386, + 0.4232473373413086, + -42.24936294555664 + ], + [ + -0.4256053864955902, + -0.06108374521136284, + -0.9028448462486267, + -25.9504451751709 + ], + [ + -0.017529403790831566, + -0.9969753623008728, + 0.07571576535701752, + -20.669233322143555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2933, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_242267131", + "mask_path": "../../mask/hdr_front_02933.png" + }, + { + "file_path": "../../rgb/hdr_front_02934.png", + "transform_matrix": [ + [ + -0.9055175185203552, + 0.05427037179470062, + 0.4208238422870636, + -42.30487823486328 + ], + [ + -0.4236871004104614, + -0.061978042125701904, + -0.9036858081817627, + -25.844341278076172 + ], + [ + -0.02296152338385582, + -0.9966009259223938, + 0.0791158601641655, + -20.69107437133789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2934, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_342267036", + "mask_path": "../../mask/hdr_front_02934.png" + }, + { + "file_path": "../../rgb/hdr_front_02935.png", + "transform_matrix": [ + [ + -0.9028481245040894, + 0.061914537101984024, + 0.4254782795906067, + -42.350582122802734 + ], + [ + -0.4289570748806, + -0.06217359006404877, + -0.9011826515197754, + -25.761926651000977 + ], + [ + -0.02934279479086399, + -0.9961430430412292, + 0.082691989839077, + -20.7116641998291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2935, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_442267179", + "mask_path": "../../mask/hdr_front_02935.png" + }, + { + "file_path": "../../rgb/hdr_front_02936.png", + "transform_matrix": [ + [ + -0.9003044962882996, + 0.06011413782835007, + 0.43108952045440674, + -42.37937927246094 + ], + [ + -0.4343125522136688, + -0.05873293802142143, + -0.8988454341888428, + -25.69904136657715 + ], + [ + -0.028714153915643692, + -0.9964621663093567, + 0.07898584753274918, + -20.723886489868164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2936, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_542267322", + "mask_path": "../../mask/hdr_front_02936.png" + }, + { + "file_path": "../../rgb/hdr_front_02937.png", + "transform_matrix": [ + [ + -0.901147186756134, + 0.0604131706058979, + 0.4292830228805542, + -42.421199798583984 + ], + [ + -0.4326077997684479, + -0.06135348975658417, + -0.8994922041893005, + -25.589977264404297 + ], + [ + -0.028003163635730743, + -0.9962860941886902, + 0.08142373710870743, + -20.7297306060791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2937, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_642267465", + "mask_path": "../../mask/hdr_front_02937.png" + }, + { + "file_path": "../../rgb/hdr_front_02938.png", + "transform_matrix": [ + [ + -0.9063645005226135, + 0.05749192461371422, + 0.41856682300567627, + -42.452171325683594 + ], + [ + -0.42170125246047974, + -0.06233862042427063, + -0.9045894145965576, + -25.49489974975586 + ], + [ + -0.02591370791196823, + -0.9963977932929993, + 0.08074592798948288, + -20.72704315185547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2938, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_742268323", + "mask_path": "../../mask/hdr_front_02938.png" + }, + { + "file_path": "../../rgb/hdr_front_02939.png", + "transform_matrix": [ + [ + -0.9134418964385986, + 0.05231526494026184, + 0.4035925269126892, + -42.471675872802734 + ], + [ + -0.4061964750289917, + -0.05612405762076378, + -0.9120606184005737, + -25.439258575439453 + ], + [ + -0.025063445791602135, + -0.9970522522926331, + 0.07251634448766708, + -20.729997634887695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2939, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_842267274", + "mask_path": "../../mask/hdr_front_02939.png" + }, + { + "file_path": "../../rgb/hdr_front_02940.png", + "transform_matrix": [ + [ + -0.9155654311180115, + 0.05868713557720184, + 0.3978639543056488, + -42.51423263549805 + ], + [ + -0.40092867612838745, + -0.05555611476302147, + -0.9144232273101807, + -25.3380069732666 + ], + [ + -0.03156109154224396, + -0.9967293739318848, + 0.07439461350440979, + -20.744468688964844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2940, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_942267179", + "mask_path": "../../mask/hdr_front_02940.png" + }, + { + "file_path": "../../rgb/hdr_front_02941.png", + "transform_matrix": [ + [ + -0.9137278199195862, + 0.06451260298490524, + 0.40117278695106506, + -42.563358306884766 + ], + [ + -0.4047025442123413, + -0.05630034953355789, + -0.9127135872840881, + -25.241451263427734 + ], + [ + -0.03629535436630249, + -0.9963274598121643, + 0.07755160331726074, + -20.766056060791016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2941, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_42268276", + "mask_path": "../../mask/hdr_front_02941.png" + }, + { + "file_path": "../../rgb/hdr_front_02942.png", + "transform_matrix": [ + [ + -0.9116280674934387, + 0.060276586562395096, + 0.40657225251197815, + -42.60036087036133 + ], + [ + -0.40966564416885376, + -0.05313222110271454, + -0.9106870889663696, + -25.1699275970459 + ], + [ + -0.03329101949930191, + -0.9967666268348694, + 0.07313007116317749, + -20.776866912841797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2942, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_142266750", + "mask_path": "../../mask/hdr_front_02942.png" + }, + { + "file_path": "../../rgb/hdr_front_02943.png", + "transform_matrix": [ + [ + -0.912488579750061, + 0.05540306866168976, + 0.4053332805633545, + -42.64550018310547 + ], + [ + -0.40825366973876953, + -0.059540070593357086, + -0.9109247922897339, + -25.072446823120117 + ], + [ + -0.026334457099437714, + -0.9966872930526733, + 0.0769481435418129, + -20.78356170654297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2943, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_242267608", + "mask_path": "../../mask/hdr_front_02943.png" + }, + { + "file_path": "../../rgb/hdr_front_02944.png", + "transform_matrix": [ + [ + -0.9166771173477173, + 0.050341978669166565, + 0.396445095539093, + -42.684017181396484 + ], + [ + -0.39913561940193176, + -0.06607401371002197, + -0.9145081043243408, + -24.969785690307617 + ], + [ + -0.01984342560172081, + -0.9965440034866333, + 0.08066181093454361, + -20.7847957611084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2944, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_342268466", + "mask_path": "../../mask/hdr_front_02944.png" + }, + { + "file_path": "../../rgb/hdr_front_02945.png", + "transform_matrix": [ + [ + -0.9228707551956177, + 0.03970688208937645, + 0.3830573856830597, + -42.71043395996094 + ], + [ + -0.3849502503871918, + -0.06648068875074387, + -0.920539915561676, + -24.909849166870117 + ], + [ + -0.011085852980613708, + -0.9969973564147949, + 0.07663825154304504, + -20.787118911743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2945, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_442267656", + "mask_path": "../../mask/hdr_front_02945.png" + }, + { + "file_path": "../../rgb/hdr_front_02946.png", + "transform_matrix": [ + [ + -0.9270817637443542, + 0.040837887674570084, + 0.3726280629634857, + -42.76100158691406 + ], + [ + -0.37460216879844666, + -0.06412699073553085, + -0.9249654412269592, + -24.800630569458008 + ], + [ + -0.013878116384148598, + -0.9971058368682861, + 0.0747489258646965, + -20.80095672607422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2946, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_542267322", + "mask_path": "../../mask/hdr_front_02946.png" + }, + { + "file_path": "../../rgb/hdr_left_02855.png", + "transform_matrix": [ + [ + -0.2258785516023636, + 0.014993546530604362, + -0.9740400910377502, + -38.075687408447266 + ], + [ + 0.9729561805725098, + -0.046126432716846466, + -0.2263372391462326, + -34.71541976928711 + ], + [ + -0.04832259193062782, + -0.9988231062889099, + -0.004169088788330555, + -19.90886116027832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2855, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_942267894", + "mask_path": "../../mask/hdr_left_02855.png" + }, + { + "file_path": "../../rgb/hdr_left_02856.png", + "transform_matrix": [ + [ + -0.24010717868804932, + 0.014437084086239338, + -0.9706390500068665, + -38.120269775390625 + ], + [ + 0.9695043563842773, + -0.04699653014540672, + -0.24052555859088898, + -34.62985610961914 + ], + [ + -0.04908914864063263, + -0.9987907409667969, + -0.0027126120403409004, + -19.925098419189453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2856, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_42267799", + "mask_path": "../../mask/hdr_left_02856.png" + }, + { + "file_path": "../../rgb/hdr_left_02857.png", + "transform_matrix": [ + [ + -0.26063957810401917, + 0.025999294593930244, + -0.9650859832763672, + -38.17055892944336 + ], + [ + 0.9639260172843933, + -0.04888173192739487, + -0.2616432011127472, + -34.538021087646484 + ], + [ + -0.053977616131305695, + -0.9984661936759949, + -0.01232088077813387, + -19.937755584716797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2857, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_142267465", + "mask_path": "../../mask/hdr_left_02857.png" + }, + { + "file_path": "../../rgb/hdr_left_02858.png", + "transform_matrix": [ + [ + -0.2821585536003113, + 0.031074341386556625, + -0.9588644504547119, + -38.2081298828125 + ], + [ + 0.9576703906059265, + -0.050304725766181946, + -0.28343746066093445, + -34.47332763671875 + ], + [ + -0.05704304203391075, + -0.998250424861908, + -0.015565065667033195, + -19.943044662475586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2858, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_242268562", + "mask_path": "../../mask/hdr_left_02858.png" + }, + { + "file_path": "../../rgb/hdr_left_02859.png", + "transform_matrix": [ + [ + -0.3044218122959137, + 0.024335065856575966, + -0.9522264003753662, + -38.250423431396484 + ], + [ + 0.9507996439933777, + -0.052592720836400986, + -0.3053097426891327, + -34.39961242675781 + ], + [ + -0.05750991031527519, + -0.9983195066452026, + -0.0071273990906775, + -19.957170486450195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2859, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_342268228", + "mask_path": "../../mask/hdr_left_02859.png" + }, + { + "file_path": "../../rgb/hdr_left_02860.png", + "transform_matrix": [ + [ + -0.31558912992477417, + 0.020732536911964417, + -0.9486693739891052, + -38.301475524902344 + ], + [ + 0.9469869136810303, + -0.056504130363464355, + -0.316264271736145, + -34.303836822509766 + ], + [ + -0.060160692781209946, + -0.9981871247291565, + -0.001801346312277019, + -19.956653594970703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2860, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_442268133", + "mask_path": "../../mask/hdr_left_02860.png" + }, + { + "file_path": "../../rgb/hdr_left_02861.png", + "transform_matrix": [ + [ + -0.31809353828430176, + 0.014865083619952202, + -0.9479427337646484, + -38.33301544189453 + ], + [ + 0.9461875557899475, + -0.0578213594853878, + -0.318411260843277, + -34.23829650878906 + ], + [ + -0.05954454466700554, + -0.9982163310050964, + 0.0043274457566440105, + -19.94953727722168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2861, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_542267799", + "mask_path": "../../mask/hdr_left_02861.png" + }, + { + "file_path": "../../rgb/hdr_left_02862.png", + "transform_matrix": [ + [ + -0.3106233775615692, + 0.011085869744420052, + -0.9504684209823608, + -38.35930252075195 + ], + [ + 0.9489490985870361, + -0.054085586220026016, + -0.31075766682624817, + -34.18568801879883 + ], + [ + -0.054851654917001724, + -0.9984748363494873, + 0.006280325818806887, + -19.946504592895508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2862, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_642267942", + "mask_path": "../../mask/hdr_left_02862.png" + }, + { + "file_path": "../../rgb/hdr_left_02863.png", + "transform_matrix": [ + [ + -0.30483147501945496, + 0.022014720365405083, + -0.9521518349647522, + -38.406822204589844 + ], + [ + 0.9506238102912903, + -0.05410333350300789, + -0.30559322237968445, + -34.0869026184082 + ], + [ + -0.05824213847517967, + -0.9982926249504089, + -0.004435316659510136, + -19.967159271240234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2863, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_742267608", + "mask_path": "../../mask/hdr_left_02863.png" + }, + { + "file_path": "../../rgb/hdr_left_02864.png", + "transform_matrix": [ + [ + -0.3049185872077942, + 0.03225475549697876, + -0.9518320560455322, + -38.4505615234375 + ], + [ + 0.9503105878829956, + -0.05551858991384506, + -0.30631256103515625, + -34.00535202026367 + ], + [ + -0.06272440403699875, + -0.9979366064071655, + -0.013723382726311684, + -19.98944091796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2864, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_842268228", + "mask_path": "../../mask/hdr_left_02864.png" + }, + { + "file_path": "../../rgb/hdr_left_02865.png", + "transform_matrix": [ + [ + -0.30805954337120056, + 0.030353257432579994, + -0.9508827328681946, + -38.48946762084961 + ], + [ + 0.9493443965911865, + -0.055330511182546616, + -0.30932745337486267, + -33.933109283447266 + ], + [ + -0.062001924961805344, + -0.9980066418647766, + -0.011770600453019142, + -20.00307846069336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2865, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_942268133", + "mask_path": "../../mask/hdr_left_02865.png" + }, + { + "file_path": "../../rgb/hdr_left_02866.png", + "transform_matrix": [ + [ + -0.304856538772583, + 0.03215024992823601, + -0.951855480670929, + -38.53986358642578 + ], + [ + 0.9498700499534607, + -0.06251068413257599, + -0.3063320219516754, + -33.83889389038086 + ], + [ + -0.06934978812932968, + -0.9975264072418213, + -0.01148176658898592, + -20.01231575012207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2866, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_42267322", + "mask_path": "../../mask/hdr_left_02866.png" + }, + { + "file_path": "../../rgb/hdr_left_02867.png", + "transform_matrix": [ + [ + -0.29334530234336853, + 0.02980850078165531, + -0.9555416703224182, + -38.58020782470703 + ], + [ + 0.9531825184822083, + -0.06764918565750122, + -0.2947314381599426, + -33.746665954589844 + ], + [ + -0.07342711836099625, + -0.9972637891769409, + -0.00856836698949337, + -20.011188507080078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2867, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_142267227", + "mask_path": "../../mask/hdr_left_02867.png" + }, + { + "file_path": "../../rgb/hdr_left_02868.png", + "transform_matrix": [ + [ + -0.27865779399871826, + 0.022349312901496887, + -0.9601303339004517, + -38.60502243041992 + ], + [ + 0.9578806161880493, + -0.06576090306043625, + -0.27953559160232544, + -33.68883514404297 + ], + [ + -0.06938645988702774, + -0.997585117816925, + -0.0030831836629658937, + -20.01412582397461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2868, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_242267608", + "mask_path": "../../mask/hdr_left_02868.png" + }, + { + "file_path": "../../rgb/hdr_left_02869.png", + "transform_matrix": [ + [ + -0.2690218687057495, + 0.02653401531279087, + -0.9627684950828552, + -38.65289306640625 + ], + [ + 0.960739016532898, + -0.06305993348360062, + -0.2701926827430725, + -33.59891128540039 + ], + [ + -0.06788141280412674, + -0.997657060623169, + -0.008527755737304688, + -20.02619743347168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2869, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_342267751", + "mask_path": "../../mask/hdr_left_02869.png" + }, + { + "file_path": "../../rgb/hdr_left_02870.png", + "transform_matrix": [ + [ + -0.27125459909439087, + 0.03744562715291977, + -0.961778998374939, + -38.7109260559082 + ], + [ + 0.95988929271698, + -0.06312970072031021, + -0.2731795907020569, + -33.498199462890625 + ], + [ + -0.07094619423151016, + -0.9973025918006897, + -0.018819434568285942, + -20.04597282409668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2870, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_442269563", + "mask_path": "../../mask/hdr_left_02870.png" + }, + { + "file_path": "../../rgb/hdr_left_02871.png", + "transform_matrix": [ + [ + -0.27808672189712524, + 0.03904710337519646, + -0.9597620368003845, + -38.75406265258789 + ], + [ + 0.9580073952674866, + -0.06146176531910896, + -0.28007885813713074, + -33.42951965332031 + ], + [ + -0.06992492824792862, + -0.9973453879356384, + -0.020315710455179214, + -20.056543350219727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2871, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_542264461", + "mask_path": "../../mask/hdr_left_02871.png" + }, + { + "file_path": "../../rgb/hdr_left_02872.png", + "transform_matrix": [ + [ + -0.28070148825645447, + 0.037883393466472626, + -0.9590473175048828, + -38.80402755737305 + ], + [ + 0.9573454260826111, + -0.06029477342963219, + -0.28258511424064636, + -33.34148406982422 + ], + [ + -0.06853081285953522, + -0.9974614977836609, + -0.019342653453350067, + -20.0655574798584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2872, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_642268180", + "mask_path": "../../mask/hdr_left_02872.png" + }, + { + "file_path": "../../rgb/hdr_left_02873.png", + "transform_matrix": [ + [ + -0.27078574895858765, + 0.039008185267448425, + -0.9618489742279053, + -38.849769592285156 + ], + [ + 0.9603584408760071, + -0.05780002847313881, + -0.27271026372909546, + -33.23616409301758 + ], + [ + -0.0662328228354454, + -0.9975658059120178, + -0.021810408681631088, + -20.061199188232422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2873, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_742267370", + "mask_path": "../../mask/hdr_left_02873.png" + }, + { + "file_path": "../../rgb/hdr_left_02874.png", + "transform_matrix": [ + [ + -0.25434309244155884, + 0.03396039828658104, + -0.9665175676345825, + -38.87784957885742 + ], + [ + 0.9650978446006775, + -0.05558640509843826, + -0.2559226453304291, + -33.16876983642578 + ], + [ + -0.06241646781563759, + -0.9978762269020081, + -0.018637079745531082, + -20.059011459350586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2874, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_842267513", + "mask_path": "../../mask/hdr_left_02874.png" + }, + { + "file_path": "../../rgb/hdr_left_02875.png", + "transform_matrix": [ + [ + -0.24002857506275177, + 0.031113151460886, + -0.970267117023468, + -38.917110443115234 + ], + [ + 0.9690697193145752, + -0.05137747898697853, + -0.24137987196445465, + -33.09086227416992 + ], + [ + -0.0573599599301815, + -0.9981945753097534, + -0.017818743363022804, + -20.067346572875977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2875, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_942266941", + "mask_path": "../../mask/hdr_left_02875.png" + }, + { + "file_path": "../../rgb/hdr_left_02876.png", + "transform_matrix": [ + [ + -0.2396770864725113, + 0.0389864407479763, + -0.9700695872306824, + -38.977806091308594 + ], + [ + 0.9691848754882812, + -0.04893363639712334, + -0.24142511188983917, + -32.985836029052734 + ], + [ + -0.05688133463263512, + -0.9980408549308777, + -0.026056800037622452, + -20.079910278320312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2876, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_42267560", + "mask_path": "../../mask/hdr_left_02876.png" + }, + { + "file_path": "../../rgb/hdr_left_02877.png", + "transform_matrix": [ + [ + -0.24471428990364075, + 0.04214147850871086, + -0.9686790704727173, + -39.0212516784668 + ], + [ + 0.9680907130241394, + -0.04501323774456978, + -0.24652394652366638, + -32.91141891479492 + ], + [ + -0.05399225652217865, + -0.9980971813201904, + -0.029781388118863106, + -20.091537475585938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2877, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_142268180", + "mask_path": "../../mask/hdr_left_02877.png" + }, + { + "file_path": "../../rgb/hdr_left_02878.png", + "transform_matrix": [ + [ + -0.2452375888824463, + 0.04045546427369118, + -0.9686185121536255, + -39.057708740234375 + ], + [ + 0.9679988026618958, + -0.04467366635799408, + -0.24694649875164032, + -32.821434020996094 + ], + [ + -0.053262077271938324, + -0.9981822371482849, + -0.02820516750216484, + -20.09593391418457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2878, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_242267131", + "mask_path": "../../mask/hdr_left_02878.png" + }, + { + "file_path": "../../rgb/hdr_left_02879.png", + "transform_matrix": [ + [ + -0.23661625385284424, + 0.03918270394206047, + -0.9708127379417419, + -39.09496307373047 + ], + [ + 0.970245897769928, + -0.04326701909303665, + -0.23822437226772308, + -32.71614074707031 + ], + [ + -0.05133844539523125, + -0.9982948899269104, + -0.027779176831245422, + -20.086952209472656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2879, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_342266798", + "mask_path": "../../mask/hdr_left_02879.png" + }, + { + "file_path": "../../rgb/hdr_left_02880.png", + "transform_matrix": [ + [ + -0.2241729348897934, + 0.031184235587716103, + -0.9740503430366516, + -39.11805725097656 + ], + [ + 0.9734475612640381, + -0.04034803807735443, + -0.22532591223716736, + -32.64689254760742 + ], + [ + -0.046327631920576096, + -0.9986989498138428, + -0.021311279386281967, + -20.085365295410156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2880, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_442269086", + "mask_path": "../../mask/hdr_left_02880.png" + }, + { + "file_path": "../../rgb/hdr_left_02881.png", + "transform_matrix": [ + [ + -0.21822328865528107, + 0.030758177861571312, + -0.975413978099823, + -39.16053771972656 + ], + [ + 0.9748647809028625, + -0.03912891075015068, + -0.21933427453041077, + -32.55708312988281 + ], + [ + -0.04491320624947548, + -0.9987606406211853, + -0.021446222439408302, + -20.092893600463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2881, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_542267322", + "mask_path": "../../mask/hdr_left_02881.png" + }, + { + "file_path": "../../rgb/hdr_left_02882.png", + "transform_matrix": [ + [ + -0.2222616970539093, + 0.037026066333055496, + -0.974283754825592, + -39.21302795410156 + ], + [ + 0.973845362663269, + -0.03991341218352318, + -0.22367851436138153, + -32.45480728149414 + ], + [ + -0.04716892167925835, + -0.9985169768333435, + -0.0271864365786314, + -20.113000869750977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2882, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_642268657", + "mask_path": "../../mask/hdr_left_02882.png" + }, + { + "file_path": "../../rgb/hdr_left_02883.png", + "transform_matrix": [ + [ + -0.2291555553674698, + 0.038611866533756256, + -0.9726237058639526, + -39.251312255859375 + ], + [ + 0.9723978042602539, + -0.036018386483192444, + -0.23053227365016937, + -32.38089370727539 + ], + [ + -0.04393361136317253, + -0.9986050128936768, + -0.02929227612912655, + -20.1231746673584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2883, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_742268085", + "mask_path": "../../mask/hdr_left_02883.png" + }, + { + "file_path": "../../rgb/hdr_left_02884.png", + "transform_matrix": [ + [ + -0.23020687699317932, + 0.03612176328897476, + -0.9724711179733276, + -39.28891372680664 + ], + [ + 0.9720854759216309, + -0.03801093250513077, + -0.23152750730514526, + -32.28925323486328 + ], + [ + -0.04532771557569504, + -0.998624324798584, + -0.026363059878349304, + -20.12864112854004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2884, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_842267751", + "mask_path": "../../mask/hdr_left_02884.png" + }, + { + "file_path": "../../rgb/hdr_left_02885.png", + "transform_matrix": [ + [ + -0.22052448987960815, + 0.03219808265566826, + -0.9748498201370239, + -39.32143020629883 + ], + [ + 0.9743965268135071, + -0.03763020038604736, + -0.22166483104228973, + -32.185401916503906 + ], + [ + -0.04382097348570824, + -0.9987728595733643, + -0.02307531237602234, + -20.120635986328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2885, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_942268371", + "mask_path": "../../mask/hdr_left_02885.png" + }, + { + "file_path": "../../rgb/hdr_left_02886.png", + "transform_matrix": [ + [ + -0.2067698836326599, + 0.022717904299497604, + -0.978125810623169, + -39.34378433227539 + ], + [ + 0.9776462316513062, + -0.03416600450873375, + -0.20746202766895294, + -32.11647415161133 + ], + [ + -0.03813175484538078, + -0.9991579651832581, + -0.01514557097107172, + -20.11606788635254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2886, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_42267799", + "mask_path": "../../mask/hdr_left_02886.png" + }, + { + "file_path": "../../rgb/hdr_left_02887.png", + "transform_matrix": [ + [ + -0.1986498236656189, + 0.020780816674232483, + -0.9798501133918762, + -39.37993240356445 + ], + [ + 0.9793180227279663, + -0.03496023267507553, + -0.1992834061384201, + -32.03194808959961 + ], + [ + -0.038397062569856644, + -0.9991726875305176, + -0.013406180776655674, + -20.12299919128418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2887, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_142267465", + "mask_path": "../../mask/hdr_left_02887.png" + }, + { + "file_path": "../../rgb/hdr_left_02888.png", + "transform_matrix": [ + [ + -0.1999855637550354, + 0.02692812867462635, + -0.9794287085533142, + -39.427276611328125 + ], + [ + 0.9789178371429443, + -0.0368899330496788, + -0.20089544355869293, + -31.934289932250977 + ], + [ + -0.04154080152511597, + -0.998956561088562, + -0.01898297294974327, + -20.136518478393555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2888, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_242267847", + "mask_path": "../../mask/hdr_left_02888.png" + }, + { + "file_path": "../../rgb/hdr_left_02889.png", + "transform_matrix": [ + [ + -0.20334552228450775, + 0.030570361763238907, + -0.9786296486854553, + -39.45542526245117 + ], + [ + 0.978255033493042, + -0.0353437177836895, + -0.20437179505825043, + -31.866018295288086 + ], + [ + -0.04083612561225891, + -0.9989075660705566, + -0.022718623280525208, + -20.145986557006836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2889, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_342268466", + "mask_path": "../../mask/hdr_left_02889.png" + }, + { + "file_path": "../../rgb/hdr_left_02890.png", + "transform_matrix": [ + [ + -0.2005399912595749, + 0.03410940244793892, + -0.9790915250778198, + -39.48583221435547 + ], + [ + 0.9787490367889404, + -0.036711446940898895, + -0.2017488032579422, + -31.774551391601562 + ], + [ + -0.04282539337873459, + -0.9987437725067139, + -0.026022423058748245, + -20.1481876373291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2890, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_442267179", + "mask_path": "../../mask/hdr_left_02890.png" + }, + { + "file_path": "../../rgb/hdr_left_02891.png", + "transform_matrix": [ + [ + -0.18968716263771057, + 0.03326913341879845, + -0.9812807440757751, + -39.51305389404297 + ], + [ + 0.980988621711731, + -0.03530021384358406, + -0.19082750380039215, + -31.68081283569336 + ], + [ + -0.04098808020353317, + -0.9988228678703308, + -0.02594064176082611, + -20.13974952697754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2891, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_542268276", + "mask_path": "../../mask/hdr_left_02891.png" + }, + { + "file_path": "../../rgb/hdr_left_02892.png", + "transform_matrix": [ + [ + -0.1780899614095688, + 0.025962647050619125, + -0.9836716055870056, + -39.53388214111328 + ], + [ + 0.983350396156311, + -0.032014843076467514, + -0.17887680232524872, + -31.61543846130371 + ], + [ + -0.0361362062394619, + -0.9991502165794373, + -0.019828852266073227, + -20.134307861328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2892, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_642267942", + "mask_path": "../../mask/hdr_left_02892.png" + }, + { + "file_path": "../../rgb/hdr_left_02893.png", + "transform_matrix": [ + [ + -0.17613820731639862, + 0.029901137575507164, + -0.9839111566543579, + -39.569480895996094 + ], + [ + 0.9836273789405823, + -0.033352188766002655, + -0.17710091173648834, + -31.528657913208008 + ], + [ + -0.03811110928654671, + -0.9989962577819824, + -0.023536978289484978, + -20.143695831298828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2893, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_742267608", + "mask_path": "../../mask/hdr_left_02893.png" + }, + { + "file_path": "../../rgb/hdr_left_02894.png", + "transform_matrix": [ + [ + -0.17855170369148254, + 0.03566211462020874, + -0.9832839965820312, + -39.60124588012695 + ], + [ + 0.9830990433692932, + -0.03460857272148132, + -0.17977334558963776, + -31.45277214050293 + ], + [ + -0.04044114798307419, + -0.9987645149230957, + -0.028879966586828232, + -20.16085433959961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2894, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_842267990", + "mask_path": "../../mask/hdr_left_02894.png" + }, + { + "file_path": "../../rgb/hdr_left_02895.png", + "transform_matrix": [ + [ + -0.17797762155532837, + 0.03359922021627426, + -0.9834607839584351, + -39.626258850097656 + ], + [ + 0.9833043217658997, + -0.03242158144712448, + -0.17905698716640472, + -31.378021240234375 + ], + [ + -0.03790152072906494, + -0.9989094138145447, + -0.027267932891845703, + -20.172557830810547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2895, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_942267894", + "mask_path": "../../mask/hdr_left_02895.png" + }, + { + "file_path": "../../rgb/hdr_left_02896.png", + "transform_matrix": [ + [ + -0.17112591862678528, + 0.03384660929441452, + -0.9846677184104919, + -39.6566047668457 + ], + [ + 0.9844035506248474, + -0.03552306815981865, + -0.17230111360549927, + -31.278095245361328 + ], + [ + -0.04081021994352341, + -0.9987956285476685, + -0.027239806950092316, + -20.168794631958008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2896, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_42267560", + "mask_path": "../../mask/hdr_left_02896.png" + }, + { + "file_path": "../../rgb/hdr_left_02897.png", + "transform_matrix": [ + [ + -0.15975505113601685, + 0.029989466071128845, + -0.9867010116577148, + -39.67310333251953 + ], + [ + 0.9862951040267944, + -0.0369015708565712, + -0.1608109325170517, + -31.20917510986328 + ], + [ + -0.041233450174331665, + -0.9988688230514526, + -0.023683246225118637, + -20.162511825561523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2897, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_142267227", + "mask_path": "../../mask/hdr_left_02897.png" + }, + { + "file_path": "../../rgb/hdr_left_02898.png", + "transform_matrix": [ + [ + -0.15083244442939758, + 0.024636168032884598, + -0.9882523417472839, + -39.69723892211914 + ], + [ + 0.9877420663833618, + -0.03688542917370796, + -0.1516740620136261, + -31.139694213867188 + ], + [ + -0.04018877074122429, + -0.9990158677101135, + -0.01877065747976303, + -20.167259216308594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2898, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_242267608", + "mask_path": "../../mask/hdr_left_02898.png" + }, + { + "file_path": "../../rgb/hdr_left_02899.png", + "transform_matrix": [ + [ + -0.1525690257549286, + 0.02840033546090126, + -0.9878846406936646, + -39.73979949951172 + ], + [ + 0.9873533248901367, + -0.03919513523578644, + -0.1536138355731964, + -31.040311813354492 + ], + [ + -0.04308295249938965, + -0.9988278746604919, + -0.022061197087168694, + -20.190196990966797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2899, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_342266559", + "mask_path": "../../mask/hdr_left_02899.png" + }, + { + "file_path": "../../rgb/hdr_left_02900.png", + "transform_matrix": [ + [ + -0.15936453640460968, + 0.03279299661517143, + -0.9866750240325928, + -39.77402114868164 + ], + [ + 0.9862926006317139, + -0.038017477840185165, + -0.16056634485721588, + -30.963775634765625 + ], + [ + -0.04277633875608444, + -0.9987388849258423, + -0.026284852996468544, + -20.20135498046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2900, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_442267894", + "mask_path": "../../mask/hdr_left_02900.png" + }, + { + "file_path": "../../rgb/hdr_left_02901.png", + "transform_matrix": [ + [ + -0.16450925171375275, + 0.02872297912836075, + -0.9859572052955627, + -39.80405044555664 + ], + [ + 0.9854755997657776, + -0.0379033200442791, + -0.1655331701040268, + -30.884735107421875 + ], + [ + -0.0421256497502327, + -0.9988685250282288, + -0.02207034081220627, + -20.208528518676758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2901, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_542267322", + "mask_path": "../../mask/hdr_left_02901.png" + }, + { + "file_path": "../../rgb/hdr_left_02902.png", + "transform_matrix": [ + [ + -0.1618913859128952, + 0.030481329187750816, + -0.9863376617431641, + -39.836795806884766 + ], + [ + 0.9858370423316956, + -0.03934489190578461, + -0.16302518546581268, + -30.786577224731445 + ], + [ + -0.04377656802535057, + -0.9987607002258301, + -0.023680023849010468, + -20.207021713256836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2902, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_642267465", + "mask_path": "../../mask/hdr_left_02902.png" + }, + { + "file_path": "../../rgb/hdr_left_02903.png", + "transform_matrix": [ + [ + -0.15696029365062714, + 0.02803989313542843, + -0.987206757068634, + -39.85526657104492 + ], + [ + 0.9867100119590759, + -0.03809001296758652, + -0.15796317160129547, + -30.71585464477539 + ], + [ + -0.04203198477625847, + -0.9988808631896973, + -0.02168862149119377, + -20.201786041259766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2903, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_742267847", + "mask_path": "../../mask/hdr_left_02903.png" + }, + { + "file_path": "../../rgb/hdr_left_02904.png", + "transform_matrix": [ + [ + -0.15690025687217712, + 0.027057714760303497, + -0.9872437715530396, + -39.881412506103516 + ], + [ + 0.9867048263549805, + -0.038598425686359406, + -0.1578725129365921, + -30.64462661743164 + ], + [ + -0.042377717792987823, + -0.9988884329795837, + -0.0206418726593256, + -20.206790924072266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2904, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_842269420", + "mask_path": "../../mask/hdr_left_02904.png" + }, + { + "file_path": "../../rgb/hdr_left_02905.png", + "transform_matrix": [ + [ + -0.16645996272563934, + 0.030518142506480217, + -0.985575795173645, + -39.92290496826172 + ], + [ + 0.9848659634590149, + -0.04378450661897659, + -0.16769586503505707, + -30.552003860473633 + ], + [ + -0.04827071726322174, + -0.9985747933387756, + -0.02276790328323841, + -20.230268478393555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2905, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_942267894", + "mask_path": "../../mask/hdr_left_02905.png" + }, + { + "file_path": "../../rgb/hdr_left_02906.png", + "transform_matrix": [ + [ + -0.1801416277885437, + 0.03137020021677017, + -0.9831403493881226, + -39.95713424682617 + ], + [ + 0.9823365211486816, + -0.04571248218417168, + -0.18145298957824707, + -30.480051040649414 + ], + [ + -0.050634004175662994, + -0.9984620213508606, + -0.022581368684768677, + -20.241912841796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2906, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_42268037", + "mask_path": "../../mask/hdr_left_02906.png" + }, + { + "file_path": "../../rgb/hdr_left_02907.png", + "transform_matrix": [ + [ + -0.1908448338508606, + 0.028597405180335045, + -0.9812034368515015, + -39.98755645751953 + ], + [ + 0.9802510738372803, + -0.04722273722290993, + -0.1920359581708908, + -30.399904251098633 + ], + [ + -0.0518268421292305, + -0.9984749555587769, + -0.01902041956782341, + -20.24531364440918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2907, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_142267704", + "mask_path": "../../mask/hdr_left_02907.png" + }, + { + "file_path": "../../rgb/hdr_left_02908.png", + "transform_matrix": [ + [ + -0.1889975666999817, + 0.027876660227775574, + -0.9815816879272461, + -40.0216178894043 + ], + [ + 0.9805392622947693, + -0.04872482270002365, + -0.19018065929412842, + -30.295915603637695 + ], + [ + -0.05312899500131607, + -0.9984232187271118, + -0.01812528260052204, + -20.247724533081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2908, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_242267131", + "mask_path": "../../mask/hdr_left_02908.png" + }, + { + "file_path": "../../rgb/hdr_left_02909.png", + "transform_matrix": [ + [ + -0.18020255863666534, + 0.02136865071952343, + -0.983397364616394, + -40.0433235168457 + ], + [ + 0.9823347926139832, + -0.04736928641796112, + -0.18103717267513275, + -30.224960327148438 + ], + [ + -0.05045134946703911, + -0.9986488223075867, + -0.012455101124942303, + -20.248443603515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2909, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_342267751", + "mask_path": "../../mask/hdr_left_02909.png" + }, + { + "file_path": "../../rgb/hdr_left_02910.png", + "transform_matrix": [ + [ + -0.17446006834506989, + 0.01781829074025154, + -0.9845029711723328, + -40.074588775634766 + ], + [ + 0.9834150671958923, + -0.0471934974193573, + -0.17512142658233643, + -30.145748138427734 + ], + [ + -0.04958249628543854, + -0.9987269043922424, + -0.009289391338825226, + -20.254413604736328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2910, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_442267656", + "mask_path": "../../mask/hdr_left_02910.png" + }, + { + "file_path": "../../rgb/hdr_left_02911.png", + "transform_matrix": [ + [ + -0.17878951132297516, + 0.0226622112095356, + -0.9836263060569763, + -40.124168395996094 + ], + [ + 0.9823752045631409, + -0.05129410699009895, + -0.1797439157962799, + -30.04564666748047 + ], + [ + -0.05452762916684151, + -0.9984264373779297, + -0.013091945089399815, + -20.270219802856445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2911, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_542267560", + "mask_path": "../../mask/hdr_left_02911.png" + }, + { + "file_path": "../../rgb/hdr_left_02912.png", + "transform_matrix": [ + [ + -0.1878747045993805, + 0.02492501400411129, + -0.9818766713142395, + -40.161556243896484 + ], + [ + 0.9806303381919861, + -0.05160749703645706, + -0.18894629180431366, + -29.96978187561035 + ], + [ + -0.05538168177008629, + -0.9983564019203186, + -0.014746475033462048, + -20.28066635131836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2912, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_642267942", + "mask_path": "../../mask/hdr_left_02912.png" + }, + { + "file_path": "../../rgb/hdr_left_02913.png", + "transform_matrix": [ + [ + -0.1952475756406784, + 0.02145308628678322, + -0.9805193543434143, + -40.20229721069336 + ], + [ + 0.979024350643158, + -0.05508645623922348, + -0.1961551308631897, + -29.88148307800293 + ], + [ + -0.05822146311402321, + -0.9982511401176453, + -0.010247594676911831, + -20.293928146362305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2913, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_742267608", + "mask_path": "../../mask/hdr_left_02913.png" + }, + { + "file_path": "../../rgb/hdr_left_02914.png", + "transform_matrix": [ + [ + -0.1945117563009262, + 0.023016100749373436, + -0.980630099773407, + -40.24591064453125 + ], + [ + 0.9790353178977966, + -0.057061582803726196, + -0.19553472101688385, + -29.77616310119629 + ], + [ + -0.06045675277709961, + -0.9981054067611694, + -0.011434422805905342, + -20.297243118286133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2914, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_842267751", + "mask_path": "../../mask/hdr_left_02914.png" + }, + { + "file_path": "../../rgb/hdr_left_02915.png", + "transform_matrix": [ + [ + -0.18876931071281433, + 0.01901419460773468, + -0.9818373322486877, + -40.274879455566406 + ], + [ + 0.9803315997123718, + -0.054979633539915085, + -0.18954454362392426, + -29.69797134399414 + ], + [ + -0.057585086673498154, + -0.9983065724372864, + -0.008261743001639843, + -20.297243118286133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2915, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_942267656", + "mask_path": "../../mask/hdr_left_02915.png" + }, + { + "file_path": "../../rgb/hdr_left_02916.png", + "transform_matrix": [ + [ + -0.18516381084918976, + 0.015891138464212418, + -0.9825791716575623, + -40.310787200927734 + ], + [ + 0.9811154007911682, + -0.05390585586428642, + -0.1857597827911377, + -29.612049102783203 + ], + [ + -0.055918704718351364, + -0.9984195828437805, + -0.0056096212938427925, + -20.30618667602539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2916, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_42267560", + "mask_path": "../../mask/hdr_left_02916.png" + }, + { + "file_path": "../../rgb/hdr_left_02917.png", + "transform_matrix": [ + [ + -0.19101516902446747, + 0.019702862948179245, + -0.9813893437385559, + -40.36847686767578 + ], + [ + 0.9798061847686768, + -0.056369245052337646, + -0.19183874130249023, + -29.505525588989258 + ], + [ + -0.059099942445755005, + -0.9982156753540039, + -0.008537604473531246, + -20.326204299926758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2917, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_142267465", + "mask_path": "../../mask/hdr_left_02917.png" + }, + { + "file_path": "../../rgb/hdr_left_02918.png", + "transform_matrix": [ + [ + -0.20110447704792023, + 0.021622614935040474, + -0.9793311357498169, + -40.41053009033203 + ], + [ + 0.9778066873550415, + -0.055523697286844254, + -0.20201736688613892, + -29.424968719482422 + ], + [ + -0.05874422937631607, + -0.9982233047485352, + -0.009976672939956188, + -20.337377548217773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2918, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_242267608", + "mask_path": "../../mask/hdr_left_02918.png" + }, + { + "file_path": "../../rgb/hdr_left_02919.png", + "transform_matrix": [ + [ + -0.20644104480743408, + 0.018267489969730377, + -0.978288471698761, + -40.44830322265625 + ], + [ + 0.9765599370002747, + -0.05841616168618202, + -0.20716707408428192, + -29.333927154541016 + ], + [ + -0.06093228608369827, + -0.9981253147125244, + -0.005779800936579704, + -20.348154067993164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2919, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_342270851", + "mask_path": "../../mask/hdr_left_02919.png" + }, + { + "file_path": "../../rgb/hdr_left_02920.png", + "transform_matrix": [ + [ + -0.20386891067028046, + 0.02049308829009533, + -0.9787836670875549, + -40.488037109375 + ], + [ + 0.9768748879432678, + -0.061553217470645905, + -0.20476007461547852, + -29.224802017211914 + ], + [ + -0.064443439245224, + -0.9978934526443481, + -0.007470393553376198, + -20.349567413330078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2920, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_442267894", + "mask_path": "../../mask/hdr_left_02920.png" + }, + { + "file_path": "../../rgb/hdr_left_02921.png", + "transform_matrix": [ + [ + -0.19745393097400665, + 0.016460170969367027, + -0.9801739454269409, + -40.50892639160156 + ], + [ + 0.9782834053039551, + -0.06098384037613869, + -0.19809718430042267, + -29.157873153686523 + ], + [ + -0.06303548812866211, + -0.9980030655860901, + -0.004061213694512844, + -20.344402313232422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2921, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_542267560", + "mask_path": "../../mask/hdr_left_02921.png" + }, + { + "file_path": "../../rgb/hdr_left_02922.png", + "transform_matrix": [ + [ + -0.19116704165935516, + 0.014786040410399437, + -0.9814461469650269, + -40.54338836669922 + ], + [ + 0.9797466993331909, + -0.057833291590213776, + -0.1917073279619217, + -29.079439163208008 + ], + [ + -0.05959485098719597, + -0.9982168078422546, + -0.003430749522522092, + -20.348615646362305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2922, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_642268419", + "mask_path": "../../mask/hdr_left_02922.png" + }, + { + "file_path": "../../rgb/hdr_left_02923.png", + "transform_matrix": [ + [ + -0.19487473368644714, + 0.02320658415555954, + -0.9805535674095154, + -40.595306396484375 + ], + [ + 0.978797197341919, + -0.0597003810107708, + -0.19593863189220428, + -28.973960876464844 + ], + [ + -0.06308648735284805, + -0.997946560382843, + -0.011080434545874596, + -20.373685836791992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2923, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_742268085", + "mask_path": "../../mask/hdr_left_02923.png" + }, + { + "file_path": "../../rgb/hdr_left_02924.png", + "transform_matrix": [ + [ + -0.20477692782878876, + 0.029647767543792725, + -0.978359580039978, + -40.63148880004883 + ], + [ + 0.9766198396682739, + -0.06062004715204239, + -0.20624983310699463, + -28.898527145385742 + ], + [ + -0.06542304903268814, + -0.9977205395698547, + -0.016541006043553352, + -20.386749267578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2924, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_842267513", + "mask_path": "../../mask/hdr_left_02924.png" + }, + { + "file_path": "../../rgb/hdr_left_02925.png", + "transform_matrix": [ + [ + -0.2132127583026886, + 0.02595670148730278, + -0.976660966873169, + -40.664634704589844 + ], + [ + 0.9748663306236267, + -0.06046728789806366, + -0.21442800760269165, + -28.81695556640625 + ], + [ + -0.06462187319993973, + -0.9978326559066772, + -0.01241191104054451, + -20.39444351196289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2925, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_942268133", + "mask_path": "../../mask/hdr_left_02925.png" + }, + { + "file_path": "../../rgb/hdr_left_02926.png", + "transform_matrix": [ + [ + -0.21532000601291656, + 0.025942251086235046, + -0.9761988520622253, + -40.707149505615234 + ], + [ + 0.9740047454833984, + -0.06633082032203674, + -0.2165987193584442, + -28.710445404052734 + ], + [ + -0.0703711286187172, + -0.9974603652954102, + -0.010985519737005234, + -20.401554107666016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2926, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_42268276", + "mask_path": "../../mask/hdr_left_02926.png" + }, + { + "file_path": "../../rgb/hdr_left_02927.png", + "transform_matrix": [ + [ + -0.21388494968414307, + 0.024168111383914948, + -0.9765598177909851, + -40.732486724853516 + ], + [ + 0.9740496873855591, + -0.07048282772302628, + -0.21507951617240906, + -28.635080337524414 + ], + [ + -0.07402876764535904, + -0.9972202181816101, + -0.008465724065899849, + -20.40118408203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2927, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_142267227", + "mask_path": "../../mask/hdr_left_02927.png" + }, + { + "file_path": "../../rgb/hdr_left_02928.png", + "transform_matrix": [ + [ + -0.21049441397190094, + 0.021124854683876038, + -0.9773667454719543, + -40.76380157470703 + ], + [ + 0.9752187728881836, + -0.06512781232595444, + -0.21143946051597595, + -28.56646156311035 + ], + [ + -0.06812038272619247, + -0.9976533055305481, + -0.006892311852425337, + -20.404489517211914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2928, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_242268085", + "mask_path": "../../mask/hdr_left_02928.png" + }, + { + "file_path": "../../rgb/hdr_left_02929.png", + "transform_matrix": [ + [ + -0.2174757868051529, + 0.024950744584202766, + -0.9757468104362488, + -40.81887435913086 + ], + [ + 0.9734992384910583, + -0.06690064072608948, + -0.21868561208248138, + -28.455936431884766 + ], + [ + -0.07073444128036499, + -0.997447669506073, + -0.009740262292325497, + -20.425247192382812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2929, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_342267274", + "mask_path": "../../mask/hdr_left_02929.png" + }, + { + "file_path": "../../rgb/hdr_left_02930.png", + "transform_matrix": [ + [ + -0.23370373249053955, + 0.030235644429922104, + -0.97183758020401, + -40.867313385009766 + ], + [ + 0.9695388078689575, + -0.06813344359397888, + -0.2352706789970398, + -28.370412826538086 + ], + [ + -0.07332820445299149, + -0.9972179532051086, + -0.013391587883234024, + -20.43853759765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2930, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_442266702", + "mask_path": "../../mask/hdr_left_02930.png" + }, + { + "file_path": "../../rgb/hdr_left_02931.png", + "transform_matrix": [ + [ + -0.25042450428009033, + 0.02510572411119938, + -0.9678104519844055, + -40.904541015625 + ], + [ + 0.9656192064285278, + -0.06555938720703125, + -0.2515581250190735, + -28.295211791992188 + ], + [ + -0.06976459920406342, + -0.997532844543457, + -0.007824886590242386, + -20.446670532226562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2931, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_542267084", + "mask_path": "../../mask/hdr_left_02931.png" + }, + { + "file_path": "../../rgb/hdr_left_02932.png", + "transform_matrix": [ + [ + -0.25615814328193665, + 0.021719641983509064, + -0.9663907885551453, + -40.954139709472656 + ], + [ + 0.9638670086860657, + -0.06986217945814133, + -0.2570593059062958, + -28.187822341918945 + ], + [ + -0.07309740036725998, + -0.9973202347755432, + -0.0030390771571546793, + -20.448915481567383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2932, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_642266988", + "mask_path": "../../mask/hdr_left_02932.png" + }, + { + "file_path": "../../rgb/hdr_left_02933.png", + "transform_matrix": [ + [ + -0.2542501389980316, + 0.017432840541005135, + -0.9669814109802246, + -40.99228286743164 + ], + [ + 0.9643466472625732, + -0.07134680449962616, + -0.25484365224838257, + -28.10398292541504 + ], + [ + -0.07343366742134094, + -0.997299313545227, + 0.0013286423636600375, + -20.44645118713379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2933, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_742268085", + "mask_path": "../../mask/hdr_left_02933.png" + }, + { + "file_path": "../../rgb/hdr_left_02934.png", + "transform_matrix": [ + [ + -0.2521010637283325, + 0.013690820895135403, + -0.9676040410995483, + -41.02241897583008 + ], + [ + 0.9654161930084229, + -0.06510965526103973, + -0.2524523138999939, + -28.039201736450195 + ], + [ + -0.06645664572715759, + -0.9977841973304749, + 0.003196877194568515, + -20.447439193725586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2934, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_842267513", + "mask_path": "../../mask/hdr_left_02934.png" + }, + { + "file_path": "../../rgb/hdr_left_02935.png", + "transform_matrix": [ + [ + -0.2589135468006134, + 0.017751414328813553, + -0.9657373428344727, + -41.07795333862305 + ], + [ + 0.9635125994682312, + -0.06551430374383926, + -0.25952136516571045, + -27.937135696411133 + ], + [ + -0.06787648797035217, + -0.9976937770843506, + -0.00014116743113845587, + -20.46493911743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2935, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_942268848", + "mask_path": "../../mask/hdr_left_02935.png" + }, + { + "file_path": "../../rgb/hdr_left_02936.png", + "transform_matrix": [ + [ + -0.2718234062194824, + 0.023470163345336914, + -0.9620609879493713, + -41.12887191772461 + ], + [ + 0.9596951603889465, + -0.0675557479262352, + -0.27280306816101074, + -27.85628318786621 + ], + [ + -0.07139546424150467, + -0.997439444065094, + -0.004160968586802483, + -20.48654556274414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2936, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_42267560", + "mask_path": "../../mask/hdr_left_02936.png" + }, + { + "file_path": "../../rgb/hdr_left_02937.png", + "transform_matrix": [ + [ + -0.28576573729515076, + 0.02264276333153248, + -0.9580318927764893, + -41.17180633544922 + ], + [ + 0.9558870792388916, + -0.06415658444166183, + -0.28664228320121765, + -27.78218650817871 + ], + [ + -0.067954421043396, + -0.9976829886436462, + -0.0033101688604801893, + -20.498807907104492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2937, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_142268180", + "mask_path": "../../mask/hdr_left_02937.png" + }, + { + "file_path": "../../rgb/hdr_left_02938.png", + "transform_matrix": [ + [ + -0.29351505637168884, + 0.027150986716151237, + -0.955568790435791, + -41.22551727294922 + ], + [ + 0.9534401297569275, + -0.06413692235946655, + -0.2946835458278656, + -27.673418045043945 + ], + [ + -0.06928818672895432, + -0.9975717067718506, + -0.007061680778861046, + -20.49835777282715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2938, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_242268085", + "mask_path": "../../mask/hdr_left_02938.png" + }, + { + "file_path": "../../rgb/hdr_left_02939.png", + "transform_matrix": [ + [ + -0.29494142532348633, + 0.02683878503739834, + -0.9551382660865784, + -41.265357971191406 + ], + [ + 0.9530029892921448, + -0.0641760379076004, + -0.2960854172706604, + -27.591035842895508 + ], + [ + -0.06924356520175934, + -0.9975776672363281, + -0.006649271119385958, + -20.49348258972168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2939, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_342268228", + "mask_path": "../../mask/hdr_left_02939.png" + }, + { + "file_path": "../../rgb/hdr_left_02940.png", + "transform_matrix": [ + [ + -0.2942897379398346, + 0.02244812436401844, + -0.9554525017738342, + -41.30157470703125 + ], + [ + 0.9535440802574158, + -0.06046571955084801, + -0.2951226234436035, + -27.523916244506836 + ], + [ + -0.06439707428216934, + -0.9979178309440613, + -0.003610831219702959, + -20.488632202148438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2940, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_442267656", + "mask_path": "../../mask/hdr_left_02940.png" + }, + { + "file_path": "../../rgb/hdr_left_02941.png", + "transform_matrix": [ + [ + -0.30210843682289124, + 0.02704012207686901, + -0.9528899192810059, + -41.360477447509766 + ], + [ + 0.9509254693984985, + -0.06156778335571289, + -0.30323272943496704, + -27.420013427734375 + ], + [ + -0.06686677038669586, + -0.9977366328239441, + -0.007112993858754635, + -20.511199951171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2941, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_542267322", + "mask_path": "../../mask/hdr_left_02941.png" + }, + { + "file_path": "../../rgb/hdr_left_02942.png", + "transform_matrix": [ + [ + -0.31543153524398804, + 0.03351936861872673, + -0.9483561515808105, + -41.41829299926758 + ], + [ + 0.9463455677032471, + -0.06285648792982101, + -0.3169844150543213, + -27.33194923400879 + ], + [ + -0.07023545354604721, + -0.9974595308303833, + -0.0118939857929945, + -20.535188674926758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2942, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_642268419", + "mask_path": "../../mask/hdr_left_02942.png" + }, + { + "file_path": "../../rgb/hdr_left_02943.png", + "transform_matrix": [ + [ + -0.3281593918800354, + 0.028821107000112534, + -0.9441825747489929, + -41.46653747558594 + ], + [ + 0.9422383308410645, + -0.06098129227757454, + -0.32934510707855225, + -27.25621795654297 + ], + [ + -0.06706956773996353, + -0.9977228045463562, + -0.007144766394048929, + -20.546524047851562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2943, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_742267370", + "mask_path": "../../mask/hdr_left_02943.png" + }, + { + "file_path": "../../rgb/hdr_left_02944.png", + "transform_matrix": [ + [ + -0.33209457993507385, + 0.02976306527853012, + -0.9427763223648071, + -41.524269104003906 + ], + [ + 0.9404210448265076, + -0.06685198098421097, + -0.33337539434432983, + -27.152660369873047 + ], + [ + -0.07294874638319016, + -0.9973189234733582, + -0.005788623820990324, + -20.551836013793945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2944, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_842267990", + "mask_path": "../../mask/hdr_left_02944.png" + }, + { + "file_path": "../../rgb/hdr_left_02945.png", + "transform_matrix": [ + [ + -0.3244958221912384, + 0.02721475623548031, + -0.9454954862594604, + -41.56595993041992 + ], + [ + 0.9427547454833984, + -0.07197606563568115, + -0.32562685012817383, + -27.065513610839844 + ], + [ + -0.07691489160060883, + -0.997035026550293, + -0.0023009106516838074, + -20.551345825195312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2945, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_942267417", + "mask_path": "../../mask/hdr_left_02945.png" + }, + { + "file_path": "../../rgb/hdr_left_02946.png", + "transform_matrix": [ + [ + -0.31202173233032227, + 0.02553877979516983, + -0.9497316479682922, + -41.61101531982422 + ], + [ + 0.9473863840103149, + -0.0667855367064476, + -0.3130471706390381, + -26.98726463317871 + ], + [ + -0.07142318040132523, + -0.9974404573440552, + -0.00335654872469604, + -20.551244735717773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2946, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_42268514", + "mask_path": "../../mask/hdr_left_02946.png" + }, + { + "file_path": "../../rgb/hdr_left_02947.png", + "transform_matrix": [ + [ + -0.30875417590141296, + 0.028906190767884254, + -0.950702428817749, + -41.68037414550781 + ], + [ + 0.948383092880249, + -0.06671815365552902, + -0.310029536485672, + -26.880468368530273 + ], + [ + -0.07239089161157608, + -0.9973530769348145, + -0.006814632564783096, + -20.57535743713379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2947, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_142267465", + "mask_path": "../../mask/hdr_left_02947.png" + }, + { + "file_path": "../../rgb/hdr_left_02948.png", + "transform_matrix": [ + [ + -0.3115396499633789, + 0.028346886858344078, + -0.9498103260993958, + -41.73421096801758 + ], + [ + 0.9474621415138245, + -0.06701318174600601, + -0.31276947259902954, + -26.804214477539062 + ], + [ + -0.07251584529876709, + -0.9973493218421936, + -0.005980335641652346, + -20.591197967529297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2948, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_242268085", + "mask_path": "../../mask/hdr_left_02948.png" + }, + { + "file_path": "../../rgb/hdr_left_02949.png", + "transform_matrix": [ + [ + -0.3122987151145935, + 0.02701864391565323, + -0.9495996236801147, + -41.782047271728516 + ], + [ + 0.9474536776542664, + -0.06404892355203629, + -0.31341537833213806, + -26.73014259338379 + ], + [ + -0.06928889453411102, + -0.9975810050964355, + -0.005596514325588942, + -20.605772018432617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2949, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_342267990", + "mask_path": "../../mask/hdr_left_02949.png" + }, + { + "file_path": "../../rgb/hdr_left_02950.png", + "transform_matrix": [ + [ + -0.3045181632041931, + 0.03297309949994087, + -0.9519356489181519, + -41.829593658447266 + ], + [ + 0.9497745037078857, + -0.06512746959924698, + -0.3060827851295471, + -26.628250122070312 + ], + [ + -0.07208964973688126, + -0.9973320960998535, + -0.011484509333968163, + -20.608266830444336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2950, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_442267417", + "mask_path": "../../mask/hdr_left_02950.png" + }, + { + "file_path": "../../rgb/hdr_left_02951.png", + "transform_matrix": [ + [ + -0.29192715883255005, + 0.031230663880705833, + -0.9559304714202881, + -41.860538482666016 + ], + [ + 0.9535291790962219, + -0.06842068582773209, + -0.2934291660785675, + -26.552324295043945 + ], + [ + -0.07456940412521362, + -0.997167706489563, + -0.00980549305677414, + -20.600709915161133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2951, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_542268991", + "mask_path": "../../mask/hdr_left_02951.png" + }, + { + "file_path": "../../rgb/hdr_left_02952.png", + "transform_matrix": [ + [ + -0.2786429226398468, + 0.033555664122104645, + -0.9598084092140198, + -41.89826965332031 + ], + [ + 0.9575332999229431, + -0.06738303601741791, + -0.2803381681442261, + -26.476490020751953 + ], + [ + -0.07408173382282257, + -0.9971627593040466, + -0.01335485652089119, + -20.606077194213867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2952, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_642266988", + "mask_path": "../../mask/hdr_left_02952.png" + }, + { + "file_path": "../../rgb/hdr_left_02953.png", + "transform_matrix": [ + [ + -0.276330828666687, + 0.04166887328028679, + -0.9601588249206543, + -41.95344161987305 + ], + [ + 0.9579946398735046, + -0.06782099604606628, + -0.27865129709243774, + -26.3737735748291 + ], + [ + -0.07673000544309616, + -0.9968270063400269, + -0.021177522838115692, + -20.635061264038086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2953, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_742267608", + "mask_path": "../../mask/hdr_left_02953.png" + }, + { + "file_path": "../../rgb/hdr_left_02954.png", + "transform_matrix": [ + [ + -0.28031325340270996, + 0.04555042088031769, + -0.9588271975517273, + -41.99604415893555 + ], + [ + 0.9568252563476562, + -0.06673704087734222, + -0.282898485660553, + -26.29587745666504 + ], + [ + -0.07687543332576752, + -0.9967303276062012, + -0.024876514449715614, + -20.650840759277344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2954, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_842267751", + "mask_path": "../../mask/hdr_left_02954.png" + }, + { + "file_path": "../../rgb/hdr_left_02955.png", + "transform_matrix": [ + [ + -0.2814706861972809, + 0.04157029837369919, + -0.9586689472198486, + -42.02801513671875 + ], + [ + 0.9567973613739014, + -0.06373213976621628, + -0.28368470072746277, + -26.21577262878418 + ], + [ + -0.07289088517427444, + -0.9971008896827698, + -0.02183561958372593, + -20.660663604736328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2955, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_942267417", + "mask_path": "../../mask/hdr_left_02955.png" + }, + { + "file_path": "../../rgb/hdr_left_02956.png", + "transform_matrix": [ + [ + -0.27530890703201294, + 0.042370278388261795, + -0.960421621799469, + -42.06943893432617 + ], + [ + 0.9582313895225525, + -0.06838420033454895, + -0.27769795060157776, + -26.109052658081055 + ], + [ + -0.07744380831718445, + -0.9967589974403381, + -0.021773746237158775, + -20.665491104125977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2956, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_42268276", + "mask_path": "../../mask/hdr_left_02956.png" + }, + { + "file_path": "../../rgb/hdr_left_02957.png", + "transform_matrix": [ + [ + -0.2649996280670166, + 0.04053139686584473, + -0.9633963108062744, + -42.096988677978516 + ], + [ + 0.9608778953552246, + -0.07236620783805847, + -0.2673514485359192, + -26.038164138793945 + ], + [ + -0.08055345714092255, + -0.9965542554855347, + -0.01976870186626911, + -20.664098739624023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2957, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_142267942", + "mask_path": "../../mask/hdr_left_02957.png" + }, + { + "file_path": "../../rgb/hdr_left_02958.png", + "transform_matrix": [ + [ + -0.25227490067481995, + 0.03668645769357681, + -0.9669598340988159, + -42.1230354309082 + ], + [ + 0.9647442698478699, + -0.06792042404413223, + -0.25427380204200745, + -25.97819709777832 + ], + [ + -0.07500472664833069, + -0.9970160722732544, + -0.018258430063724518, + -20.662574768066406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2958, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_242267131", + "mask_path": "../../mask/hdr_left_02958.png" + }, + { + "file_path": "../../rgb/hdr_left_02959.png", + "transform_matrix": [ + [ + -0.24972736835479736, + 0.04289134591817856, + -0.9673657417297363, + -42.17865753173828 + ], + [ + 0.9652207493782043, + -0.0687904804944992, + -0.2522237002849579, + -25.872356414794922 + ], + [ + -0.0773637592792511, + -0.9967086911201477, + -0.024220744147896767, + -20.683589935302734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2959, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_342267036", + "mask_path": "../../mask/hdr_left_02959.png" + }, + { + "file_path": "../../rgb/hdr_left_02960.png", + "transform_matrix": [ + [ + -0.25475966930389404, + 0.050576381385326385, + -0.9656807780265808, + -42.22425842285156 + ], + [ + 0.9637123346328735, + -0.06905212998390198, + -0.25785690546035767, + -25.789203643798828 + ], + [ + -0.0797237902879715, + -0.996330201625824, + -0.031149383634328842, + -20.7032413482666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2960, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_442267179", + "mask_path": "../../mask/hdr_left_02960.png" + }, + { + "file_path": "../../rgb/hdr_left_02961.png", + "transform_matrix": [ + [ + -0.2607453763484955, + 0.04881732165813446, + -0.9641725420951843, + -42.25287628173828 + ], + [ + 0.9623961448669434, + -0.06567926704883575, + -0.26359039545059204, + -25.7255802154541 + ], + [ + -0.0761939138174057, + -0.996645987033844, + -0.02985602803528309, + -20.715822219848633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2961, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_542267322", + "mask_path": "../../mask/hdr_left_02961.png" + }, + { + "file_path": "../../rgb/hdr_left_02962.png", + "transform_matrix": [ + [ + -0.25881505012512207, + 0.04910275340080261, + -0.9646779894828796, + -42.29475021362305 + ], + [ + 0.9627138376235962, + -0.06827796995639801, + -0.2617635428905487, + -25.616744995117188 + ], + [ + -0.07871955633163452, + -0.9964572191238403, + -0.029600534588098526, + -20.721546173095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2962, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_642267465", + "mask_path": "../../mask/hdr_left_02962.png" + }, + { + "file_path": "../../rgb/hdr_left_02963.png", + "transform_matrix": [ + [ + -0.2473423331975937, + 0.04609837010502815, + -0.9678309559822083, + -42.32604217529297 + ], + [ + 0.9657485485076904, + -0.06912606209516525, + -0.2501026690006256, + -25.523189544677734 + ], + [ + -0.07843165844678879, + -0.9965422749519348, + -0.027421634644269943, + -20.719125747680664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2963, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_742268323", + "mask_path": "../../mask/hdr_left_02963.png" + }, + { + "file_path": "../../rgb/hdr_left_02964.png", + "transform_matrix": [ + [ + -0.2313535362482071, + 0.04080844298005104, + -0.9720134139060974, + -42.346004486083984 + ], + [ + 0.9703123569488525, + -0.06271764636039734, + -0.23358172178268433, + -25.469724655151367 + ], + [ + -0.07049449533224106, + -0.9971966743469238, + -0.025086984038352966, + -20.72281837463379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2964, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_842267274", + "mask_path": "../../mask/hdr_left_02964.png" + }, + { + "file_path": "../../rgb/hdr_left_02965.png", + "transform_matrix": [ + [ + -0.2253115028142929, + 0.047143951058387756, + -0.9731454253196716, + -42.388790130615234 + ], + [ + 0.9716842770576477, + -0.062083467841148376, + -0.2279808521270752, + -25.369197845458984 + ], + [ + -0.07116416096687317, + -0.996957004070282, + -0.031820908188819885, + -20.736474990844727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2965, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_942267179", + "mask_path": "../../mask/hdr_left_02965.png" + }, + { + "file_path": "../../rgb/hdr_left_02966.png", + "transform_matrix": [ + [ + -0.22887663543224335, + 0.0529976449906826, + -0.9720116853713989, + -42.437835693359375 + ], + [ + 0.9706835150718689, + -0.06287509948015213, + -0.23199211061000824, + -25.27212142944336 + ], + [ + -0.07341035455465317, + -0.9966133236885071, + -0.037053290754556656, + -20.757326126098633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2966, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_42268276", + "mask_path": "../../mask/hdr_left_02966.png" + }, + { + "file_path": "../../rgb/hdr_left_02967.png", + "transform_matrix": [ + [ + -0.23458275198936462, + 0.048797041177749634, + -0.9708706140518188, + -42.474632263183594 + ], + [ + 0.9696007370948792, + -0.059769973158836365, + -0.23728002607822418, + -25.19992446899414 + ], + [ + -0.06960746645927429, + -0.9970188140869141, + -0.03329264000058174, + -20.768796920776367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2967, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_142266750", + "mask_path": "../../mask/hdr_left_02967.png" + }, + { + "file_path": "../../rgb/hdr_left_02968.png", + "transform_matrix": [ + [ + -0.23322661221027374, + 0.0439109168946743, + -0.9714304804801941, + -42.51979064941406 + ], + [ + 0.9695550203323364, + -0.0661589503288269, + -0.23576690256595612, + -25.102615356445312 + ], + [ + -0.07462156563997269, + -0.9968425035476685, + -0.027144022285938263, + -20.775903701782227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2968, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_242267608", + "mask_path": "../../mask/hdr_left_02968.png" + }, + { + "file_path": "../../rgb/hdr_left_02969.png", + "transform_matrix": [ + [ + -0.2237458974123001, + 0.03878293186426163, + -0.9738755226135254, + -42.5585823059082 + ], + [ + 0.9714040160179138, + -0.07257690280675888, + -0.22606833279132843, + -25.00118064880371 + ], + [ + -0.07944846153259277, + -0.996608555316925, + -0.021435104310512543, + -20.777509689331055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2969, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_342268466", + "mask_path": "../../mask/hdr_left_02969.png" + }, + { + "file_path": "../../rgb/hdr_left_02970.png", + "transform_matrix": [ + [ + -0.2094978392124176, + 0.028048865497112274, + -0.9774067401885986, + -42.58543395996094 + ], + [ + 0.9747664332389832, + -0.07280460000038147, + -0.21102119982242584, + -24.94317626953125 + ], + [ + -0.07707859575748444, + -0.9969517588615417, + -0.012088684365153313, + -20.781049728393555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2970, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_442267656", + "mask_path": "../../mask/hdr_left_02970.png" + }, + { + "file_path": "../../rgb/hdr_left_02971.png", + "transform_matrix": [ + [ + -0.19847436249256134, + 0.02911003865301609, + -0.9796737432479858, + -42.63639450073242 + ], + [ + 0.9772540330886841, + -0.07032059878110886, + -0.20007367432117462, + -24.835365295410156 + ], + [ + -0.07471538335084915, + -0.9970996379852295, + -0.0144910654053092, + -20.794748306274414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2971, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_542267322", + "mask_path": "../../mask/hdr_left_02971.png" + }, + { + "file_path": "../../rgb/hdr_right_02842.png", + "transform_matrix": [ + [ + 0.5446944832801819, + 0.021903669461607933, + 0.8383484482765198, + -38.26662826538086 + ], + [ + -0.8374935388565063, + -0.03792208433151245, + 0.5451297760009766, + -34.79570007324219 + ], + [ + 0.04373226687312126, + -0.9990406036376953, + -0.002311770571395755, + -19.9090576171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2842, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_942267894", + "mask_path": "../../mask/hdr_right_02842.png" + }, + { + "file_path": "../../rgb/hdr_right_02843.png", + "transform_matrix": [ + [ + 0.5569071769714355, + 0.021226515993475914, + 0.8303034901618958, + -38.31001663208008 + ], + [ + -0.8294107913970947, + -0.038692500442266464, + 0.5572976469993591, + -34.712913513183594 + ], + [ + 0.043956007808446884, + -0.9990257024765015, + -0.00394262932240963, + -19.924972534179688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2843, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_42267799", + "mask_path": "../../mask/hdr_right_02843.png" + }, + { + "file_path": "../../rgb/hdr_right_02844.png", + "transform_matrix": [ + [ + 0.5743489265441895, + 0.032608307898044586, + 0.8179608583450317, + -38.35844421386719 + ], + [ + -0.8169680833816528, + -0.040432143956422806, + 0.5752637386322021, + -34.62519836425781 + ], + [ + 0.051830291748046875, + -0.998650074005127, + 0.003417790401726961, + -19.93941879272461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2844, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_142267465", + "mask_path": "../../mask/hdr_right_02844.png" + }, + { + "file_path": "../../rgb/hdr_right_02845.png", + "transform_matrix": [ + [ + 0.5924697518348694, + 0.03749122843146324, + 0.8047199249267578, + -38.393985748291016 + ], + [ + -0.8036565184593201, + -0.04170815274119377, + 0.5936300754547119, + -34.56473922729492 + ], + [ + 0.055819302797317505, + -0.9984261989593506, + 0.005419253371655941, + -19.945262908935547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2845, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_242268562", + "mask_path": "../../mask/hdr_right_02845.png" + }, + { + "file_path": "../../rgb/hdr_right_02846.png", + "transform_matrix": [ + [ + 0.6111112833023071, + 0.03055214323103428, + 0.7909548878669739, + -38.43415451049805 + ], + [ + -0.7897428274154663, + -0.04385239630937576, + 0.6118687391281128, + -34.4952507019043 + ], + [ + 0.05337916687130928, + -0.9985707402229309, + -0.0026703611947596073, + -19.957651138305664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2846, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_342268228", + "mask_path": "../../mask/hdr_right_02846.png" + }, + { + "file_path": "../../rgb/hdr_right_02847.png", + "transform_matrix": [ + [ + 0.6203836798667908, + 0.026847446337342262, + 0.7838388085365295, + -38.484092712402344 + ], + [ + -0.7824336290359497, + -0.04769403859972954, + 0.6209050416946411, + -34.401580810546875 + ], + [ + 0.054054148495197296, + -0.9985011219978333, + -0.008582260459661484, + -19.955951690673828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2847, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_442268133", + "mask_path": "../../mask/hdr_right_02847.png" + }, + { + "file_path": "../../rgb/hdr_right_02848.png", + "transform_matrix": [ + [ + 0.6224715709686279, + 0.020957984030246735, + 0.7823617458343506, + -38.515403747558594 + ], + [ + -0.7809538245201111, + -0.048997897654771805, + 0.6226639151573181, + -34.33645248413086 + ], + [ + 0.051383860409259796, + -0.9985789656639099, + -0.01413258258253336, + -19.947607040405273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2848, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_542267799", + "mask_path": "../../mask/hdr_right_02848.png" + }, + { + "file_path": "../../rgb/hdr_right_02849.png", + "transform_matrix": [ + [ + 0.6162996888160706, + 0.01724872551858425, + 0.7873228788375854, + -38.5424690246582 + ], + [ + -0.7861492037773132, + -0.04531029611825943, + 0.6163735389709473, + -34.28237533569336 + ], + [ + 0.04630548506975174, + -0.9988240599632263, + -0.014364649541676044, + -19.9443416595459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2849, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_642267942", + "mask_path": "../../mask/hdr_right_02849.png" + }, + { + "file_path": "../../rgb/hdr_right_02850.png", + "transform_matrix": [ + [ + 0.6114636659622192, + 0.028228655457496643, + 0.7907688617706299, + -38.59052658081055 + ], + [ + -0.7894854545593262, + -0.04536161944270134, + 0.6120906472206116, + -34.182594299316406 + ], + [ + 0.05314905196428299, + -0.9985716938972473, + -0.0054508694447577, + -19.967063903808594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2850, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_742267608", + "mask_path": "../../mask/hdr_right_02850.png" + }, + { + "file_path": "../../rgb/hdr_right_02851.png", + "transform_matrix": [ + [ + 0.6114684343338013, + 0.03846479579806328, + 0.7903333902359009, + -38.63418197631836 + ], + [ + -0.7889500856399536, + -0.04677262902259827, + 0.6126745343208313, + -34.10117721557617 + ], + [ + 0.06053237244486809, + -0.998164713382721, + 0.0017468169098719954, + -19.991085052490234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2851, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_842268228", + "mask_path": "../../mask/hdr_right_02851.png" + }, + { + "file_path": "../../rgb/hdr_right_02852.png", + "transform_matrix": [ + [ + 0.6140910387039185, + 0.036535050719976425, + 0.7883890867233276, + -38.67279052734375 + ], + [ + -0.7870126962661743, + -0.046564891934394836, + 0.6151769161224365, + -34.029518127441406 + ], + [ + 0.059186775237321854, + -0.9982469081878662, + 0.0001584665005793795, + -20.004348754882812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2852, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639085_942268133", + "mask_path": "../../mask/hdr_right_02852.png" + }, + { + "file_path": "../../rgb/hdr_right_02853.png", + "transform_matrix": [ + [ + 0.6114177107810974, + 0.03836089372634888, + 0.7903777360916138, + -38.72349548339844 + ], + [ + -0.7885511517524719, + -0.05376698821783066, + 0.6126143336296082, + -33.93471908569336 + ], + [ + 0.06599666178226471, + -0.9978164434432983, + -0.0026245638728141785, + -20.013269424438477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2853, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_42267322", + "mask_path": "../../mask/hdr_right_02853.png" + }, + { + "file_path": "../../rgb/hdr_right_02854.png", + "transform_matrix": [ + [ + 0.6018476486206055, + 0.036124974489212036, + 0.7977935075759888, + -38.76499557495117 + ], + [ + -0.7956387400627136, + -0.05898350104689598, + 0.6028929948806763, + -33.840240478515625 + ], + [ + 0.06883615255355835, + -0.9976050853729248, + -0.006756653543561697, + -20.01140594482422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2854, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_142267227", + "mask_path": "../../mask/hdr_right_02854.png" + }, + { + "file_path": "../../rgb/hdr_right_02855.png", + "transform_matrix": [ + [ + 0.5895837545394897, + 0.02880009077489376, + 0.8071936368942261, + -38.79126739501953 + ], + [ + -0.8052335381507874, + -0.05719558894634247, + 0.5901928544044495, + -33.77947235107422 + ], + [ + 0.06316552311182022, + -0.9979474544525146, + -0.010530793108046055, + -20.013362884521484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2855, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_242267608", + "mask_path": "../../mask/hdr_right_02855.png" + }, + { + "file_path": "../../rgb/hdr_right_02856.png", + "transform_matrix": [ + [ + 0.581439197063446, + 0.0330691821873188, + 0.8129175305366516, + -38.84000778198242 + ], + [ + -0.8110995888710022, + -0.05455661937594414, + 0.5823582410812378, + -33.68773651123047 + ], + [ + 0.06360814720392227, + -0.997963011264801, + -0.004898958373814821, + -20.026599884033203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2856, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_342267751", + "mask_path": "../../mask/hdr_right_02856.png" + }, + { + "file_path": "../../rgb/hdr_right_02857.png", + "transform_matrix": [ + [ + 0.5832343697547913, + 0.04395730793476105, + 0.811113715171814, + -38.89775085449219 + ], + [ + -0.8092820644378662, + -0.05460619926452637, + 0.5848767161369324, + -33.58760452270508 + ], + [ + 0.07000143826007843, + -0.9975398778915405, + 0.0037256511859595776, + -20.048368453979492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2857, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_442269563", + "mask_path": "../../mask/hdr_right_02857.png" + }, + { + "file_path": "../../rgb/hdr_right_02858.png", + "transform_matrix": [ + [ + 0.5889734029769897, + 0.04549742862582207, + 0.8068708181381226, + -38.94023513793945 + ], + [ + -0.805154025554657, + -0.05289122089743614, + 0.5907025933265686, + -33.520267486572266 + ], + [ + 0.06955182552337646, + -0.9975632429122925, + 0.005480920430272818, + -20.059280395507812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2858, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_542264461", + "mask_path": "../../mask/hdr_right_02858.png" + }, + { + "file_path": "../../rgb/hdr_right_02859.png", + "transform_matrix": [ + [ + 0.5911837220191956, + 0.044310830533504486, + 0.8053189516067505, + -38.98996353149414 + ], + [ + -0.8036729693412781, + -0.051707033067941666, + 0.5928205847740173, + -33.432716369628906 + ], + [ + 0.06790902465581894, + -0.9976787567138672, + 0.005043058190494776, + -20.068145751953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2859, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_642268180", + "mask_path": "../../mask/hdr_right_02859.png" + }, + { + "file_path": "../../rgb/hdr_right_02860.png", + "transform_matrix": [ + [ + 0.5828224420547485, + 0.045523397624492645, + 0.8113234043121338, + -39.036624908447266 + ], + [ + -0.8098664879798889, + -0.04927784577012062, + 0.584540843963623, + -33.32548522949219 + ], + [ + 0.0665905550122261, + -0.9977471232414246, + 0.008147640153765678, + -20.064369201660156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2860, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_742267370", + "mask_path": "../../mask/hdr_right_02860.png" + }, + { + "file_path": "../../rgb/hdr_right_02861.png", + "transform_matrix": [ + [ + 0.5689435005187988, + 0.04062174633145332, + 0.8213727474212646, + -39.06623840332031 + ], + [ + -0.8200421929359436, + -0.04717801511287689, + 0.5703551769256592, + -33.25482940673828 + ], + [ + 0.06191955879330635, + -0.9980601668357849, + 0.006469918414950371, + -20.061668395996094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2861, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_842267513", + "mask_path": "../../mask/hdr_right_02861.png" + }, + { + "file_path": "../../rgb/hdr_right_02862.png", + "transform_matrix": [ + [ + 0.5567584037780762, + 0.03789893537759781, + 0.8298095464706421, + -39.10676956176758 + ], + [ + -0.8287243843078613, + -0.04306866228580475, + 0.5579973459243774, + -33.1740837097168 + ], + [ + 0.05688628554344177, + -0.9983530044555664, + 0.007428927347064018, + -20.07001495361328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2862, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639086_942266941", + "mask_path": "../../mask/hdr_right_02862.png" + }, + { + "file_path": "../../rgb/hdr_right_02863.png", + "transform_matrix": [ + [ + 0.5563850998878479, + 0.045772336423397064, + 0.8296629190444946, + -39.16742706298828 + ], + [ + -0.8288095593452454, + -0.040623828768730164, + 0.5580540895462036, + -33.069068908691406 + ], + [ + 0.05924752354621887, + -0.9981254935264587, + 0.015334060415625572, + -20.08427619934082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2863, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_42267560", + "mask_path": "../../mask/hdr_right_02863.png" + }, + { + "file_path": "../../rgb/hdr_right_02864.png", + "transform_matrix": [ + [ + 0.5606554746627808, + 0.048882849514484406, + 0.8266051411628723, + -39.210411071777344 + ], + [ + -0.8260292410850525, + -0.03666691109538078, + 0.5624333024024963, + -32.99565124511719 + ], + [ + 0.05780239403247833, + -0.998131275177002, + 0.019821161404252052, + -20.096763610839844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2864, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_142268180", + "mask_path": "../../mask/hdr_right_02864.png" + }, + { + "file_path": "../../rgb/hdr_right_02865.png", + "transform_matrix": [ + [ + 0.5611214637756348, + 0.047193046659231186, + 0.8263870477676392, + -39.2468376159668 + ], + [ + -0.8257976174354553, + -0.03632432222366333, + 0.5627956390380859, + -32.9057502746582 + ], + [ + 0.05657798796892166, + -0.9982250928878784, + 0.01858954131603241, + -20.100866317749023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2865, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_242267131", + "mask_path": "../../mask/hdr_right_02865.png" + }, + { + "file_path": "../../rgb/hdr_right_02866.png", + "transform_matrix": [ + [ + 0.5537621378898621, + 0.045994654297828674, + 0.8314036130905151, + -39.28483963012695 + ], + [ + -0.8308812975883484, + -0.034978196024894714, + 0.5553492903709412, + -32.79875183105469 + ], + [ + 0.054624103009700775, + -0.9983291029930115, + 0.018846498802304268, + -20.09186553955078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2866, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_342266798", + "mask_path": "../../mask/hdr_right_02866.png" + }, + { + "file_path": "../../rgb/hdr_right_02867.png", + "transform_matrix": [ + [ + 0.5431451797485352, + 0.03810448572039604, + 0.838773787021637, + -39.30904006958008 + ], + [ + -0.8382825255393982, + -0.0321495458483696, + 0.5442875027656555, + -32.72698211669922 + ], + [ + 0.0477059930562973, + -0.998756468296051, + 0.014480449259281158, + -20.08913230895996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2867, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_442269086", + "mask_path": "../../mask/hdr_right_02867.png" + }, + { + "file_path": "../../rgb/hdr_right_02868.png", + "transform_matrix": [ + [ + 0.5380164980888367, + 0.037728432565927505, + 0.8420895934104919, + -39.35200881958008 + ], + [ + -0.8416550755500793, + -0.03097282350063324, + 0.5391265749931335, + -32.63599395751953 + ], + [ + 0.04642229154706001, + -0.9988078474998474, + 0.015090436674654484, + -20.096736907958984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2868, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_542267322", + "mask_path": "../../mask/hdr_right_02868.png" + }, + { + "file_path": "../../rgb/hdr_right_02869.png", + "transform_matrix": [ + [ + 0.5414465069770813, + 0.04396027699112892, + 0.8395852446556091, + -39.40412139892578 + ], + [ + -0.8392171263694763, + -0.03172653168439865, + 0.542870283126831, + -32.53457260131836 + ], + [ + 0.050501856952905655, + -0.9985294342041016, + 0.019713997840881348, + -20.117937088012695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2869, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_642268657", + "mask_path": "../../mask/hdr_right_02869.png" + }, + { + "file_path": "../../rgb/hdr_right_02870.png", + "transform_matrix": [ + [ + 0.5473652482032776, + 0.04548739269375801, + 0.8356568217277527, + -39.44182205200195 + ], + [ + -0.8355059027671814, + -0.027782192453742027, + 0.5487787127494812, + -32.46200180053711 + ], + [ + 0.048178885132074356, + -0.9985785484313965, + 0.022797979414463043, + -20.12865447998047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2870, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_742268085", + "mask_path": "../../mask/hdr_right_02870.png" + }, + { + "file_path": "../../rgb/hdr_right_02871.png", + "transform_matrix": [ + [ + 0.5482936501502991, + 0.04298935830593109, + 0.8351802825927734, + -39.4793586730957 + ], + [ + -0.8348789811134338, + -0.0297680851072073, + 0.5496281385421753, + -32.37055587768555 + ], + [ + 0.048489876091480255, + -0.9986319541931152, + 0.019569259136915207, + -20.133474349975586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2871, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_842267751", + "mask_path": "../../mask/hdr_right_02871.png" + }, + { + "file_path": "../../rgb/hdr_right_02872.png", + "transform_matrix": [ + [ + 0.5399916172027588, + 0.03914860635995865, + 0.8407594561576843, + -39.51270294189453 + ], + [ + -0.8404151201248169, + -0.029457202181220055, + 0.5411420464515686, + -32.264774322509766 + ], + [ + 0.04595137760043144, + -0.9987990856170654, + 0.01699443720281124, + -20.12485122680664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2872, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639087_942268371", + "mask_path": "../../mask/hdr_right_02872.png" + }, + { + "file_path": "../../rgb/hdr_right_02873.png", + "transform_matrix": [ + [ + 0.5281505584716797, + 0.029785577207803726, + 0.8486282825469971, + -39.536216735839844 + ], + [ + -0.8483047485351562, + -0.026094255968928337, + 0.5288650393486023, + -32.19305419921875 + ], + [ + 0.03789687901735306, + -0.9992156028747559, + 0.011485550552606583, + -20.11886215209961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2873, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_42267799", + "mask_path": "../../mask/hdr_right_02873.png" + }, + { + "file_path": "../../rgb/hdr_right_02874.png", + "transform_matrix": [ + [ + 0.5210999846458435, + 0.027915634214878082, + 0.8530389666557312, + -39.57300567626953 + ], + [ + -0.8526691198348999, + -0.02694791369140148, + 0.5217559337615967, + -32.10691833496094 + ], + [ + 0.03755277022719383, + -0.9992469549179077, + 0.009760238230228424, + -20.125429153442383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2874, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_142267465", + "mask_path": "../../mask/hdr_right_02874.png" + }, + { + "file_path": "../../rgb/hdr_right_02875.png", + "transform_matrix": [ + [ + 0.5222309827804565, + 0.03405038267374039, + 0.8521240949630737, + -39.620208740234375 + ], + [ + -0.8517488837242126, + -0.028866233304142952, + 0.5231544375419617, + -32.009578704833984 + ], + [ + 0.04241123050451279, + -0.9990031719207764, + 0.013927535153925419, + -20.139978408813477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2875, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_242267847", + "mask_path": "../../mask/hdr_right_02875.png" + }, + { + "file_path": "../../rgb/hdr_right_02876.png", + "transform_matrix": [ + [ + 0.5251280069351196, + 0.037663932889699936, + 0.8501894474029541, + -39.648075103759766 + ], + [ + -0.849934995174408, + -0.027294522151350975, + 0.52618008852005, + -31.941991806030273 + ], + [ + 0.043023526668548584, + -0.9989175796508789, + 0.017678778618574142, + -20.150232315063477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2876, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_342268466", + "mask_path": "../../mask/hdr_right_02876.png" + }, + { + "file_path": "../../rgb/hdr_right_02877.png", + "transform_matrix": [ + [ + 0.5226594805717468, + 0.041224781423807144, + 0.851544201374054, + -39.67866897583008 + ], + [ + -0.8512985110282898, + -0.028681516647338867, + 0.5238971710205078, + -31.850006103515625 + ], + [ + 0.046021122485399246, + -0.9987382292747498, + 0.020103925839066505, + -20.153038024902344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2877, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_442267179", + "mask_path": "../../mask/hdr_right_02877.png" + }, + { + "file_path": "../../rgb/hdr_right_02878.png", + "transform_matrix": [ + [ + 0.5132022500038147, + 0.04047316685318947, + 0.8573129773139954, + -39.70671463012695 + ], + [ + -0.857125461101532, + -0.027349738404154778, + 0.5143811106681824, + -31.754114151000977 + ], + [ + 0.04426591843366623, + -0.9988062381744385, + 0.02065463550388813, + -20.1446475982666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2878, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_542268276", + "mask_path": "../../mask/hdr_right_02878.png" + }, + { + "file_path": "../../rgb/hdr_right_02879.png", + "transform_matrix": [ + [ + 0.5030938386917114, + 0.0332622267305851, + 0.8635914921760559, + -39.72844696044922 + ], + [ + -0.863412618637085, + -0.024151984602212906, + 0.5039198994636536, + -31.68638038635254 + ], + [ + 0.03761894255876541, + -0.999154806137085, + 0.01656830869615078, + -20.13813018798828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2879, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_642267942", + "mask_path": "../../mask/hdr_right_02879.png" + }, + { + "file_path": "../../rgb/hdr_right_02880.png", + "transform_matrix": [ + [ + 0.5013532042503357, + 0.03721509873867035, + 0.864441990852356, + -39.76416015625 + ], + [ + -0.86428302526474, + -0.02550271898508072, + 0.5023588538169861, + -31.599246978759766 + ], + [ + 0.0407409593462944, + -0.998981773853302, + 0.019378505647182465, + -20.148204803466797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2880, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_742267608", + "mask_path": "../../mask/hdr_right_02880.png" + }, + { + "file_path": "../../rgb/hdr_right_02881.png", + "transform_matrix": [ + [ + 0.5034258365631104, + 0.042954836040735245, + 0.8629700541496277, + -39.79570770263672 + ], + [ + -0.8628786206245422, + -0.02673948183655739, + 0.5047035217285156, + -31.52389144897461 + ], + [ + 0.04475482925772667, + -0.9987190961837769, + 0.02360346168279648, + -20.166372299194336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2881, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_842267990", + "mask_path": "../../mask/hdr_right_02881.png" + }, + { + "file_path": "../../rgb/hdr_right_02882.png", + "transform_matrix": [ + [ + 0.5029401183128357, + 0.040897268801927567, + 0.8633532524108887, + -39.82077407836914 + ], + [ + -0.8633090853691101, + -0.0245574489235878, + 0.5040777325630188, + -31.448999404907227 + ], + [ + 0.04181714728474617, + -0.99886155128479, + 0.022956054657697678, + -20.17783546447754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2882, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639088_942267894", + "mask_path": "../../mask/hdr_right_02882.png" + }, + { + "file_path": "../../rgb/hdr_right_02883.png", + "transform_matrix": [ + [ + 0.4969121217727661, + 0.041199080646038055, + 0.8668225407600403, + -39.85161209106445 + ], + [ + -0.866657018661499, + -0.02770969644188881, + 0.4981343448162079, + -31.347736358642578 + ], + [ + 0.044542063027620316, + -0.9987666606903076, + 0.021936193108558655, + -20.17396354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2883, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_42267560", + "mask_path": "../../mask/hdr_right_02883.png" + }, + { + "file_path": "../../rgb/hdr_right_02884.png", + "transform_matrix": [ + [ + 0.4869053065776825, + 0.03743276000022888, + 0.8726523518562317, + -39.868927001953125 + ], + [ + -0.8723596334457397, + -0.029174618422985077, + 0.4879934787750244, + -31.27653694152832 + ], + [ + 0.04372623562812805, + -0.9988731741905212, + 0.01844954676926136, + -20.166942596435547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2884, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_142267227", + "mask_path": "../../mask/hdr_right_02884.png" + }, + { + "file_path": "../../rgb/hdr_right_02885.png", + "transform_matrix": [ + [ + 0.4790307283401489, + 0.03215048089623451, + 0.8772091865539551, + -39.89369583129883 + ], + [ + -0.8768370151519775, + -0.029227623715996742, + 0.479898601770401, + -31.205242156982422 + ], + [ + 0.041067712008953094, + -0.9990556240081787, + 0.01418980024755001, + -20.17072296142578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2885, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_242267608", + "mask_path": "../../mask/hdr_right_02885.png" + }, + { + "file_path": "../../rgb/hdr_right_02886.png", + "transform_matrix": [ + [ + 0.4805493652820587, + 0.03590010479092598, + 0.8762325048446655, + -39.93611526489258 + ], + [ + -0.8758168816566467, + -0.03152304142713547, + 0.48161301016807556, + -31.106243133544922 + ], + [ + 0.044911470264196396, + -0.9988580346107483, + 0.016293540596961975, + -20.194231033325195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2886, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_342266559", + "mask_path": "../../mask/hdr_right_02886.png" + }, + { + "file_path": "../../rgb/hdr_right_02887.png", + "transform_matrix": [ + [ + 0.4865381121635437, + 0.04023841768503189, + 0.8727323412895203, + -39.969844818115234 + ], + [ + -0.8724440932273865, + -0.030292576178908348, + 0.487774133682251, + -31.03108787536621 + ], + [ + 0.04606456682085991, + -0.9987307786941528, + 0.020367281511425972, + -20.206260681152344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2887, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_442267894", + "mask_path": "../../mask/hdr_right_02887.png" + }, + { + "file_path": "../../rgb/hdr_right_02888.png", + "transform_matrix": [ + [ + 0.4911164939403534, + 0.03612937778234482, + 0.8703442811965942, + -39.99955368041992 + ], + [ + -0.8699812293052673, + -0.030141029506921768, + 0.49216288328170776, + -30.953033447265625 + ], + [ + 0.04401461035013199, + -0.9988924264907837, + 0.01662912219762802, + -20.21259880065918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2888, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_542267322", + "mask_path": "../../mask/hdr_right_02888.png" + }, + { + "file_path": "../../rgb/hdr_right_02889.png", + "transform_matrix": [ + [ + 0.4887910485267639, + 0.037907734513282776, + 0.8715769648551941, + -40.032466888427734 + ], + [ + -0.8711811304092407, + -0.03160173073410988, + 0.48994359374046326, + -30.85437774658203 + ], + [ + 0.04611598700284958, + -0.9987813830375671, + 0.01757786236703396, + -20.211360931396484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2889, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_642267465", + "mask_path": "../../mask/hdr_right_02889.png" + }, + { + "file_path": "../../rgb/hdr_right_02890.png", + "transform_matrix": [ + [ + 0.4844447374343872, + 0.035505615174770355, + 0.8741011023521423, + -40.05128860473633 + ], + [ + -0.8737248778343201, + -0.03038477525115013, + 0.4854704439640045, + -30.782651901245117 + ], + [ + 0.04379628971219063, + -0.9989074468612671, + 0.01630239747464657, + -20.205781936645508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2890, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_742267847", + "mask_path": "../../mask/hdr_right_02890.png" + }, + { + "file_path": "../../rgb/hdr_right_02891.png", + "transform_matrix": [ + [ + 0.48439785838127136, + 0.03452419862151146, + 0.8741664886474609, + -40.077449798583984 + ], + [ + -0.8737524747848511, + -0.030893970280885696, + 0.4853886663913727, + -30.71140480041504 + ], + [ + 0.04376412555575371, + -0.9989262819290161, + 0.015200632624328136, + -20.210559844970703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2891, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_842269420", + "mask_path": "../../mask/hdr_right_02891.png" + }, + { + "file_path": "../../rgb/hdr_right_02892.png", + "transform_matrix": [ + [ + 0.49282562732696533, + 0.03790861740708351, + 0.869301974773407, + -40.11825942993164 + ], + [ + -0.868688702583313, + -0.03600722923874855, + 0.494048148393631, + -30.620729446411133 + ], + [ + 0.05002983659505844, + -0.9986322522163391, + 0.015185493975877762, + -20.234264373779297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2892, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639089_942267894", + "mask_path": "../../mask/hdr_right_02892.png" + }, + { + "file_path": "../../rgb/hdr_right_02893.png", + "transform_matrix": [ + [ + 0.5048580169677734, + 0.038651712238788605, + 0.8623366951942444, + -40.151512145996094 + ], + [ + -0.8616232872009277, + -0.037833236157894135, + 0.5061361789703369, + -30.551496505737305 + ], + [ + 0.05218801647424698, + -0.9985363483428955, + 0.014202801510691643, + -20.24578857421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2893, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_42268037", + "mask_path": "../../mask/hdr_right_02893.png" + }, + { + "file_path": "../../rgb/hdr_right_02894.png", + "transform_matrix": [ + [ + 0.5142495036125183, + 0.035793595016002655, + 0.8568933606147766, + -40.18116760253906 + ], + [ + -0.8560569882392883, + -0.039265941828489304, + 0.5153878331184387, + -30.473440170288086 + ], + [ + 0.05209430307149887, + -0.9985874891281128, + 0.010448871180415154, + -20.24842071533203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2894, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_142267704", + "mask_path": "../../mask/hdr_right_02894.png" + }, + { + "file_path": "../../rgb/hdr_right_02895.png", + "transform_matrix": [ + [ + 0.5126398801803589, + 0.03508802130818367, + 0.8578864336013794, + -40.21537399291992 + ], + [ + -0.8569656014442444, + -0.04078201949596405, + 0.5137576460838318, + -30.369083404541016 + ], + [ + 0.05301308259367943, + -0.9985517859458923, + 0.009162737056612968, + -20.2506046295166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2895, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_242267131", + "mask_path": "../../mask/hdr_right_02895.png" + }, + { + "file_path": "../../rgb/hdr_right_02896.png", + "transform_matrix": [ + [ + 0.5049718022346497, + 0.028652550652623177, + 0.8626601696014404, + -40.237762451171875 + ], + [ + -0.8617687225341797, + -0.03949352353811264, + 0.5057617425918579, + -30.296323776245117 + ], + [ + 0.04856085032224655, + -0.9988088607788086, + 0.004748756531625986, + -20.25025749206543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2896, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_342267751", + "mask_path": "../../mask/hdr_right_02896.png" + }, + { + "file_path": "../../rgb/hdr_right_02897.png", + "transform_matrix": [ + [ + 0.49994003772735596, + 0.025148825719952583, + 0.8656948208808899, + -40.26945877075195 + ], + [ + -0.8648019433021545, + -0.03936159238219261, + 0.5005679130554199, + -30.2159423828125 + ], + [ + 0.04666382074356079, + -0.998908519744873, + 0.0020703161135315895, + -20.255613327026367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2897, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_442267656", + "mask_path": "../../mask/hdr_right_02897.png" + }, + { + "file_path": "../../rgb/hdr_right_02898.png", + "transform_matrix": [ + [ + 0.5037256479263306, + 0.029957091435790062, + 0.863344132900238, + -40.318702697753906 + ], + [ + -0.8622601628303528, + -0.04342896118760109, + 0.5046002268791199, + -30.116750717163086 + ], + [ + 0.052610497921705246, + -0.9986072778701782, + 0.003954521846026182, + -20.272022247314453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2898, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_542267560", + "mask_path": "../../mask/hdr_right_02898.png" + }, + { + "file_path": "../../rgb/hdr_right_02899.png", + "transform_matrix": [ + [ + 0.5116758346557617, + 0.03214630112051964, + 0.8585770130157471, + -40.355411529541016 + ], + [ + -0.8574813604354858, + -0.043674539774656296, + 0.5126580595970154, + -30.042705535888672 + ], + [ + 0.05397801473736763, + -0.9985284805297852, + 0.00521764624863863, + -20.28277587890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2899, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_642267942", + "mask_path": "../../mask/hdr_right_02899.png" + }, + { + "file_path": "../../rgb/hdr_right_02900.png", + "transform_matrix": [ + [ + 0.5181323289871216, + 0.028615497052669525, + 0.8548217415809631, + -40.395626068115234 + ], + [ + -0.8535230159759521, + -0.04710172861814499, + 0.5189219117164612, + -29.95582389831543 + ], + [ + 0.05511278286576271, + -0.9984801411628723, + 1.9059090845985338e-05, + -20.295019149780273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2900, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_742267608", + "mask_path": "../../mask/hdr_right_02900.png" + }, + { + "file_path": "../../rgb/hdr_right_02901.png", + "transform_matrix": [ + [ + 0.5174833536148071, + 0.030184106901288033, + 0.8551608324050903, + -40.43928527832031 + ], + [ + -0.8537511825561523, + -0.04908199608325958, + 0.5183627605438232, + -29.850379943847656 + ], + [ + 0.05761931464076042, + -0.9983385801315308, + 0.00037059758324176073, + -20.298498153686523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2901, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_842267751", + "mask_path": "../../mask/hdr_right_02901.png" + }, + { + "file_path": "../../rgb/hdr_right_02902.png", + "transform_matrix": [ + [ + 0.5124849081039429, + 0.026229731738567352, + 0.8582956194877625, + -40.46870422363281 + ], + [ + -0.8570069074630737, + -0.047043267637491226, + 0.513153076171875, + -29.77100944519043 + ], + [ + 0.053836889564991, + -0.9985485076904297, + -0.0016299034468829632, + -20.297950744628906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2902, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639090_942267656", + "mask_path": "../../mask/hdr_right_02902.png" + }, + { + "file_path": "../../rgb/hdr_right_02903.png", + "transform_matrix": [ + [ + 0.5093390941619873, + 0.02313641645014286, + 0.8602548837661743, + -40.50489044189453 + ], + [ + -0.859031617641449, + -0.0459970124065876, + 0.5098519325256348, + -29.684341430664062 + ], + [ + 0.05136530101299286, + -0.9986735582351685, + -0.003553166287019849, + -20.306413650512695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2903, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_42267560", + "mask_path": "../../mask/hdr_right_02903.png" + }, + { + "file_path": "../../rgb/hdr_right_02904.png", + "transform_matrix": [ + [ + 0.5144453048706055, + 0.026900067925453186, + 0.8571012616157532, + -40.5621337890625 + ], + [ + -0.855734646320343, + -0.04841648042201996, + 0.5151446461677551, + -29.57901382446289 + ], + [ + 0.0553552471101284, + -0.9984650015830994, + -0.0018883048323914409, + -20.32691764831543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2904, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_142267465", + "mask_path": "../../mask/hdr_right_02904.png" + }, + { + "file_path": "../../rgb/hdr_right_02905.png", + "transform_matrix": [ + [ + 0.5232329368591309, + 0.028737138956785202, + 0.8517051339149475, + -40.60340881347656 + ], + [ + -0.8503797054290771, + -0.04749643802642822, + 0.524021327495575, + -29.500465393066406 + ], + [ + 0.05551183968782425, + -0.9984579682350159, + -0.0004142174148000777, + -20.338396072387695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2905, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_242267608", + "mask_path": "../../mask/hdr_right_02905.png" + }, + { + "file_path": "../../rgb/hdr_right_02906.png", + "transform_matrix": [ + [ + 0.5278830528259277, + 0.025338929146528244, + 0.8489390015602112, + -40.64078903198242 + ], + [ + -0.8474598526954651, + -0.050352536141872406, + 0.5284661650657654, + -29.41043472290039 + ], + [ + 0.05613700672984123, + -0.9984101057052612, + -0.0051065292209386826, + -20.34823989868164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2906, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_342270851", + "mask_path": "../../mask/hdr_right_02906.png" + }, + { + "file_path": "../../rgb/hdr_right_02907.png", + "transform_matrix": [ + [ + 0.525641143321991, + 0.027585197240114212, + 0.8502590656280518, + -40.68070983886719 + ], + [ + -0.8485868573188782, + -0.053508054465055466, + 0.5263433456420898, + -29.300832748413086 + ], + [ + 0.0600149929523468, + -0.9981862902641296, + -0.004717599134892225, + -20.34987449645996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2907, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_442267894", + "mask_path": "../../mask/hdr_right_02907.png" + }, + { + "file_path": "../../rgb/hdr_right_02908.png", + "transform_matrix": [ + [ + 0.520072877407074, + 0.02360571175813675, + 0.8537956476211548, + -40.70211410522461 + ], + [ + -0.8521823883056641, + -0.05298686400055885, + 0.5205551385879517, + -29.23259162902832 + ], + [ + 0.05752803012728691, + -0.9983161687850952, + -0.007440658751875162, + -20.34406280517578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2908, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_542267560", + "mask_path": "../../mask/hdr_right_02908.png" + }, + { + "file_path": "../../rgb/hdr_right_02909.png", + "transform_matrix": [ + [ + 0.5145920515060425, + 0.021983038634061813, + 0.8571532964706421, + -40.737056732177734 + ], + [ + -0.8557281494140625, + -0.0498819500207901, + 0.5150157809257507, + -29.15290069580078 + ], + [ + 0.05407809466123581, + -0.9985131621360779, + -0.006857356987893581, + -20.3482666015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2909, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_642268419", + "mask_path": "../../mask/hdr_right_02909.png" + }, + { + "file_path": "../../rgb/hdr_right_02910.png", + "transform_matrix": [ + [ + 0.5177989602088928, + 0.030371583998203278, + 0.8549630641937256, + -40.78865051269531 + ], + [ + -0.8533977270126343, + -0.051718708127737045, + 0.5186882615089417, + -29.048255920410156 + ], + [ + 0.05997097119688988, + -0.9981997609138489, + -0.0008608587086200714, + -20.37477684020996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2910, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_742268085", + "mask_path": "../../mask/hdr_right_02910.png" + }, + { + "file_path": "../../rgb/hdr_right_02911.png", + "transform_matrix": [ + [ + 0.5263785719871521, + 0.03672986477613449, + 0.8494567275047302, + -40.824031829833984 + ], + [ + -0.8478358387947083, + -0.05256378650665283, + 0.527647078037262, + -28.974851608276367 + ], + [ + 0.06403106451034546, + -0.9979418516159058, + 0.0034724499564617872, + -20.388874053955078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2911, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_842267513", + "mask_path": "../../mask/hdr_right_02911.png" + }, + { + "file_path": "../../rgb/hdr_right_02912.png", + "transform_matrix": [ + [ + 0.533717155456543, + 0.03297016769647598, + 0.8450202345848083, + -40.85654067993164 + ], + [ + -0.8433969616889954, + -0.052352093160152435, + 0.5347344279289246, + -28.894887924194336 + ], + [ + 0.061868853867053986, + -0.998084306716919, + -0.0001342669129371643, + -20.395753860473633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2912, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639091_942268133", + "mask_path": "../../mask/hdr_right_02912.png" + }, + { + "file_path": "../../rgb/hdr_right_02913.png", + "transform_matrix": [ + [ + 0.5355402231216431, + 0.032938193529844284, + 0.8438671827316284, + -40.898887634277344 + ], + [ + -0.8418647050857544, + -0.058202192187309265, + 0.5365411639213562, + -28.78879737854004 + ], + [ + 0.06678761541843414, + -0.9977612495422363, + -0.003440108150243759, + -20.40237045288086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2913, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_42268276", + "mask_path": "../../mask/hdr_right_02913.png" + }, + { + "file_path": "../../rgb/hdr_right_02914.png", + "transform_matrix": [ + [ + 0.534308910369873, + 0.03117648884654045, + 0.8447142243385315, + -40.92435073852539 + ], + [ + -0.842438280582428, + -0.06236671656370163, + 0.5351710915565491, + -28.71312713623047 + ], + [ + 0.06936680525541306, + -0.9975662231445312, + -0.007058822084218264, + -20.40135955810547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2914, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_142267227", + "mask_path": "../../mask/hdr_right_02914.png" + }, + { + "file_path": "../../rgb/hdr_right_02915.png", + "transform_matrix": [ + [ + 0.5313876271247864, + 0.028162144124507904, + 0.8466605544090271, + -40.95595169067383 + ], + [ + -0.84476238489151, + -0.057035740464925766, + 0.5320934057235718, + -28.643800735473633 + ], + [ + 0.0632747933268547, + -0.9979748129844666, + -0.006517766509205103, + -20.40454864501953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2915, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_242268085", + "mask_path": "../../mask/hdr_right_02915.png" + }, + { + "file_path": "../../rgb/hdr_right_02916.png", + "transform_matrix": [ + [ + 0.5374093055725098, + 0.03192899748682976, + 0.8427169919013977, + -41.01044845581055 + ], + [ + -0.8406793475151062, + -0.05875730141997337, + 0.5383361577987671, + -28.534698486328125 + ], + [ + 0.06670430302619934, + -0.9977615475654602, + -0.0047346679493784904, + -20.425796508789062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2916, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_342267274", + "mask_path": "../../mask/hdr_right_02916.png" + }, + { + "file_path": "../../rgb/hdr_right_02917.png", + "transform_matrix": [ + [ + 0.5513461828231812, + 0.037075646221637726, + 0.8334523439407349, + -41.05751037597656 + ], + [ + -0.8313018679618835, + -0.059873104095458984, + 0.5525869727134705, + -28.452423095703125 + ], + [ + 0.07038889825344086, + -0.9975171685218811, + -0.002189751947298646, + -20.439743041992188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2917, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_442266702", + "mask_path": "../../mask/hdr_right_02917.png" + }, + { + "file_path": "../../rgb/hdr_right_02918.png", + "transform_matrix": [ + [ + 0.5656736493110657, + 0.03180389106273651, + 0.8240156769752502, + -41.09333801269531 + ], + [ + -0.822052538394928, + -0.05718454718589783, + 0.5665330290794373, + -28.38040542602539 + ], + [ + 0.06513890624046326, + -0.9978569149971008, + -0.00620332220569253, + -20.446863174438477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2918, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_542267084", + "mask_path": "../../mask/hdr_right_02918.png" + }, + { + "file_path": "../../rgb/hdr_right_02919.png", + "transform_matrix": [ + [ + 0.5705682635307312, + 0.028368933126330376, + 0.8207600116729736, + -41.142452239990234 + ], + [ + -0.818541944026947, + -0.061451125890016556, + 0.5711503624916077, + -28.274084091186523 + ], + [ + 0.06663955003023148, + -0.9977068305015564, + -0.011840897612273693, + -20.448015213012695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2919, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_642266988", + "mask_path": "../../mask/hdr_right_02919.png" + }, + { + "file_path": "../../rgb/hdr_right_02920.png", + "transform_matrix": [ + [ + 0.5689628720283508, + 0.024099722504615784, + 0.8220100402832031, + -41.1807861328125 + ], + [ + -0.8197534084320068, + -0.06295160204172134, + 0.5692465305328369, + -28.18981170654297 + ], + [ + 0.0654655247926712, + -0.9977256059646606, + -0.01606130227446556, + -20.44464683532715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2920, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_742268085", + "mask_path": "../../mask/hdr_right_02920.png" + }, + { + "file_path": "../../rgb/hdr_right_02921.png", + "transform_matrix": [ + [ + 0.5671435594558716, + 0.020377088338136673, + 0.8233668804168701, + -41.21112823486328 + ], + [ + -0.8215552568435669, + -0.05672847107052803, + 0.5672996640205383, + -28.12457275390625 + ], + [ + 0.05826825276017189, + -0.9981816411018372, + -0.015432284213602543, + -20.445497512817383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2921, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_842267513", + "mask_path": "../../mask/hdr_right_02921.png" + }, + { + "file_path": "../../rgb/hdr_right_02922.png", + "transform_matrix": [ + [ + 0.5729230046272278, + 0.024377601221203804, + 0.8192465901374817, + -41.26603698730469 + ], + [ + -0.8173553347587585, + -0.057084642350673676, + 0.5732990503311157, + -28.023883819580078 + ], + [ + 0.06074205040931702, + -0.9980716705322266, + -0.012779944576323032, + -20.4636287689209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2922, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639092_942268848", + "mask_path": "../../mask/hdr_right_02922.png" + }, + { + "file_path": "../../rgb/hdr_right_02923.png", + "transform_matrix": [ + [ + 0.583821713924408, + 0.02998141571879387, + 0.8113282918930054, + -41.31575012207031 + ], + [ + -0.809241771697998, + -0.05903647094964981, + 0.5845019817352295, + -27.94561004638672 + ], + [ + 0.06542214006185532, + -0.9978054761886597, + -0.010204554535448551, + -20.485933303833008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2923, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_42267560", + "mask_path": "../../mask/hdr_right_02923.png" + }, + { + "file_path": "../../rgb/hdr_right_02924.png", + "transform_matrix": [ + [ + 0.5955501794815063, + 0.029029784724116325, + 0.8027933835983276, + -41.35737609863281 + ], + [ + -0.8009299039840698, + -0.055543165653944016, + 0.596176266670227, + -27.874202728271484 + ], + [ + 0.06189655885100365, + -0.9980342388153076, + -0.009827915579080582, + -20.49814224243164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2924, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_142268180", + "mask_path": "../../mask/hdr_right_02924.png" + }, + { + "file_path": "../../rgb/hdr_right_02925.png", + "transform_matrix": [ + [ + 0.6020081639289856, + 0.033466752618551254, + 0.7977882623672485, + -41.41030502319336 + ], + [ + -0.7958862781524658, + -0.055470194667577744, + 0.6028997898101807, + -27.766990661621094 + ], + [ + 0.06443057209253311, + -0.9978992938995361, + -0.006757782772183418, + -20.498411178588867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2925, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_242268085", + "mask_path": "../../mask/hdr_right_02925.png" + }, + { + "file_path": "../../rgb/hdr_right_02926.png", + "transform_matrix": [ + [ + 0.6032010912895203, + 0.03314169868826866, + 0.7969002723693848, + -41.450008392333984 + ], + [ + -0.7949972152709961, + -0.0555000826716423, + 0.6040687561035156, + -27.684879302978516 + ], + [ + 0.06424791365861893, + -0.9979084730148315, + -0.007130149286240339, + -20.493453979492188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2926, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_342268228", + "mask_path": "../../mask/hdr_right_02926.png" + }, + { + "file_path": "../../rgb/hdr_right_02927.png", + "transform_matrix": [ + [ + 0.6026820540428162, + 0.028758183121681213, + 0.7974629998207092, + -41.4863166809082 + ], + [ + -0.79582279920578, + -0.051794763654470444, + 0.6033103466033936, + -27.617576599121094 + ], + [ + 0.05865452066063881, + -0.9982435703277588, + -0.008329358883202076, + -20.4881534576416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2927, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_442267656", + "mask_path": "../../mask/hdr_right_02927.png" + }, + { + "file_path": "../../rgb/hdr_right_02928.png", + "transform_matrix": [ + [ + 0.6091715693473816, + 0.03327761963009834, + 0.7923399806022644, + -41.54441833496094 + ], + [ + -0.790597677230835, + -0.05284396931529045, + 0.6100514531135559, + -27.515239715576172 + ], + [ + 0.06217144429683685, + -0.9980481266975403, + -0.005881830118596554, + -20.511348724365234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2928, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_542267322", + "mask_path": "../../mask/hdr_right_02928.png" + }, + { + "file_path": "../../rgb/hdr_right_02929.png", + "transform_matrix": [ + [ + 0.6201685070991516, + 0.03963186591863632, + 0.7834668755531311, + -41.60083770751953 + ], + [ + -0.7816048264503479, + -0.0540439710021019, + 0.621428370475769, + -27.429824829101562 + ], + [ + 0.06697003543376923, + -0.9977517127990723, + -0.002539911540225148, + -20.536195755004883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2929, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_642268419", + "mask_path": "../../mask/hdr_right_02929.png" + }, + { + "file_path": "../../rgb/hdr_right_02930.png", + "transform_matrix": [ + [ + 0.6306940317153931, + 0.03481617197394371, + 0.775250256061554, + -41.647789001464844 + ], + [ + -0.7735210061073303, + -0.05208916589617729, + 0.6316264867782593, + -27.356470108032227 + ], + [ + 0.062372952699661255, + -0.9980353713035583, + -0.005921287462115288, + -20.54667091369629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2930, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_742267370", + "mask_path": "../../mask/hdr_right_02930.png" + }, + { + "file_path": "../../rgb/hdr_right_02931.png", + "transform_matrix": [ + [ + 0.6339162588119507, + 0.03572068735957146, + 0.7725763916969299, + -41.70509338378906 + ], + [ + -0.7704560160636902, + -0.05793660134077072, + 0.6348551511764526, + -27.253679275512695 + ], + [ + 0.06743790954351425, + -0.9976809620857239, + -0.009205739945173264, + -20.55150032043457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2931, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_842267990", + "mask_path": "../../mask/hdr_right_02931.png" + }, + { + "file_path": "../../rgb/hdr_right_02932.png", + "transform_matrix": [ + [ + 0.627693235874176, + 0.03324475139379501, + 0.7777506113052368, + -41.74761199951172 + ], + [ + -0.7753092646598816, + -0.06311190873384476, + 0.6284205913543701, + -27.165037155151367 + ], + [ + 0.06997700780630112, + -0.9974525570869446, + -0.01383994985371828, + -20.550159454345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2932, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639093_942267417", + "mask_path": "../../mask/hdr_right_02932.png" + }, + { + "file_path": "../../rgb/hdr_right_02933.png", + "transform_matrix": [ + [ + 0.6174077391624451, + 0.0316854827105999, + 0.7860049605369568, + -41.793968200683594 + ], + [ + -0.7839387655258179, + -0.05799991264939308, + 0.618122935295105, + -27.08437728881836 + ], + [ + 0.06517373770475388, + -0.9978135824203491, + -0.010970119386911392, + -20.550466537475586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2933, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_42268514", + "mask_path": "../../mask/hdr_right_02933.png" + }, + { + "file_path": "../../rgb/hdr_right_02934.png", + "transform_matrix": [ + [ + 0.6146780252456665, + 0.035082053393125534, + 0.7879975438117981, + -41.8636360168457 + ], + [ + -0.7859049439430237, + -0.05795203149318695, + 0.6156257390975952, + -26.976999282836914 + ], + [ + 0.06726348400115967, + -0.9977027177810669, + -0.008050679229199886, + -20.57525062561035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2934, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_142267465", + "mask_path": "../../mask/hdr_right_02934.png" + }, + { + "file_path": "../../rgb/hdr_right_02935.png", + "transform_matrix": [ + [ + 0.6169902086257935, + 0.034497201442718506, + 0.7862145304679871, + -41.91719436645508 + ], + [ + -0.7841053605079651, + -0.058229438960552216, + 0.6178900599479675, + -26.901273727416992 + ], + [ + 0.0670963004231453, + -0.997706949710846, + -0.008877547457814217, + -20.590917587280273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2935, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_242268085", + "mask_path": "../../mask/hdr_right_02935.png" + }, + { + "file_path": "../../rgb/hdr_right_02936.png", + "transform_matrix": [ + [ + 0.6176276803016663, + 0.03316234424710274, + 0.7857711315155029, + -41.964962005615234 + ], + [ + -0.7838678359985352, + -0.05525985732674599, + 0.6184638738632202, + -26.827329635620117 + ], + [ + 0.06393131613731384, + -0.9979211688041687, + -0.008135122247040272, + -20.605525970458984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2936, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_342267990", + "mask_path": "../../mask/hdr_right_02936.png" + }, + { + "file_path": "../../rgb/hdr_right_02937.png", + "transform_matrix": [ + [ + 0.6111295819282532, + 0.03918656334280968, + 0.7905600070953369, + -42.01325225830078 + ], + [ + -0.7885544896125793, + -0.05638638138771057, + 0.6123743653297424, + -26.724021911621094 + ], + [ + 0.06857365369796753, + -0.9976397156715393, + -0.003558644326403737, + -20.6091251373291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2937, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_442267417", + "mask_path": "../../mask/hdr_right_02937.png" + }, + { + "file_path": "../../rgb/hdr_right_02938.png", + "transform_matrix": [ + [ + 0.6006516814231873, + 0.03755951672792435, + 0.7986280918121338, + -42.04545593261719 + ], + [ + -0.7964113354682922, + -0.05976390466094017, + 0.6017951369285583, + -26.645647048950195 + ], + [ + 0.07033227384090424, + -0.9975056648254395, + -0.005984467454254627, + -20.601139068603516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2938, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_542268991", + "mask_path": "../../mask/hdr_right_02938.png" + }, + { + "file_path": "../../rgb/hdr_right_02939.png", + "transform_matrix": [ + [ + 0.5894948840141296, + 0.040003128349781036, + 0.8067810535430908, + -42.084442138671875 + ], + [ + -0.8046383261680603, + -0.05881296843290329, + 0.5908454060554504, + -26.567279815673828 + ], + [ + 0.07108484953641891, + -0.9974671602249146, + -0.002481898060068488, + -20.60724639892578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2939, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_642266988", + "mask_path": "../../mask/hdr_right_02939.png" + }, + { + "file_path": "../../rgb/hdr_right_02940.png", + "transform_matrix": [ + [ + 0.5874664187431335, + 0.04813374951481819, + 0.8078158497810364, + -42.13975524902344 + ], + [ + -0.805648922920227, + -0.05926242098212242, + 0.5894216895103455, + -26.464235305786133 + ], + [ + 0.07624419778585434, + -0.9970812797546387, + 0.003964220639318228, + -20.63773536682129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2940, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_742267608", + "mask_path": "../../mask/hdr_right_02940.png" + }, + { + "file_path": "../../rgb/hdr_right_02941.png", + "transform_matrix": [ + [ + 0.5907676219940186, + 0.05197802186012268, + 0.8051658272743225, + -42.181941986083984 + ], + [ + -0.8030971884727478, + -0.058149587363004684, + 0.5930037498474121, + -26.387165069580078 + ], + [ + 0.07764322310686111, + -0.9969537854194641, + 0.007390516344457865, + -20.654266357421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2941, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_842267751", + "mask_path": "../../mask/hdr_right_02941.png" + }, + { + "file_path": "../../rgb/hdr_right_02942.png", + "transform_matrix": [ + [ + 0.591789186000824, + 0.04798932373523712, + 0.8046630620956421, + -42.213844299316406 + ], + [ + -0.8027933835983276, + -0.05513828247785568, + 0.5937024354934692, + -26.30721664428711 + ], + [ + 0.07285913079977036, + -0.9973248243331909, + 0.005895271897315979, + -20.663606643676758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2942, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639094_942267417", + "mask_path": "../../mask/hdr_right_02942.png" + }, + { + "file_path": "../../rgb/hdr_right_02943.png", + "transform_matrix": [ + [ + 0.5865976810455322, + 0.04884394258260727, + 0.808404266834259, + -42.25584030151367 + ], + [ + -0.8061984181404114, + -0.05983225628733635, + 0.5886121392250061, + -26.199329376220703 + ], + [ + 0.07711879909038544, + -0.997012734413147, + 0.004280447494238615, + -20.668262481689453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2943, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_42268276", + "mask_path": "../../mask/hdr_right_02943.png" + }, + { + "file_path": "../../rgb/hdr_right_02944.png", + "transform_matrix": [ + [ + 0.577916145324707, + 0.04709702357649803, + 0.8147360682487488, + -42.284358978271484 + ], + [ + -0.8122285604476929, + -0.06388586014509201, + 0.579830527305603, + -26.126422882080078 + ], + [ + 0.07935840636491776, + -0.9968452453613281, + 0.0013328739441931248, + -20.666351318359375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2944, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_142267942", + "mask_path": "../../mask/hdr_right_02944.png" + }, + { + "file_path": "../../rgb/hdr_right_02945.png", + "transform_matrix": [ + [ + 0.5671588182449341, + 0.0433647520840168, + 0.8224660754203796, + -42.31158447265625 + ], + [ + -0.8203108906745911, + -0.05952775850892067, + 0.5688114166259766, + -26.06391716003418 + ], + [ + 0.07362592965364456, + -0.9972842931747437, + 0.0018108849180862308, + -20.664714813232422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2945, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_242267131", + "mask_path": "../../mask/hdr_right_02945.png" + }, + { + "file_path": "../../rgb/hdr_right_02946.png", + "transform_matrix": [ + [ + 0.564922034740448, + 0.04958915337920189, + 0.8236528635025024, + -42.36737060546875 + ], + [ + -0.8214609026908875, + -0.06041230261325836, + 0.567055881023407, + -25.95767593383789 + ], + [ + 0.07787857949733734, + -0.9969409108161926, + 0.006607309449464083, + -20.68686294555664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2946, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_342267036", + "mask_path": "../../mask/hdr_right_02946.png" + }, + { + "file_path": "../../rgb/hdr_right_02947.png", + "transform_matrix": [ + [ + 0.5691013932228088, + 0.05722690746188164, + 0.8202735185623169, + -42.412445068359375 + ], + [ + -0.8181219100952148, + -0.0606352724134922, + 0.571838915348053, + -25.875621795654297 + ], + [ + 0.08246208727359772, + -0.9965181350708008, + 0.01231097150593996, + -20.707847595214844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2947, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_442267179", + "mask_path": "../../mask/hdr_right_02947.png" + }, + { + "file_path": "../../rgb/hdr_right_02948.png", + "transform_matrix": [ + [ + 0.5742078423500061, + 0.055416498333215714, + 0.8168319463729858, + -42.440547943115234 + ], + [ + -0.814918041229248, + -0.057221829891204834, + 0.576744556427002, + -25.813119888305664 + ], + [ + 0.07870177924633026, + -0.9968222975730896, + 0.012302675284445286, + -20.720287322998047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2948, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_542267322", + "mask_path": "../../mask/hdr_right_02948.png" + }, + { + "file_path": "../../rgb/hdr_right_02949.png", + "transform_matrix": [ + [ + 0.5725666880607605, + 0.05571867153048515, + 0.817962646484375, + -42.48259353637695 + ], + [ + -0.8158481121063232, + -0.059834033250808716, + 0.5751624703407288, + -25.70392417907715 + ], + [ + 0.0809892863035202, + -0.9966520071029663, + 0.011199001222848892, + -20.72587013244629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2949, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_642267465", + "mask_path": "../../mask/hdr_right_02949.png" + }, + { + "file_path": "../../rgb/hdr_right_02950.png", + "transform_matrix": [ + [ + 0.5628488063812256, + 0.052815329283475876, + 0.8248708248138428, + -42.514930725097656 + ], + [ + -0.8226817846298218, + -0.0607626773416996, + 0.5652456283569336, + -25.608095169067383 + ], + [ + 0.07997499406337738, + -0.9967539310455322, + 0.00925001036375761, + -20.72301483154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2950, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_742268323", + "mask_path": "../../mask/hdr_right_02950.png" + }, + { + "file_path": "../../rgb/hdr_right_02951.png", + "transform_matrix": [ + [ + 0.5492300391197205, + 0.04766446352005005, + 0.8343108296394348, + -42.536312103271484 + ], + [ + -0.8325883746147156, + -0.05446714162826538, + 0.5512077212333679, + -25.551410675048828 + ], + [ + 0.07171554863452911, + -0.9973772764205933, + 0.009769894182682037, + -20.72650909423828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2951, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_842267274", + "mask_path": "../../mask/hdr_right_02951.png" + }, + { + "file_path": "../../rgb/hdr_right_02952.png", + "transform_matrix": [ + [ + 0.5439565181732178, + 0.05404818803071976, + 0.8373709917068481, + -42.579532623291016 + ], + [ + -0.8357869386672974, + -0.05387226864695549, + 0.5464046597480774, + -25.44978904724121 + ], + [ + 0.07464325428009033, + -0.9970840811729431, + 0.015868596732616425, + -20.741518020629883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2952, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639095_942267179", + "mask_path": "../../mask/hdr_right_02952.png" + }, + { + "file_path": "../../rgb/hdr_right_02953.png", + "transform_matrix": [ + [ + 0.5469390749931335, + 0.05986887961626053, + 0.8350290060043335, + -42.62821578979492 + ], + [ + -0.8334800601005554, + -0.054635848850011826, + 0.5498418211936951, + -25.353496551513672 + ], + [ + 0.07854092866182327, + -0.9967098832130432, + 0.02001703344285488, + -20.763357162475586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2953, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_42268276", + "mask_path": "../../mask/hdr_right_02953.png" + }, + { + "file_path": "../../rgb/hdr_right_02954.png", + "transform_matrix": [ + [ + 0.5519003868103027, + 0.05562201887369156, + 0.832053005695343, + -42.66458511352539 + ], + [ + -0.8306485414505005, + -0.05149245634675026, + 0.5544110536575317, + -25.282337188720703 + ], + [ + 0.07368191331624985, + -0.9971232414245605, + 0.017783641815185547, + -20.774192810058594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2954, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_142266750", + "mask_path": "../../mask/hdr_right_02954.png" + }, + { + "file_path": "../../rgb/hdr_right_02955.png", + "transform_matrix": [ + [ + 0.5508013963699341, + 0.050749704241752625, + 0.8330920338630676, + -42.70990753173828 + ], + [ + -0.8311416506767273, + -0.05789435654878616, + 0.5530387163162231, + -25.184724807739258 + ], + [ + 0.07629788666963577, + -0.9970319867134094, + 0.010291903279721737, + -20.779869079589844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2955, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_242267608", + "mask_path": "../../mask/hdr_right_02955.png" + }, + { + "file_path": "../../rgb/hdr_right_02956.png", + "transform_matrix": [ + [ + 0.5427078604698181, + 0.04570399224758148, + 0.8386771082878113, + -42.74953842163086 + ], + [ + -0.8362086415290833, + -0.06438332051038742, + 0.544619083404541, + -25.08138084411621 + ], + [ + 0.07888808846473694, + -0.9968780875205994, + 0.0032767364755272865, + -20.780141830444336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2956, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_342268466", + "mask_path": "../../mask/hdr_right_02956.png" + }, + { + "file_path": "../../rgb/hdr_right_02957.png", + "transform_matrix": [ + [ + 0.5304861068725586, + 0.03509251028299332, + 0.8469670414924622, + -42.77762222290039 + ], + [ + -0.8445037603378296, + -0.0647185891866684, + 0.5316247344017029, + -25.020421981811523 + ], + [ + 0.07347054779529572, + -0.997286319732666, + -0.004696545656770468, + -20.781856536865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2957, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_442267656", + "mask_path": "../../mask/hdr_right_02957.png" + }, + { + "file_path": "../../rgb/hdr_right_02958.png", + "transform_matrix": [ + [ + 0.5209007859230042, + 0.036243993788957596, + 0.8528474569320679, + -42.82942581176758 + ], + [ + -0.8505695462226868, + -0.06231273338198662, + 0.5221576690673828, + -24.91046142578125 + ], + [ + 0.07206833362579346, + -0.9973983764648438, + -0.001630716840736568, + -20.79612922668457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2958, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639096_542267322", + "mask_path": "../../mask/hdr_right_02958.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/6631cee9/mesh.ply b/2024-11-03-13-59-54/splats/6631cee9/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..2fecf1a10f538285e7edf68cbf0e1c79bf47a6a9 --- /dev/null +++ b/2024-11-03-13-59-54/splats/6631cee9/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0dc3298a557c15bd41e01dffc11395c17675a0682cbda971f81aece0ffe768e +size 46484259 diff --git a/2024-11-03-13-59-54/splats/6631cee9/mesh_filled_decimated.ply b/2024-11-03-13-59-54/splats/6631cee9/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..d231db7488731d1d97944c82353c04f261f75928 --- /dev/null +++ b/2024-11-03-13-59-54/splats/6631cee9/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09abeee5a61b4c3b41bb348812e3298eb22d9166593a63d118f755cf3eb80577 +size 1585752 diff --git a/2024-11-03-13-59-54/splats/6631cee9/splatfacto/config.yml b/2024-11-03-13-59-54/splats/6631cee9/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..0bc94049bab45b0100e1624658e7820e65114c52 --- /dev/null +++ b/2024-11-03-13-59-54/splats/6631cee9/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-03-13-59-54_nerfstudio +- slices +- slice_6631cee9 +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-03-13-59-54_nerfstudio + - slices + - slice_6631cee9 + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-03-13-59-54/splats/6631cee9/splatfacto/dataparser_transforms.json b/2024-11-03-13-59-54/splats/6631cee9/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c2e98d8f687a1cd6c0765f6a4a333a34159ff82e --- /dev/null +++ b/2024-11-03-13-59-54/splats/6631cee9/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + 0.19835162162780762, + 0.979745626449585, + -0.02747812308371067, + 45.60873031616211 + ], + [ + 0.979745626449585, + -0.19740962982177734, + 0.033582769334316254, + 28.123218536376953 + ], + [ + 0.02747812308371067, + -0.033582769334316254, + -0.9990581274032593, + -19.902416229248047 + ] + ], + "scale": 0.21967638158782354 +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/6631cee9/splatfacto/splat.ply b/2024-11-03-13-59-54/splats/6631cee9/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..ac7537c22b9caf808adf0fa9aceaa0838b356fa5 --- /dev/null +++ b/2024-11-03-13-59-54/splats/6631cee9/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e62ddbfda2376df68da7aebd90102fe9885fc497856d0de63e34b0a0a741db66 +size 304346450 diff --git a/2024-11-03-13-59-54/splats/6631cee9/transforms.json b/2024-11-03-13-59-54/splats/6631cee9/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c0d79563cb968838c68dcc7a4c9bf964d9b64ca9 --- /dev/null +++ b/2024-11-03-13-59-54/splats/6631cee9/transforms.json @@ -0,0 +1,15504 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_02707.png", + "transform_matrix": [ + [ + -0.8606164455413818, + -0.025766197592020035, + 0.5086014866828918, + -33.54195022583008 + ], + [ + -0.5092536807060242, + 0.044199138879776, + -0.8594807982444763, + -44.643882751464844 + ], + [ + -0.00033419730607420206, + -0.9986904263496399, + -0.05116003379225731, + -19.344615936279297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2707, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_642267942", + "mask_path": "../../mask/hdr_front_02707.png" + }, + { + "file_path": "../../rgb/hdr_front_02708.png", + "transform_matrix": [ + [ + -0.8558027744293213, + -0.031753960996866226, + 0.5163268446922302, + -33.579898834228516 + ], + [ + -0.5172807574272156, + 0.043422043323516846, + -0.854713499546051, + -44.59251403808594 + ], + [ + 0.004720574710518122, + -0.998552143573761, + -0.05358641594648361, + -19.34271812438965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2708, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_742267608", + "mask_path": "../../mask/hdr_front_02708.png" + }, + { + "file_path": "../../rgb/hdr_front_02709.png", + "transform_matrix": [ + [ + -0.8498997688293457, + -0.03432376682758331, + 0.5258253216743469, + -33.63987350463867 + ], + [ + -0.526908814907074, + 0.04376963898539543, + -0.8487940430641174, + -44.506195068359375 + ], + [ + 0.006118623539805412, + -0.9984518885612488, + -0.05528530478477478, + -19.336807250976562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2709, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_842267751", + "mask_path": "../../mask/hdr_front_02709.png" + }, + { + "file_path": "../../rgb/hdr_front_02710.png", + "transform_matrix": [ + [ + -0.8416170477867126, + -0.02796141803264618, + 0.5393505692481995, + -33.702213287353516 + ], + [ + -0.5400744676589966, + 0.04467720165848732, + -0.8404306173324585, + -44.42454147338867 + ], + [ + -0.0005970384809188545, + -0.9986101388931274, + -0.052702344954013824, + -19.33120346069336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2710, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_942266941", + "mask_path": "../../mask/hdr_front_02710.png" + }, + { + "file_path": "../../rgb/hdr_front_02711.png", + "transform_matrix": [ + [ + -0.8323624730110168, + -0.02629922889173031, + 0.5536074042320251, + -33.751609802246094 + ], + [ + -0.5542275905609131, + 0.04334137216210365, + -0.8312360644340515, + -44.36984634399414 + ], + [ + -0.0021332339383661747, + -0.9987141489982605, + -0.050651486963033676, + -19.325366973876953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2711, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_42267560", + "mask_path": "../../mask/hdr_front_02711.png" + }, + { + "file_path": "../../rgb/hdr_front_02712.png", + "transform_matrix": [ + [ + -0.8250694274902344, + -0.02912994474172592, + 0.5642799139022827, + -33.80531692504883 + ], + [ + -0.5650293231010437, + 0.039881572127342224, + -0.8241063952445984, + -44.296627044677734 + ], + [ + 0.0015018010744825006, + -0.9987797141075134, + -0.04936434328556061, + -19.323890686035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2712, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_142267465", + "mask_path": "../../mask/hdr_front_02712.png" + }, + { + "file_path": "../../rgb/hdr_front_02713.png", + "transform_matrix": [ + [ + -0.8221296668052673, + -0.03694785758852959, + 0.5680999755859375, + -33.86493682861328 + ], + [ + -0.5692269802093506, + 0.03732474148273468, + -0.8213329315185547, + -44.21101379394531 + ], + [ + 0.009142301976680756, + -0.9986199736595154, + -0.05171749368309975, + -19.300708770751953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2713, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_242267847", + "mask_path": "../../mask/hdr_front_02713.png" + }, + { + "file_path": "../../rgb/hdr_front_02714.png", + "transform_matrix": [ + [ + -0.820776104927063, + -0.04534699022769928, + 0.5694473385810852, + -33.909423828125 + ], + [ + -0.5709902048110962, + 0.03505965694785118, + -0.820207953453064, + -44.15080642700195 + ], + [ + 0.017229333519935608, + -0.9983559250831604, + -0.05466881021857262, + -19.28835678100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2714, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_342266321", + "mask_path": "../../mask/hdr_front_02714.png" + }, + { + "file_path": "../../rgb/hdr_front_02715.png", + "transform_matrix": [ + [ + -0.8208107948303223, + -0.05093839019536972, + 0.5689243078231812, + -33.96334457397461 + ], + [ + -0.5708092451095581, + 0.03630836680531502, + -0.8202795386314392, + -44.08177947998047 + ], + [ + 0.0211270060390234, + -0.998041570186615, + -0.058878399431705475, + -19.284879684448242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2715, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_442267894", + "mask_path": "../../mask/hdr_front_02715.png" + }, + { + "file_path": "../../rgb/hdr_front_02716.png", + "transform_matrix": [ + [ + -0.8167982697486877, + -0.04332038387656212, + 0.5752946138381958, + -34.03466033935547 + ], + [ + -0.5767553448677063, + 0.03725845739245415, + -0.8160668611526489, + -43.9927864074707 + ], + [ + 0.013917742297053337, + -0.9983662366867065, + -0.05541791021823883, + -19.28122329711914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2716, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_542266607", + "mask_path": "../../mask/hdr_front_02716.png" + }, + { + "file_path": "../../rgb/hdr_front_02717.png", + "transform_matrix": [ + [ + -0.8134549856185913, + -0.03387722745537758, + 0.5806404948234558, + -34.0874137878418 + ], + [ + -0.5816034078598022, + 0.03820699453353882, + -0.8125747442245483, + -43.93195343017578 + ], + [ + 0.005343248602002859, + -0.998695433139801, + -0.050782784819602966, + -19.282657623291016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2717, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_642266988", + "mask_path": "../../mask/hdr_front_02717.png" + }, + { + "file_path": "../../rgb/hdr_front_02718.png", + "transform_matrix": [ + [ + -0.8128580451011658, + -0.03363491967320442, + 0.5814899802207947, + -34.133296966552734 + ], + [ + -0.582430899143219, + 0.036641884595155716, + -0.812053918838501, + -43.87267303466797 + ], + [ + 0.006006481591612101, + -0.998762309551239, + -0.049374669790267944, + -19.283952713012695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2718, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_742267370", + "mask_path": "../../mask/hdr_front_02718.png" + }, + { + "file_path": "../../rgb/hdr_front_02719.png", + "transform_matrix": [ + [ + -0.8160664439201355, + -0.03289671987295151, + 0.5770211815834045, + -34.19010543823242 + ], + [ + -0.5779074430465698, + 0.03322472795844078, + -0.8154257535934448, + -43.79202651977539 + ], + [ + 0.007653462700545788, + -0.9989063143730164, + -0.04612485319375992, + -19.270166397094727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2719, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_842267990", + "mask_path": "../../mask/hdr_front_02719.png" + }, + { + "file_path": "../../rgb/hdr_front_02720.png", + "transform_matrix": [ + [ + -0.8225660920143127, + -0.03589271008968353, + 0.5675355195999146, + -34.239749908447266 + ], + [ + -0.5685524344444275, + 0.03166612237691879, + -0.8220374584197998, + -43.70885467529297 + ], + [ + 0.011533503420650959, + -0.9988538026809692, + -0.04645437002182007, + -19.253887176513672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2720, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_942266464", + "mask_path": "../../mask/hdr_front_02720.png" + }, + { + "file_path": "../../rgb/hdr_front_02721.png", + "transform_matrix": [ + [ + -0.8280951380729675, + -0.04236628860235214, + 0.5589842796325684, + -34.28268814086914 + ], + [ + -0.5603095293045044, + 0.031151751056313515, + -0.8276973962783813, + -43.646488189697266 + ], + [ + 0.017653126269578934, + -0.9986163973808289, + -0.04953484982252121, + -19.243864059448242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2721, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_42267560", + "mask_path": "../../mask/hdr_front_02721.png" + }, + { + "file_path": "../../rgb/hdr_front_02722.png", + "transform_matrix": [ + [ + -0.8315967321395874, + -0.03677057474851608, + 0.5541613698005676, + -34.34061813354492 + ], + [ + -0.5551847219467163, + 0.028588738292455673, + -0.8312355875968933, + -43.568424224853516 + ], + [ + 0.01472223736345768, + -0.9989147186279297, + -0.044188763946294785, + -19.248504638671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2722, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_142267704", + "mask_path": "../../mask/hdr_front_02722.png" + }, + { + "file_path": "../../rgb/hdr_front_02723.png", + "transform_matrix": [ + [ + -0.8333019614219666, + -0.019517680630087852, + 0.5524734258651733, + -34.39552307128906 + ], + [ + -0.5528154373168945, + 0.026317572221159935, + -0.8328880071640015, + -43.48876190185547 + ], + [ + 0.0017162829171866179, + -0.9994630813598633, + -0.032720159739255905, + -19.256441116333008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2723, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_242267608", + "mask_path": "../../mask/hdr_front_02723.png" + }, + { + "file_path": "../../rgb/hdr_front_02724.png", + "transform_matrix": [ + [ + -0.8335798978805542, + -0.0037396668922156096, + 0.5523863434791565, + -34.43254089355469 + ], + [ + -0.5522964000701904, + 0.024912357330322266, + -0.8332754969596863, + -43.42876052856445 + ], + [ + -0.010645071975886822, + -0.9996827244758606, + -0.022831842303276062, + -19.266069412231445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2724, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_342267751", + "mask_path": "../../mask/hdr_front_02724.png" + }, + { + "file_path": "../../rgb/hdr_front_02725.png", + "transform_matrix": [ + [ + -0.8348840475082397, + 0.0015333705814555287, + 0.5504236817359924, + -34.475337982177734 + ], + [ + -0.5502657294273376, + 0.021793300285935402, + -0.8347050547599792, + -43.34922409057617 + ], + [ + -0.01327546127140522, + -0.9997613430023193, + -0.017351116985082626, + -19.273588180541992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2725, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_442267417", + "mask_path": "../../mask/hdr_front_02725.png" + }, + { + "file_path": "../../rgb/hdr_front_02726.png", + "transform_matrix": [ + [ + -0.8406432867050171, + 0.004262889735400677, + 0.5415723323822021, + -34.523738861083984 + ], + [ + -0.5415252447128296, + 0.00874658115208149, + -0.8406389951705933, + -43.25326919555664 + ], + [ + -0.008320456370711327, + -0.9999527335166931, + -0.005044292192906141, + -19.266536712646484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2726, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_542267322", + "mask_path": "../../mask/hdr_front_02726.png" + }, + { + "file_path": "../../rgb/hdr_front_02727.png", + "transform_matrix": [ + [ + -0.8479234576225281, + 0.006034687627106905, + 0.5300842523574829, + -34.55413055419922 + ], + [ + -0.5300983786582947, + -0.0009292171453125775, + -0.8479357361793518, + -43.18290328979492 + ], + [ + -0.004624462686479092, + -0.9999813437461853, + 0.0039868829771876335, + -19.266738891601562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2727, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_642267704", + "mask_path": "../../mask/hdr_front_02727.png" + }, + { + "file_path": "../../rgb/hdr_front_02728.png", + "transform_matrix": [ + [ + -0.8547037243843079, + 0.005968586541712284, + 0.5190817713737488, + -34.577239990234375 + ], + [ + -0.5191029906272888, + -0.0027123878244310617, + -0.8547075390815735, + -43.12322998046875 + ], + [ + -0.003693443490192294, + -0.9999785423278809, + 0.005416598636657, + -19.27011489868164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2728, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_742267131", + "mask_path": "../../mask/hdr_front_02728.png" + }, + { + "file_path": "../../rgb/hdr_front_02729.png", + "transform_matrix": [ + [ + -0.859054446220398, + 0.01626456156373024, + 0.5116257667541504, + -34.61778259277344 + ], + [ + -0.5117568373680115, + -0.004991371650248766, + -0.8591158986091614, + -43.045894622802734 + ], + [ + -0.011419425718486309, + -0.9998552799224854, + 0.012611362151801586, + -19.27985954284668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2729, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_842269420", + "mask_path": "../../mask/hdr_front_02729.png" + }, + { + "file_path": "../../rgb/hdr_front_02730.png", + "transform_matrix": [ + [ + -0.8592709302902222, + 0.03544720634818077, + 0.5102910995483398, + -34.6678466796875 + ], + [ + -0.5107830166816711, + -0.005902033299207687, + -0.859689474105835, + -42.95608139038086 + ], + [ + -0.027461832389235497, + -0.9993541836738586, + 0.02317727357149124, + -19.28920555114746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2730, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_942268371", + "mask_path": "../../mask/hdr_front_02730.png" + }, + { + "file_path": "../../rgb/hdr_front_02731.png", + "transform_matrix": [ + [ + -0.8580722212791443, + 0.04783332347869873, + 0.5112963914871216, + -34.707157135009766 + ], + [ + -0.5120961666107178, + -0.005376647692173719, + -0.8589113354682922, + -42.88518142700195 + ], + [ + -0.03833552077412605, + -0.998840868473053, + 0.029108811169862747, + -19.29259490966797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2731, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_42267799", + "mask_path": "../../mask/hdr_front_02731.png" + }, + { + "file_path": "../../rgb/hdr_front_02732.png", + "transform_matrix": [ + [ + -0.8582038879394531, + 0.04895181953907013, + 0.5109695792198181, + -34.746376037597656 + ], + [ + -0.5118600726127625, + -0.006870525889098644, + -0.8590413331985474, + -42.8050422668457 + ], + [ + -0.038541000336408615, + -0.9987775087356567, + 0.03095279633998871, + -19.30062484741211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2732, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_142267704", + "mask_path": "../../mask/hdr_front_02732.png" + }, + { + "file_path": "../../rgb/hdr_front_02733.png", + "transform_matrix": [ + [ + -0.8610073328018188, + 0.050959378480911255, + 0.5060331225395203, + -34.799163818359375 + ], + [ + -0.5072487592697144, + -0.013761596754193306, + -0.8616899251937866, + -42.69822311401367 + ], + [ + -0.036947350949048996, + -0.9986059665679932, + 0.037697914987802505, + -19.302812576293945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2733, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_242266893", + "mask_path": "../../mask/hdr_front_02733.png" + }, + { + "file_path": "../../rgb/hdr_front_02734.png", + "transform_matrix": [ + [ + -0.8668237328529358, + 0.05019789934158325, + 0.4960814416408539, + -34.832237243652344 + ], + [ + -0.49749016761779785, + -0.020288953557610512, + -0.8672322630882263, + -42.62535858154297 + ], + [ + -0.03346826881170273, + -0.9985332489013672, + 0.0425599068403244, + -19.30457878112793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2734, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_342267274", + "mask_path": "../../mask/hdr_front_02734.png" + }, + { + "file_path": "../../rgb/hdr_front_02735.png", + "transform_matrix": [ + [ + -0.8743992447853088, + 0.05032851919531822, + 0.48258987069129944, + -34.85667419433594 + ], + [ + -0.48402121663093567, + -0.02098059095442295, + -0.8748047351837158, + -42.571353912353516 + ], + [ + -0.0339026041328907, + -0.9985123872756958, + 0.0427054837346077, + -19.31098175048828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2735, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_442267417", + "mask_path": "../../mask/hdr_front_02735.png" + }, + { + "file_path": "../../rgb/hdr_front_02736.png", + "transform_matrix": [ + [ + -0.8780723810195923, + 0.061698392033576965, + 0.47453373670578003, + -34.90413284301758 + ], + [ + -0.4765697419643402, + -0.02313060685992241, + -0.8788323402404785, + -42.47407531738281 + ], + [ + -0.04324628785252571, + -0.997826874256134, + 0.04971393570303917, + -19.330137252807617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2736, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_542268276", + "mask_path": "../../mask/hdr_front_02736.png" + }, + { + "file_path": "../../rgb/hdr_front_02737.png", + "transform_matrix": [ + [ + -0.8778925538063049, + 0.07781412452459335, + 0.47249287366867065, + -34.95331573486328 + ], + [ + -0.47564396262168884, + -0.027578724548220634, + -0.8792054653167725, + -42.38271713256836 + ], + [ + -0.055383846163749695, + -0.9965863823890686, + 0.06122297793626785, + -19.347476959228516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2737, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_642267942", + "mask_path": "../../mask/hdr_front_02737.png" + }, + { + "file_path": "../../rgb/hdr_front_02738.png", + "transform_matrix": [ + [ + -0.8766663670539856, + 0.0831335261464119, + 0.4738617539405823, + -34.993587493896484 + ], + [ + -0.4775151312351227, + -0.03036085143685341, + -0.8780987858772278, + -42.31437683105469 + ], + [ + -0.058612603694200516, + -0.9960758090019226, + 0.06631385535001755, + -19.353290557861328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2738, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_742267608", + "mask_path": "../../mask/hdr_front_02738.png" + }, + { + "file_path": "../../rgb/hdr_front_02739.png", + "transform_matrix": [ + [ + -0.8765718340873718, + 0.07861068844795227, + 0.4748074412345886, + -35.04451370239258 + ], + [ + -0.4785205125808716, + -0.03703752160072327, + -0.8772948384284973, + -42.222572326660156 + ], + [ + -0.05137905851006508, + -0.9962171912193298, + 0.07008287310600281, + -19.367862701416016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2739, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_842266798", + "mask_path": "../../mask/hdr_front_02739.png" + }, + { + "file_path": "../../rgb/hdr_front_02740.png", + "transform_matrix": [ + [ + -0.8795803785324097, + 0.07569373399019241, + 0.46969014406204224, + -35.09996032714844 + ], + [ + -0.4736107289791107, + -0.04578948765993118, + -0.8795432448387146, + -42.11233901977539 + ], + [ + -0.04506903141736984, + -0.9960792660713196, + 0.0761248990893364, + -19.376367568969727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2740, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_942267656", + "mask_path": "../../mask/hdr_front_02740.png" + }, + { + "file_path": "../../rgb/hdr_front_02741.png", + "transform_matrix": [ + [ + -0.8851419687271118, + 0.07250580191612244, + 0.45963743329048157, + -35.13241195678711 + ], + [ + -0.46350207924842834, + -0.05012992396950722, + -0.8846766948699951, + -42.03444290161133 + ], + [ + -0.04110259935259819, + -0.9961073994636536, + 0.0779786929488182, + -19.380264282226562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2741, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_42267084", + "mask_path": "../../mask/hdr_front_02741.png" + }, + { + "file_path": "../../rgb/hdr_front_02742.png", + "transform_matrix": [ + [ + -0.8910602927207947, + 0.07469143718481064, + 0.4476970136165619, + -35.1656494140625 + ], + [ + -0.4516095817089081, + -0.047258783131837845, + -0.8909632563591003, + -41.9641227722168 + ], + [ + -0.04538970813155174, + -0.9960862994194031, + 0.07584179937839508, + -19.398666381835938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2742, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_142268180", + "mask_path": "../../mask/hdr_front_02742.png" + }, + { + "file_path": "../../rgb/hdr_front_02743.png", + "transform_matrix": [ + [ + -0.892728865146637, + 0.08029160648584366, + 0.4433830678462982, + -35.22788619995117 + ], + [ + -0.4477400779724121, + -0.04748907685279846, + -0.8929017782211304, + -41.85197067260742 + ], + [ + -0.050636667758226395, + -0.9956395626068115, + 0.07834463566541672, + -19.414674758911133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2743, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_242267370", + "mask_path": "../../mask/hdr_front_02743.png" + }, + { + "file_path": "../../rgb/hdr_front_02744.png", + "transform_matrix": [ + [ + -0.8919824957847595, + 0.08149857074022293, + 0.44466298818588257, + -35.278785705566406 + ], + [ + -0.44928744435310364, + -0.050852593034505844, + -0.8919388055801392, + -41.76727294921875 + ], + [ + -0.05007946863770485, + -0.9953753352165222, + 0.08197589963674545, + -19.421598434448242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2744, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_342267274", + "mask_path": "../../mask/hdr_front_02744.png" + }, + { + "file_path": "../../rgb/hdr_front_02745.png", + "transform_matrix": [ + [ + -0.8910632133483887, + 0.07552126049995422, + 0.4475521743297577, + -35.31983947753906 + ], + [ + -0.4517863392829895, + -0.05299563333392143, + -0.8905506730079651, + -41.700172424316406 + ], + [ + -0.0435372032225132, + -0.9957349300384521, + 0.0813419297337532, + -19.430774688720703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2745, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_442267417", + "mask_path": "../../mask/hdr_front_02745.png" + }, + { + "file_path": "../../rgb/hdr_front_02746.png", + "transform_matrix": [ + [ + -0.8919141292572021, + 0.07186867296695709, + 0.44645723700523376, + -35.37260437011719 + ], + [ + -0.45063576102256775, + -0.05908595025539398, + -0.8907504081726074, + -41.60248565673828 + ], + [ + -0.03763771057128906, + -0.99566251039505, + 0.08508618921041489, + -19.442594528198242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2746, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_542267322", + "mask_path": "../../mask/hdr_front_02746.png" + }, + { + "file_path": "../../rgb/hdr_front_02747.png", + "transform_matrix": [ + [ + -0.895855724811554, + 0.06435535103082657, + 0.43965980410575867, + -35.41789245605469 + ], + [ + -0.4433633089065552, + -0.0637311339378357, + -0.894073486328125, + -41.50588607788086 + ], + [ + -0.02951839193701744, + -0.9958899021148682, + 0.08562671393156052, + -19.4411563873291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2747, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_642267227", + "mask_path": "../../mask/hdr_front_02747.png" + }, + { + "file_path": "../../rgb/hdr_front_02748.png", + "transform_matrix": [ + [ + -0.901045560836792, + 0.057006195187568665, + 0.42996183037757874, + -35.444480895996094 + ], + [ + -0.43305325508117676, + -0.06311458349227905, + -0.8991559743881226, + -41.44923400878906 + ], + [ + -0.024120600894093513, + -0.9963768720626831, + 0.08155583590269089, + -19.445165634155273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2748, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_742267847", + "mask_path": "../../mask/hdr_front_02748.png" + }, + { + "file_path": "../../rgb/hdr_front_02749.png", + "transform_matrix": [ + [ + -0.9062376618385315, + 0.054737988859415054, + 0.4192100167274475, + -35.485984802246094 + ], + [ + -0.42197853326797485, + -0.05652393028140068, + -0.9048420786857605, + -41.36532974243164 + ], + [ + -0.025833826512098312, + -0.9968996644020081, + 0.07432238012552261, + -19.45799446105957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2749, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_842267274", + "mask_path": "../../mask/hdr_front_02749.png" + }, + { + "file_path": "../../rgb/hdr_front_02750.png", + "transform_matrix": [ + [ + -0.9069429039955139, + 0.06164959818124771, + 0.4167182147502899, + -35.541324615478516 + ], + [ + -0.41990533471107483, + -0.0532168373465538, + -0.9060063362121582, + -41.25989532470703 + ], + [ + -0.03367850184440613, + -0.9966781139373779, + 0.07415161281824112, + -19.46285057067871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2750, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_942268133", + "mask_path": "../../mask/hdr_front_02750.png" + }, + { + "file_path": "../../rgb/hdr_front_02751.png", + "transform_matrix": [ + [ + -0.9048466682434082, + 0.06438454985618591, + 0.42084094882011414, + -35.582149505615234 + ], + [ + -0.42423340678215027, + -0.053337302058935165, + -0.9039807319641113, + -41.189266204833984 + ], + [ + -0.03575586900115013, + -0.996498703956604, + 0.07557614892721176, + -19.472251892089844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2751, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_42268753", + "mask_path": "../../mask/hdr_front_02751.png" + }, + { + "file_path": "../../rgb/hdr_front_02752.png", + "transform_matrix": [ + [ + -0.9031654000282288, + 0.05738527327775955, + 0.42543986439704895, + -35.61857223510742 + ], + [ + -0.42828378081321716, + -0.052546609193086624, + -0.9021152853965759, + -41.12687683105469 + ], + [ + -0.029412707313895226, + -0.9969683289527893, + 0.07203546911478043, + -19.480606079101562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2752, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_142267942", + "mask_path": "../../mask/hdr_front_02752.png" + }, + { + "file_path": "../../rgb/hdr_front_02753.png", + "transform_matrix": [ + [ + -0.9045464992523193, + 0.05685591325163841, + 0.4225671589374542, + -35.66679763793945 + ], + [ + -0.42544567584991455, + -0.054959893226623535, + -0.9033135771751404, + -41.026309967041016 + ], + [ + -0.028134463354945183, + -0.9968685507774353, + 0.07390288263559341, + -19.48702621459961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2753, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_242268562", + "mask_path": "../../mask/hdr_front_02753.png" + }, + { + "file_path": "../../rgb/hdr_front_02754.png", + "transform_matrix": [ + [ + -0.908562958240509, + 0.05472509190440178, + 0.41414785385131836, + -35.70579147338867 + ], + [ + -0.41692835092544556, + -0.056722208857536316, + -0.9071677327156067, + -40.93022537231445 + ], + [ + -0.026153456419706345, + -0.996889054775238, + 0.07435215264558792, + -19.486740112304688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2754, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_342267274", + "mask_path": "../../mask/hdr_front_02754.png" + }, + { + "file_path": "../../rgb/hdr_front_02755.png", + "transform_matrix": [ + [ + -0.913943350315094, + 0.04805546626448631, + 0.4029867649078369, + -35.73482131958008 + ], + [ + -0.405254989862442, + -0.05467946454882622, + -0.9125670194625854, + -40.86613082885742 + ], + [ + -0.021818729117512703, + -0.9973469376564026, + 0.06944865733385086, + -19.49148178100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2755, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_442268133", + "mask_path": "../../mask/hdr_front_02755.png" + }, + { + "file_path": "../../rgb/hdr_front_02756.png", + "transform_matrix": [ + [ + -0.917636513710022, + 0.0525050088763237, + 0.39393723011016846, + -35.781898498535156 + ], + [ + -0.3964378833770752, + -0.051262784749269485, + -0.9166292548179626, + -40.76737976074219 + ], + [ + -0.027933308854699135, + -0.9973041415214539, + 0.0678555816411972, + -19.505537033081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2756, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_542268276", + "mask_path": "../../mask/hdr_front_02756.png" + }, + { + "file_path": "../../rgb/hdr_front_02757.png", + "transform_matrix": [ + [ + -0.9174339771270752, + 0.06167900189757347, + 0.39307838678359985, + -35.83155822753906 + ], + [ + -0.3962029814720154, + -0.05079049617052078, + -0.9167571663856506, + -40.66735076904297 + ], + [ + -0.036580003798007965, + -0.9968029260635376, + 0.07103433459997177, + -19.518970489501953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2757, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_642268657", + "mask_path": "../../mask/hdr_front_02757.png" + }, + { + "file_path": "../../rgb/hdr_front_02758.png", + "transform_matrix": [ + [ + -0.915897011756897, + 0.06299486011266708, + 0.3964395821094513, + -35.86967849731445 + ], + [ + -0.3996197283267975, + -0.049834419041872025, + -0.915325403213501, + -40.59676742553711 + ], + [ + -0.03790445998311043, + -0.9967688918113708, + 0.07081717252731323, + -19.524904251098633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2758, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_742268323", + "mask_path": "../../mask/hdr_front_02758.png" + }, + { + "file_path": "../../rgb/hdr_front_02759.png", + "transform_matrix": [ + [ + -0.9156796932220459, + 0.05729752779006958, + 0.397803395986557, + -35.90945053100586 + ], + [ + -0.40061071515083313, + -0.05063910037279129, + -0.9148479104042053, + -40.519718170166016 + ], + [ + -0.032274115830659866, + -0.9970720410346985, + 0.06932319700717926, + -19.538082122802734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2759, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_842267513", + "mask_path": "../../mask/hdr_front_02759.png" + }, + { + "file_path": "../../rgb/hdr_front_02760.png", + "transform_matrix": [ + [ + -0.9182570576667786, + 0.05767052248120308, + 0.391762912273407, + -35.953189849853516 + ], + [ + -0.39472246170043945, + -0.05436759069561958, + -0.917190432548523, + -40.4207763671875 + ], + [ + -0.03159565106034279, + -0.996854305267334, + 0.07268727570772171, + -19.537487030029297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2760, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_942267417", + "mask_path": "../../mask/hdr_front_02760.png" + }, + { + "file_path": "../../rgb/hdr_front_02761.png", + "transform_matrix": [ + [ + -0.9219101667404175, + 0.05685202032327652, + 0.3832095265388489, + -35.98210525512695 + ], + [ + -0.38615021109580994, + -0.055342916399240494, + -0.9207743406295776, + -40.342308044433594 + ], + [ + -0.03113994374871254, + -0.9968475699424744, + 0.07297462224960327, + -19.535364151000977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2761, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_42267084", + "mask_path": "../../mask/hdr_front_02761.png" + }, + { + "file_path": "../../rgb/hdr_front_02762.png", + "transform_matrix": [ + [ + -0.9264690279960632, + 0.05119658261537552, + 0.372872918844223, + -36.00240707397461 + ], + [ + -0.37533891201019287, + -0.05235224962234497, + -0.9254080057144165, + -40.284217834472656 + ], + [ + -0.027856985107064247, + -0.997315526008606, + 0.06771880388259888, + -19.53919792175293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2762, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_142267465", + "mask_path": "../../mask/hdr_front_02762.png" + }, + { + "file_path": "../../rgb/hdr_front_02763.png", + "transform_matrix": [ + [ + -0.929193913936615, + 0.05461752414703369, + 0.36553454399108887, + -36.041927337646484 + ], + [ + -0.368203729391098, + -0.051142383366823196, + -0.9283375144004822, + -40.188575744628906 + ], + [ + -0.03200918808579445, + -0.9971967935562134, + 0.06763157248497009, + -19.55124855041504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2763, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_242266893", + "mask_path": "../../mask/hdr_front_02763.png" + }, + { + "file_path": "../../rgb/hdr_front_02764.png", + "transform_matrix": [ + [ + -0.929719865322113, + 0.06294398754835129, + 0.3628487288951874, + -36.08057403564453 + ], + [ + -0.3661853075027466, + -0.05337602645158768, + -0.9290099143981934, + -40.091609954833984 + ], + [ + -0.03910816088318825, + -0.9965887665748596, + 0.07267392426729202, + -19.56787872314453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2764, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_342266082", + "mask_path": "../../mask/hdr_front_02764.png" + }, + { + "file_path": "../../rgb/hdr_front_02765.png", + "transform_matrix": [ + [ + -0.9293869137763977, + 0.06345774978399277, + 0.36361101269721985, + -36.1120491027832 + ], + [ + -0.36702635884284973, + -0.0544358491897583, + -0.9286164045333862, + -40.02052307128906 + ], + [ + -0.0391344279050827, + -0.9964988231658936, + 0.07388263195753098, + -19.574865341186523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2765, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_442266225", + "mask_path": "../../mask/hdr_front_02765.png" + }, + { + "file_path": "../../rgb/hdr_front_02766.png", + "transform_matrix": [ + [ + -0.9296146035194397, + 0.05866464972496033, + 0.3638339936733246, + -36.15129089355469 + ], + [ + -0.36694812774658203, + -0.055878739804029465, + -0.9285615682601929, + -39.9364128112793 + ], + [ + -0.03414316102862358, + -0.9967126250267029, + 0.07347257435321808, + -19.58304214477539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2766, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_542267322", + "mask_path": "../../mask/hdr_front_02766.png" + }, + { + "file_path": "../../rgb/hdr_front_02767.png", + "transform_matrix": [ + [ + -0.932392954826355, + 0.054886702448129654, + 0.35725459456443787, + -36.19082260131836 + ], + [ + -0.3602169156074524, + -0.05965518206357956, + -0.930959165096283, + -39.82439422607422 + ], + [ + -0.029785189777612686, + -0.9967089891433716, + 0.0753931999206543, + -19.584287643432617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2767, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_642267227", + "mask_path": "../../mask/hdr_front_02767.png" + }, + { + "file_path": "../../rgb/hdr_front_02768.png", + "transform_matrix": [ + [ + -0.9362629652023315, + 0.04885110259056091, + 0.3478867709636688, + -36.216827392578125 + ], + [ + -0.35047048330307007, + -0.061879415065050125, + -0.9345274567604065, + -39.74414825439453 + ], + [ + -0.024125665426254272, + -0.9968875050544739, + 0.0750562772154808, + -19.586360931396484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2768, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_742267847", + "mask_path": "../../mask/hdr_front_02768.png" + }, + { + "file_path": "../../rgb/hdr_front_02769.png", + "transform_matrix": [ + [ + -0.9405545592308044, + 0.04399154335260391, + 0.336781769990921, + -36.234310150146484 + ], + [ + -0.33893001079559326, + -0.05736372247338295, + -0.939061164855957, + -39.69026184082031 + ], + [ + -0.02199169248342514, + -0.997383713722229, + 0.06886376440525055, + -19.593868255615234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2769, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_842267036", + "mask_path": "../../mask/hdr_front_02769.png" + }, + { + "file_path": "../../rgb/hdr_front_02770.png", + "transform_matrix": [ + [ + -0.9422401785850525, + 0.04991380125284195, + 0.3311980366706848, + -36.27666473388672 + ], + [ + -0.33371880650520325, + -0.05560939013957977, + -0.9410310387611389, + -39.58191680908203 + ], + [ + -0.028552718460559845, + -0.9972042441368103, + 0.06905457377433777, + -19.60635757446289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2770, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_942267417", + "mask_path": "../../mask/hdr_front_02770.png" + }, + { + "file_path": "../../rgb/hdr_front_02771.png", + "transform_matrix": [ + [ + -0.9417189955711365, + 0.05396493524312973, + 0.33204391598701477, + -36.318565368652344 + ], + [ + -0.33487963676452637, + -0.05663057789206505, + -0.940557599067688, + -39.485382080078125 + ], + [ + -0.031953297555446625, + -0.9969357252120972, + 0.07140184193849564, + -19.619792938232422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2771, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_42267084", + "mask_path": "../../mask/hdr_front_02771.png" + }, + { + "file_path": "../../rgb/hdr_front_02772.png", + "transform_matrix": [ + [ + -0.9410666823387146, + 0.049951303750276566, + 0.33451220393180847, + -36.34703063964844 + ], + [ + -0.337062805891037, + -0.05672301724553108, + -0.9397720098495483, + -39.41870880126953 + ], + [ + -0.027968285605311394, + -0.9971396327018738, + 0.07021686434745789, + -19.621932983398438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2772, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_142266988", + "mask_path": "../../mask/hdr_front_02772.png" + }, + { + "file_path": "../../rgb/hdr_front_02773.png", + "transform_matrix": [ + [ + -0.9417057037353516, + 0.0452582985162735, + 0.3333796560764313, + -36.38185119628906 + ], + [ + -0.3357248604297638, + -0.061941321939229965, + -0.9399213790893555, + -39.32914352416992 + ], + [ + -0.021889260038733482, + -0.9970532059669495, + 0.0735248401761055, + -19.63677406311035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2773, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_242266893", + "mask_path": "../../mask/hdr_front_02773.png" + }, + { + "file_path": "../../rgb/hdr_front_02774.png", + "transform_matrix": [ + [ + -0.9442682862281799, + 0.04060785472393036, + 0.32666251063346863, + -36.41507339477539 + ], + [ + -0.32876089215278625, + -0.066468246281147, + -0.942071259021759, + -39.22896194458008 + ], + [ + -0.016542809084057808, + -0.9969618916511536, + 0.07611412554979324, + -19.640180587768555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2774, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_342268705", + "mask_path": "../../mask/hdr_front_02774.png" + }, + { + "file_path": "../../rgb/hdr_front_02775.png", + "transform_matrix": [ + [ + -0.9469175338745117, + 0.03373100608587265, + 0.3197018504142761, + -36.434383392333984 + ], + [ + -0.32131272554397583, + -0.06758208572864532, + -0.9445585012435913, + -39.161983489990234 + ], + [ + -0.01025478821247816, + -0.9971433877944946, + 0.07483286410570145, + -19.638275146484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2775, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_442267179", + "mask_path": "../../mask/hdr_front_02775.png" + }, + { + "file_path": "../../rgb/hdr_front_02776.png", + "transform_matrix": [ + [ + -0.9497808814048767, + 0.03142577037215233, + 0.3113337755203247, + -36.456443786621094 + ], + [ + -0.3127410411834717, + -0.06208719313144684, + -0.9478070139884949, + -39.091617584228516 + ], + [ + -0.010455723851919174, + -0.9975758790969849, + 0.06879734992980957, + -19.64505958557129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2776, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_542269229", + "mask_path": "../../mask/hdr_front_02776.png" + }, + { + "file_path": "../../rgb/hdr_front_02777.png", + "transform_matrix": [ + [ + -0.9506668448448181, + 0.038126181811094284, + 0.307861864566803, + -36.49568176269531 + ], + [ + -0.309736967086792, + -0.06166151911020279, + -0.9488208293914795, + -38.981353759765625 + ], + [ + -0.017191676422953606, + -0.9973686933517456, + 0.07042863965034485, + -19.658981323242188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2777, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_642267704", + "mask_path": "../../mask/hdr_front_02777.png" + }, + { + "file_path": "../../rgb/hdr_front_02778.png", + "transform_matrix": [ + [ + -0.9498524069786072, + 0.04405495151877403, + 0.30957964062690735, + -36.527496337890625 + ], + [ + -0.3118893504142761, + -0.06229587271809578, + -0.9480739831924438, + -38.896873474121094 + ], + [ + -0.022481823340058327, + -0.9970850348472595, + 0.07291215658187866, + -19.670991897583008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2778, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_742267370", + "mask_path": "../../mask/hdr_front_02778.png" + }, + { + "file_path": "../../rgb/hdr_front_02779.png", + "transform_matrix": [ + [ + -0.9488859176635742, + 0.04250696301460266, + 0.3127439320087433, + -36.550479888916016 + ], + [ + -0.3148864805698395, + -0.06000618264079094, + -0.9472305774688721, + -38.83392333984375 + ], + [ + -0.021497322246432304, + -0.9972925186157227, + 0.0703238919377327, + -19.67752456665039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2779, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_842267513", + "mask_path": "../../mask/hdr_front_02779.png" + }, + { + "file_path": "../../rgb/hdr_front_02780.png", + "transform_matrix": [ + [ + -0.9492566585540771, + 0.04309484362602234, + 0.31153592467308044, + -36.582786560058594 + ], + [ + -0.3137547969818115, + -0.06150152534246445, + -0.9475101828575134, + -38.742305755615234 + ], + [ + -0.021672865375876427, + -0.9971762299537659, + 0.07190193980932236, + -19.6886043548584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2780, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_942267656", + "mask_path": "../../mask/hdr_front_02780.png" + }, + { + "file_path": "../../rgb/hdr_front_02781.png", + "transform_matrix": [ + [ + -0.951482355594635, + 0.041005488485097885, + 0.30495885014533997, + -36.60628128051758 + ], + [ + -0.30703336000442505, + -0.06115580350160599, + -0.9497317671775818, + -38.646575927734375 + ], + [ + -0.02029421366751194, + -0.9972856044769287, + 0.07077871263027191, + -19.68010139465332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2781, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_42268514", + "mask_path": "../../mask/hdr_front_02781.png" + }, + { + "file_path": "../../rgb/hdr_front_02782.png", + "transform_matrix": [ + [ + -0.9546717405319214, + 0.03621233254671097, + 0.29544955492019653, + -36.62337875366211 + ], + [ + -0.29713910818099976, + -0.057214297354221344, + -0.9531185030937195, + -38.57158279418945 + ], + [ + -0.01761070266366005, + -0.9977050423622131, + 0.06538098305463791, + -19.676294326782227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2782, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_142266988", + "mask_path": "../../mask/hdr_front_02782.png" + }, + { + "file_path": "../../rgb/hdr_front_02783.png", + "transform_matrix": [ + [ + -0.9573989510536194, + 0.033964380621910095, + 0.28676408529281616, + -36.64643096923828 + ], + [ + -0.28821030259132385, + -0.050674133002758026, + -0.9562253952026367, + -38.49241638183594 + ], + [ + -0.01794607937335968, + -0.9981375932693481, + 0.05830424651503563, + -19.687517166137695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2783, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_242267131", + "mask_path": "../../mask/hdr_front_02783.png" + }, + { + "file_path": "../../rgb/hdr_front_02784.png", + "transform_matrix": [ + [ + -0.9567527770996094, + 0.04034095257520676, + 0.28809139132499695, + -36.68497848510742 + ], + [ + -0.2898673415184021, + -0.048747092485427856, + -0.9558246731758118, + -38.38236618041992 + ], + [ + -0.02451525814831257, + -0.9979962110519409, + 0.05833244323730469, + -19.69509506225586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2784, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_342267751", + "mask_path": "../../mask/hdr_front_02784.png" + }, + { + "file_path": "../../rgb/hdr_front_02785.png", + "transform_matrix": [ + [ + -0.9539377093315125, + 0.04584411159157753, + 0.29648128151893616, + -36.71625518798828 + ], + [ + -0.2985639274120331, + -0.04833399876952171, + -0.9531649947166443, + -38.30223083496094 + ], + [ + -0.0293668732047081, + -0.997778594493866, + 0.05979502201080322, + -19.70464324951172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2785, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_442266941", + "mask_path": "../../mask/hdr_front_02785.png" + }, + { + "file_path": "../../rgb/hdr_front_02786.png", + "transform_matrix": [ + [ + -0.9505442976951599, + 0.042387958616018295, + 0.3076830506324768, + -36.73796463012695 + ], + [ + -0.30951619148254395, + -0.047006573528051376, + -0.9497316479682922, + -38.24082946777344 + ], + [ + -0.025794057175517082, + -0.9979948401451111, + 0.05780158191919327, + -19.71418571472168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2786, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_542267322", + "mask_path": "../../mask/hdr_front_02786.png" + }, + { + "file_path": "../../rgb/hdr_front_02787.png", + "transform_matrix": [ + [ + -0.9474347233772278, + 0.03964109718799591, + 0.3174837529659271, + -36.77178955078125 + ], + [ + -0.31922194361686707, + -0.050260502845048904, + -0.9463462829589844, + -38.14079666137695 + ], + [ + -0.021557312458753586, + -0.9979491829872131, + 0.06027286499738693, + -19.7166690826416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2787, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_642267465", + "mask_path": "../../mask/hdr_front_02787.png" + }, + { + "file_path": "../../rgb/hdr_front_02788.png", + "transform_matrix": [ + [ + -0.9459058046340942, + 0.035212088376283646, + 0.3225248157978058, + -36.802833557128906 + ], + [ + -0.323994517326355, + -0.05036947876214981, + -0.9447171688079834, + -38.04652404785156 + ], + [ + -0.017020056024193764, + -0.998109757900238, + 0.05905330926179886, + -19.71180534362793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2788, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_742266893", + "mask_path": "../../mask/hdr_front_02788.png" + }, + { + "file_path": "../../rgb/hdr_front_02789.png", + "transform_matrix": [ + [ + -0.9454843401908875, + 0.028356973081827164, + 0.3244306743144989, + -36.821502685546875 + ], + [ + -0.32546448707580566, + -0.04709911718964577, + -0.944380521774292, + -37.98873519897461 + ], + [ + -0.011499372310936451, + -0.998487651348114, + 0.05376066640019417, + -19.712953567504883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2789, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_842266798", + "mask_path": "../../mask/hdr_front_02789.png" + }, + { + "file_path": "../../rgb/hdr_front_02790.png", + "transform_matrix": [ + [ + -0.9443251490592957, + 0.02614063210785389, + 0.32797345519065857, + -36.852603912353516 + ], + [ + -0.32884588837623596, + -0.04317631945014, + -0.9433961510658264, + -37.9123649597168 + ], + [ + -0.010500284843146801, + -0.998725414276123, + 0.0493687279522419, + -19.724573135375977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2790, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_942267417", + "mask_path": "../../mask/hdr_front_02790.png" + }, + { + "file_path": "../../rgb/hdr_front_02791.png", + "transform_matrix": [ + [ + -0.9394434690475464, + 0.0319565124809742, + 0.34121063351631165, + -36.89790344238281 + ], + [ + -0.34234511852264404, + -0.04196840152144432, + -0.9386364817619324, + -37.81282043457031 + ], + [ + -0.015675486996769905, + -0.9986078143119812, + 0.05036710202693939, + -19.73155403137207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2791, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_42267084", + "mask_path": "../../mask/hdr_front_02791.png" + }, + { + "file_path": "../../rgb/hdr_front_02792.png", + "transform_matrix": [ + [ + -0.9331088066101074, + 0.03490721806883812, + 0.35789600014686584, + -36.93290710449219 + ], + [ + -0.3591355085372925, + -0.04020525515079498, + -0.9324190616607666, + -37.74420166015625 + ], + [ + -0.01815885305404663, + -0.9985814690589905, + 0.05005229637026787, + -19.735095977783203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2792, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_142266988", + "mask_path": "../../mask/hdr_front_02792.png" + }, + { + "file_path": "../../rgb/hdr_front_02793.png", + "transform_matrix": [ + [ + -0.9272459745407104, + 0.02716228924691677, + 0.37346652150154114, + -36.96644592285156 + ], + [ + -0.37431204319000244, + -0.039873916655778885, + -0.9264450669288635, + -37.67904281616211 + ], + [ + -0.010272798128426075, + -0.9988354444503784, + 0.04714009538292885, + -19.744609832763672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2793, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_242267608", + "mask_path": "../../mask/hdr_front_02793.png" + }, + { + "file_path": "../../rgb/hdr_front_02794.png", + "transform_matrix": [ + [ + -0.9241020083427429, + 0.021443605422973633, + 0.38154369592666626, + -37.01228713989258 + ], + [ + -0.38214269280433655, + -0.04784858226776123, + -0.9228637218475342, + -37.57524490356445 + ], + [ + -0.0015332018956542015, + -0.9986244440078735, + 0.052411485463380814, + -19.74380111694336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2794, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_342266798", + "mask_path": "../../mask/hdr_front_02794.png" + }, + { + "file_path": "../../rgb/hdr_front_02795.png", + "transform_matrix": [ + [ + -0.9230553507804871, + 0.014454919844865799, + 0.3843953609466553, + -37.048126220703125 + ], + [ + -0.38461005687713623, + -0.05189013108611107, + -0.9216195344924927, + -37.490596771240234 + ], + [ + 0.0066243913024663925, + -0.9985482096672058, + 0.05345696955919266, + -19.737167358398438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2795, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_442268371", + "mask_path": "../../mask/hdr_front_02795.png" + }, + { + "file_path": "../../rgb/hdr_front_02796.png", + "transform_matrix": [ + [ + -0.9229477643966675, + 0.004918837919831276, + 0.38489365577697754, + -37.07184600830078 + ], + [ + -0.38464319705963135, + -0.050041958689689636, + -0.921707808971405, + -37.438636779785156 + ], + [ + 0.014727096073329449, + -0.9987350106239319, + 0.048078108578920364, + -19.739444732666016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2796, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_542268276", + "mask_path": "../../mask/hdr_front_02796.png" + }, + { + "file_path": "../../rgb/hdr_front_02797.png", + "transform_matrix": [ + [ + -0.9214688539505005, + 0.009829571470618248, + 0.38832780718803406, + -37.11917495727539 + ], + [ + -0.3883233070373535, + -0.04905305430293083, + -0.9202167391777039, + -37.34213638305664 + ], + [ + 0.010003329254686832, + -0.9987478852272034, + 0.04901791736483574, + -19.752506256103516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2797, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_642268657", + "mask_path": "../../mask/hdr_front_02797.png" + }, + { + "file_path": "../../rgb/hdr_front_02798.png", + "transform_matrix": [ + [ + -0.9167609810829163, + 0.02090519852936268, + 0.39888882637023926, + -37.17323303222656 + ], + [ + -0.39943602681159973, + -0.049001481384038925, + -0.9154505133628845, + -37.243743896484375 + ], + [ + 0.0004084686515852809, + -0.9985798597335815, + 0.05327293649315834, + -19.76892852783203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2798, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_742267370", + "mask_path": "../../mask/hdr_front_02798.png" + }, + { + "file_path": "../../rgb/hdr_front_02799.png", + "transform_matrix": [ + [ + -0.911784291267395, + 0.024969002231955528, + 0.40990981459617615, + -37.21044921875 + ], + [ + -0.4106586277484894, + -0.048139460384845734, + -0.9105175137519836, + -37.180965423583984 + ], + [ + -0.0030018731486052275, + -0.9985284805297852, + 0.05414653569459915, + -19.77422523498535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2799, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_842268228", + "mask_path": "../../mask/hdr_front_02799.png" + }, + { + "file_path": "../../rgb/hdr_front_02800.png", + "transform_matrix": [ + [ + -0.9085473418235779, + 0.021072017028927803, + 0.4172500669956207, + -37.24639892578125 + ], + [ + -0.4177802503108978, + -0.04857258498668671, + -0.9072487950325012, + -37.1142578125 + ], + [ + 0.0011493550846353173, + -0.9985973834991455, + 0.05293397232890129, + -19.78225326538086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2800, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_942266941", + "mask_path": "../../mask/hdr_front_02800.png" + }, + { + "file_path": "../../rgb/hdr_front_02801.png", + "transform_matrix": [ + [ + -0.9092488884925842, + 0.022044192999601364, + 0.415668785572052, + -37.28951644897461 + ], + [ + -0.41625267267227173, + -0.04925195872783661, + -0.9079141020774841, + -37.00998306274414 + ], + [ + 0.0004582660913001746, + -0.9985430836677551, + 0.053958237171173096, + -19.778362274169922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2801, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_42267560", + "mask_path": "../../mask/hdr_front_02801.png" + }, + { + "file_path": "../../rgb/hdr_front_02802.png", + "transform_matrix": [ + [ + -0.9129970073699951, + 0.018914172425866127, + 0.40752753615379333, + -37.319358825683594 + ], + [ + -0.40795716643333435, + -0.04897421598434448, + -0.9116867184638977, + -36.93109893798828 + ], + [ + 0.0027145431376993656, + -0.9986209273338318, + 0.05242948606610298, + -19.771808624267578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2802, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_142267704", + "mask_path": "../../mask/hdr_front_02802.png" + }, + { + "file_path": "../../rgb/hdr_front_02803.png", + "transform_matrix": [ + [ + -0.9177908897399902, + 0.01591343618929386, + 0.39674505591392517, + -37.34067153930664 + ], + [ + -0.39705291390419006, + -0.044280920177698135, + -0.9167269468307495, + -36.87641525268555 + ], + [ + 0.0029799651820212603, + -0.9988924264907837, + 0.046959105879068375, + -19.776935577392578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2803, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_242268085", + "mask_path": "../../mask/hdr_front_02803.png" + }, + { + "file_path": "../../rgb/hdr_front_02804.png", + "transform_matrix": [ + [ + -0.9203293323516846, + 0.026631684973835945, + 0.39023661613464355, + -37.384849548339844 + ], + [ + -0.39105603098869324, + -0.041454579681158066, + -0.9194327592849731, + -36.77407455444336 + ], + [ + -0.008308952674269676, + -0.9987854361534119, + 0.04856634512543678, + -19.786386489868164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2804, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_342268228", + "mask_path": "../../mask/hdr_front_02804.png" + }, + { + "file_path": "../../rgb/hdr_front_02805.png", + "transform_matrix": [ + [ + -0.9200477004051208, + 0.03845126926898956, + 0.38991492986679077, + -37.42757034301758 + ], + [ + -0.391332745552063, + -0.04127234220504761, + -0.9193233251571655, + -36.682960510253906 + ], + [ + -0.01925644651055336, + -0.9984078407287598, + 0.05301976948976517, + -19.80193519592285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2805, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_442267417", + "mask_path": "../../mask/hdr_front_02805.png" + }, + { + "file_path": "../../rgb/hdr_front_02806.png", + "transform_matrix": [ + [ + -0.919131338596344, + 0.04198136180639267, + 0.3917080760002136, + -37.4566650390625 + ], + [ + -0.3932933509349823, + -0.04034256562590599, + -0.9185274839401245, + -36.619937896728516 + ], + [ + -0.022758521139621735, + -0.9983036518096924, + 0.05359110236167908, + -19.813549041748047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2806, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_542267322", + "mask_path": "../../mask/hdr_front_02806.png" + }, + { + "file_path": "../../rgb/hdr_front_02807.png", + "transform_matrix": [ + [ + -0.9192080497741699, + 0.04151996970176697, + 0.3915771245956421, + -37.49374771118164 + ], + [ + -0.3931679427623749, + -0.04170351102948189, + -0.918520450592041, + -36.53220748901367 + ], + [ + -0.021806800737977028, + -0.9982669949531555, + 0.05465852841734886, + -19.822301864624023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2807, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_642268657", + "mask_path": "../../mask/hdr_front_02807.png" + }, + { + "file_path": "../../rgb/hdr_front_02808.png", + "transform_matrix": [ + [ + -0.9224768280982971, + 0.03959442302584648, + 0.384016752243042, + -37.530601501464844 + ], + [ + -0.38557109236717224, + -0.0448286272585392, + -0.9215885996818542, + -36.427764892578125 + ], + [ + -0.019274821504950523, + -0.9982097744941711, + 0.056619830429553986, + -19.819515228271484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2808, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_742267847", + "mask_path": "../../mask/hdr_front_02808.png" + }, + { + "file_path": "../../rgb/hdr_front_02809.png", + "transform_matrix": [ + [ + -0.9271082878112793, + 0.034803781658411026, + 0.3731743097305298, + -37.550045013427734 + ], + [ + -0.3744741678237915, + -0.0449107401072979, + -0.9261491894721985, + -36.36043167114258 + ], + [ + -0.015473957173526287, + -0.9983845949172974, + 0.05467022955417633, + -19.819517135620117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2809, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_842267513", + "mask_path": "../../mask/hdr_front_02809.png" + }, + { + "file_path": "../../rgb/hdr_front_02810.png", + "transform_matrix": [ + [ + -0.9315065741539001, + 0.03298768401145935, + 0.3622252643108368, + -37.56671142578125 + ], + [ + -0.3633470833301544, + -0.03905630111694336, + -0.9308348298072815, + -36.301116943359375 + ], + [ + -0.016558904200792313, + -0.9986923933029175, + 0.04836718738079071, + -19.827367782592773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2810, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_942267656", + "mask_path": "../../mask/hdr_front_02810.png" + }, + { + "file_path": "../../rgb/hdr_front_02811.png", + "transform_matrix": [ + [ + -0.9329672455787659, + 0.04227985814213753, + 0.35746970772743225, + -37.605411529541016 + ], + [ + -0.3590678870677948, + -0.03938477113842964, + -0.9324800968170166, + -36.195831298828125 + ], + [ + -0.02534625679254532, + -0.998329222202301, + 0.051926035434007645, + -19.834142684936523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2811, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_42267560", + "mask_path": "../../mask/hdr_front_02811.png" + }, + { + "file_path": "../../rgb/hdr_front_02812.png", + "transform_matrix": [ + [ + -0.9320553541183472, + 0.050590090453624725, + 0.3587665855884552, + -37.64218521118164 + ], + [ + -0.36085745692253113, + -0.04086294025182724, + -0.9317253828048706, + -36.10932922363281 + ], + [ + -0.03247580677270889, + -0.9978832602500916, + 0.056342337280511856, + -19.8426570892334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2812, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_142268419", + "mask_path": "../../mask/hdr_front_02812.png" + }, + { + "file_path": "../../rgb/hdr_front_02813.png", + "transform_matrix": [ + [ + -0.9308441281318665, + 0.0502203144133091, + 0.3619491755962372, + -37.66936492919922 + ], + [ + -0.36399632692337036, + -0.04018670693039894, + -0.9305331110954285, + -36.04658126831055 + ], + [ + -0.0321861170232296, + -0.9979293346405029, + 0.055687569081783295, + -19.84714126586914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2813, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_242268800", + "mask_path": "../../mask/hdr_front_02813.png" + }, + { + "file_path": "../../rgb/hdr_front_02814.png", + "transform_matrix": [ + [ + -0.9305998682975769, + 0.04988059028983116, + 0.3626234829425812, + -37.70442581176758 + ], + [ + -0.3646615147590637, + -0.04050058871507645, + -0.9302589297294617, + -35.95832061767578 + ], + [ + -0.03171539679169655, + -0.9979337453842163, + 0.055879369378089905, + -19.858680725097656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2814, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_342267513", + "mask_path": "../../mask/hdr_front_02814.png" + }, + { + "file_path": "../../rgb/hdr_front_02815.png", + "transform_matrix": [ + [ + -0.933451235294342, + 0.04614966735243797, + 0.3557233214378357, + -37.735923767089844 + ], + [ + -0.35751453042030334, + -0.03899039700627327, + -0.9330933094024658, + -35.85465621948242 + ], + [ + -0.029192151501774788, + -0.9981733560562134, + 0.05289481207728386, + -19.852842330932617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2815, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_442268133", + "mask_path": "../../mask/hdr_front_02815.png" + }, + { + "file_path": "../../rgb/hdr_front_02816.png", + "transform_matrix": [ + [ + -0.9376997947692871, + 0.03813799098134041, + 0.3453471064567566, + -37.7562255859375 + ], + [ + -0.34670117497444153, + -0.037633709609508514, + -0.9372204542160034, + -35.78560256958008 + ], + [ + -0.022747009992599487, + -0.9985636472702026, + 0.04851159825921059, + -19.847837448120117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2816, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_542267799", + "mask_path": "../../mask/hdr_front_02816.png" + }, + { + "file_path": "../../rgb/hdr_front_02817.png", + "transform_matrix": [ + [ + -0.9415925145149231, + 0.035469770431518555, + 0.3348812460899353, + -37.77751159667969 + ], + [ + -0.33598265051841736, + -0.03166094794869423, + -0.9413358569145203, + -35.721336364746094 + ], + [ + -0.02278631180524826, + -0.9988691210746765, + 0.04172893986105919, + -19.850894927978516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2817, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_642267227", + "mask_path": "../../mask/hdr_front_02817.png" + }, + { + "file_path": "../../rgb/hdr_front_02818.png", + "transform_matrix": [ + [ + -0.9417094588279724, + 0.0402645580470562, + 0.3340090811252594, + -37.816165924072266 + ], + [ + -0.3353244960308075, + -0.032016340643167496, + -0.9415584802627563, + -35.61898422241211 + ], + [ + -0.027217689901590347, + -0.9986760020256042, + 0.04365178197622299, + -19.861324310302734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2818, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_742267370", + "mask_path": "../../mask/hdr_front_02818.png" + }, + { + "file_path": "../../rgb/hdr_front_02819.png", + "transform_matrix": [ + [ + -0.9399619102478027, + 0.04478798434138298, + 0.33832770586013794, + -37.85008239746094 + ], + [ + -0.3398808538913727, + -0.033196669071912766, + -0.9398824572563171, + -35.536617279052734 + ], + [ + -0.030864089727401733, + -0.9984447956085205, + 0.046426184475421906, + -19.872615814208984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2819, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_842267036", + "mask_path": "../../mask/hdr_front_02819.png" + }, + { + "file_path": "../../rgb/hdr_front_02820.png", + "transform_matrix": [ + [ + -0.9387680292129517, + 0.04182145744562149, + 0.34200218319892883, + -37.874359130859375 + ], + [ + -0.34337902069091797, + -0.03180442377924919, + -0.9386582970619202, + -35.4681510925293 + ], + [ + -0.028378868475556374, + -0.9986187815666199, + 0.04421759024262428, + -19.880638122558594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2820, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_942267894", + "mask_path": "../../mask/hdr_front_02820.png" + }, + { + "file_path": "../../rgb/hdr_front_02821.png", + "transform_matrix": [ + [ + -0.9397010207176208, + 0.040923748165369034, + 0.33953970670700073, + -37.908912658691406 + ], + [ + -0.3410036563873291, + -0.036503467708826065, + -0.9393529891967773, + -35.36653137207031 + ], + [ + -0.026047466322779655, + -0.9984952807426453, + 0.0482574887573719, + -19.885536193847656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2821, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_42267560", + "mask_path": "../../mask/hdr_front_02821.png" + }, + { + "file_path": "../../rgb/hdr_front_02822.png", + "transform_matrix": [ + [ + -0.9418489933013916, + 0.040638986974954605, + 0.33357012271881104, + -37.935733795166016 + ], + [ + -0.3350467085838318, + -0.037434205412864685, + -0.9414575695991516, + -35.2750129699707 + ], + [ + -0.025772953405976295, + -0.9984725117683411, + 0.048873331397771835, + -19.88124656677246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2822, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_142266988", + "mask_path": "../../mask/hdr_front_02822.png" + }, + { + "file_path": "../../rgb/hdr_front_02823.png", + "transform_matrix": [ + [ + -0.9444398283958435, + 0.03378669545054436, + 0.3269435167312622, + -37.95229721069336 + ], + [ + -0.3280319273471832, + -0.03423164784908295, + -0.9440463185310364, + -35.2182731628418 + ], + [ + -0.02070438861846924, + -0.998842716217041, + 0.043412838131189346, + -19.879837036132812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2823, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_242270231", + "mask_path": "../../mask/hdr_front_02823.png" + }, + { + "file_path": "../../rgb/hdr_front_02824.png", + "transform_matrix": [ + [ + -0.9461048245429993, + 0.03471577540040016, + 0.32199445366859436, + -37.986083984375 + ], + [ + -0.3231271803379059, + -0.034318290650844574, + -0.9457330703735352, + -35.130123138427734 + ], + [ + -0.02178155444562435, + -0.9988078474998474, + 0.043686311691999435, + -19.891334533691406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2824, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_342267990", + "mask_path": "../../mask/hdr_front_02824.png" + }, + { + "file_path": "../../rgb/hdr_front_02825.png", + "transform_matrix": [ + [ + -0.9443860650062561, + 0.04417092725634575, + 0.32585883140563965, + -38.02804183959961 + ], + [ + -0.3274986743927002, + -0.03695949912071228, + -0.9441285729408264, + -35.03363800048828 + ], + [ + -0.029659448191523552, + -0.9983401298522949, + 0.04936995729804039, + -19.902080535888672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2825, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_442270517", + "mask_path": "../../mask/hdr_front_02825.png" + }, + { + "file_path": "../../rgb/hdr_front_02826.png", + "transform_matrix": [ + [ + -0.9389769434928894, + 0.048714615404605865, + 0.3405133783817291, + -38.06161117553711 + ], + [ + -0.34241053462028503, + -0.037905845791101456, + -0.9387854933738708, + -34.968963623046875 + ], + [ + -0.03282512351870537, + -0.9980932474136353, + 0.052273109555244446, + -19.90880584716797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2826, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_542267799", + "mask_path": "../../mask/hdr_front_02826.png" + }, + { + "file_path": "../../rgb/hdr_front_02827.png", + "transform_matrix": [ + [ + -0.9324237108230591, + 0.042671166360378265, + 0.35883867740631104, + -38.09733200073242 + ], + [ + -0.36043718457221985, + -0.03863666206598282, + -0.9319829344749451, + -34.90229797363281 + ], + [ + -0.025904471054673195, + -0.9983418583869934, + 0.05140601471066475, + -19.917617797851562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2827, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_642267465", + "mask_path": "../../mask/hdr_front_02827.png" + }, + { + "file_path": "../../rgb/hdr_front_02828.png", + "transform_matrix": [ + [ + -0.9260388016700745, + 0.03954053670167923, + 0.37535127997398376, + -38.142784118652344 + ], + [ + -0.3768347501754761, + -0.04111718013882637, + -0.9253674745559692, + -34.80842590332031 + ], + [ + -0.021156135946512222, + -0.9983716607093811, + 0.052976351231336594, + -19.917572021484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2828, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_742267608", + "mask_path": "../../mask/hdr_front_02828.png" + }, + { + "file_path": "../../rgb/hdr_front_02829.png", + "transform_matrix": [ + [ + -0.9207918047904968, + 0.03531394153833389, + 0.3884525001049042, + -38.17624282836914 + ], + [ + -0.3897048532962799, + -0.04113883152604103, + -0.920020580291748, + -34.73495101928711 + ], + [ + -0.01650906726717949, + -0.9985292553901672, + 0.051642321050167084, + -19.91251564025879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2829, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_842267990", + "mask_path": "../../mask/hdr_front_02829.png" + }, + { + "file_path": "../../rgb/hdr_left_02732.png", + "transform_matrix": [ + [ + -0.34448114037513733, + -0.03642651066184044, + -0.9380863308906555, + -33.413490295410156 + ], + [ + 0.9376333355903625, + 0.036308590322732925, + -0.3457246720790863, + -44.659507751464844 + ], + [ + 0.04665413126349449, + -0.9986765384674072, + 0.02164708450436592, + -19.349750518798828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2732, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_642267942", + "mask_path": "../../mask/hdr_left_02732.png" + }, + { + "file_path": "../../rgb/hdr_left_02733.png", + "transform_matrix": [ + [ + -0.35297250747680664, + -0.0423397421836853, + -0.9346752166748047, + -33.45132827758789 + ], + [ + 0.9343951940536499, + 0.03543214127421379, + -0.3544718027114868, + -44.606937408447266 + ], + [ + 0.04812578111886978, + -0.9984748959541321, + 0.02705547958612442, + -19.348562240600586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2733, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_742267608", + "mask_path": "../../mask/hdr_left_02733.png" + }, + { + "file_path": "../../rgb/hdr_left_02734.png", + "transform_matrix": [ + [ + -0.3633922040462494, + -0.044818535447120667, + -0.9305575489997864, + -33.51116180419922 + ], + [ + 0.9303178787231445, + 0.03566073626279831, + -0.3650161921977997, + -44.5191650390625 + ], + [ + 0.04954385757446289, + -0.9983584880828857, + 0.028736654669046402, + -19.342927932739258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2734, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_842267751", + "mask_path": "../../mask/hdr_left_02734.png" + }, + { + "file_path": "../../rgb/hdr_left_02735.png", + "transform_matrix": [ + [ + -0.3781696557998657, + -0.03832909092307091, + -0.9249425530433655, + -33.573272705078125 + ], + [ + 0.9244796633720398, + 0.03640589490532875, + -0.37948906421661377, + -44.43549728393555 + ], + [ + 0.048218827694654465, + -0.9986017942428589, + 0.021666863933205605, + -19.3364315032959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2735, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_942266941", + "mask_path": "../../mask/hdr_left_02735.png" + }, + { + "file_path": "../../rgb/hdr_left_02736.png", + "transform_matrix": [ + [ + -0.3938601016998291, + -0.036525577306747437, + -0.9184443950653076, + -33.62248992919922 + ], + [ + 0.917994499206543, + 0.03489596024155617, + -0.39505496621131897, + -44.378623962402344 + ], + [ + 0.04647960513830185, + -0.9987233281135559, + 0.019786152988672256, + -19.330276489257812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2736, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_42267560", + "mask_path": "../../mask/hdr_left_02736.png" + }, + { + "file_path": "../../rgb/hdr_left_02737.png", + "transform_matrix": [ + [ + -0.4056870639324188, + -0.03924532234668732, + -0.9131690263748169, + -33.676109313964844 + ], + [ + 0.9129253625869751, + 0.03130365163087845, + -0.40692421793937683, + -44.30373764038086 + ], + [ + 0.04455539584159851, + -0.9987391829490662, + 0.023128561675548553, + -19.329071044921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2737, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_142267465", + "mask_path": "../../mask/hdr_left_02737.png" + }, + { + "file_path": "../../rgb/hdr_left_02738.png", + "transform_matrix": [ + [ + -0.4100053310394287, + -0.047018568962812424, + -0.9108703136444092, + -33.73573684692383 + ], + [ + 0.9109482169151306, + 0.02869543805718422, + -0.4115217924118042, + -44.21747970581055 + ], + [ + 0.04548699036240578, + -0.998481810092926, + 0.03106619417667389, + -19.306859970092773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2738, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_242267847", + "mask_path": "../../mask/hdr_left_02738.png" + }, + { + "file_path": "../../rgb/hdr_left_02739.png", + "transform_matrix": [ + [ + -0.4116067588329315, + -0.05539727956056595, + -0.9096763134002686, + -33.7802619934082 + ], + [ + 0.9101525545120239, + 0.026408817619085312, + -0.4134306311607361, + -44.15700149536133 + ], + [ + 0.04692639410495758, + -0.9981151223182678, + 0.039549924433231354, + -19.295570373535156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2739, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_342266321", + "mask_path": "../../mask/hdr_left_02739.png" + }, + { + "file_path": "../../rgb/hdr_left_02740.png", + "transform_matrix": [ + [ + -0.4111069142818451, + -0.06098935380578041, + -0.9095445275306702, + -33.834228515625 + ], + [ + 0.9101948738098145, + 0.027659708634018898, + -0.4132555425167084, + -44.08799743652344 + ], + [ + 0.05036192387342453, + -0.9977551102638245, + 0.04414110258221626, + -19.292823791503906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2740, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_442267894", + "mask_path": "../../mask/hdr_left_02740.png" + }, + { + "file_path": "../../rgb/hdr_left_02741.png", + "transform_matrix": [ + [ + -0.418069988489151, + -0.05331042408943176, + -0.9068491458892822, + -33.90544509887695 + ], + [ + 0.9071318507194519, + 0.028536995872855186, + -0.4198778569698334, + -43.9980583190918 + ], + [ + 0.048262614756822586, + -0.9981701970100403, + 0.03642912581562996, + -19.288156509399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2741, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_542266607", + "mask_path": "../../mask/hdr_left_02741.png" + }, + { + "file_path": "../../rgb/hdr_left_02742.png", + "transform_matrix": [ + [ + -0.4238976240158081, + -0.04381672292947769, + -0.904649555683136, + -33.958106994628906 + ], + [ + 0.9045788049697876, + 0.02942623943090439, + -0.42528975009918213, + -43.93645477294922 + ], + [ + 0.04525523632764816, + -0.9986061453819275, + 0.027161963284015656, + -19.288345336914062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2742, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_642266988", + "mask_path": "../../mask/hdr_left_02742.png" + }, + { + "file_path": "../../rgb/hdr_left_02743.png", + "transform_matrix": [ + [ + -0.42484021186828613, + -0.043565407395362854, + -0.9042194485664368, + -34.00398635864258 + ], + [ + 0.9042105674743652, + 0.027851058170199394, + -0.42617788910865784, + -43.87704849243164 + ], + [ + 0.04375007748603821, + -0.9986623525619507, + 0.027560053393244743, + -19.289596557617188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2743, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_742267370", + "mask_path": "../../mask/hdr_left_02743.png" + }, + { + "file_path": "../../rgb/hdr_left_02744.png", + "transform_matrix": [ + [ + -0.41986167430877686, + -0.04287567362189293, + -0.9065747857093811, + -34.06081771850586 + ], + [ + 0.9066948890686035, + 0.024489296600222588, + -0.4210755228996277, + -43.79713821411133 + ], + [ + 0.04025527462363243, + -0.9987802505493164, + 0.028593041002750397, + -19.275724411010742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2744, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_842267990", + "mask_path": "../../mask/hdr_left_02744.png" + }, + { + "file_path": "../../rgb/hdr_left_02745.png", + "transform_matrix": [ + [ + -0.40936729311943054, + -0.045970045030117035, + -0.9112107753753662, + -34.11054611206055 + ], + [ + 0.9114977717399597, + 0.023045258596539497, + -0.4106588661670685, + -43.715450286865234 + ], + [ + 0.039877086877822876, + -0.9986769556999207, + 0.03246762230992317, + -19.25986671447754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2745, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_942266464", + "mask_path": "../../mask/hdr_left_02745.png" + }, + { + "file_path": "../../rgb/hdr_left_02746.png", + "transform_matrix": [ + [ + -0.3999806046485901, + -0.052527617663145065, + -0.9150170683860779, + -34.153602600097656 + ], + [ + 0.9155699014663696, + 0.02263198420405388, + -0.4015214741230011, + -43.65437698364258 + ], + [ + 0.04179961234331131, + -0.9983630180358887, + 0.03904035687446594, + -19.250717163085938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2746, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_42267560", + "mask_path": "../../mask/hdr_left_02746.png" + }, + { + "file_path": "../../rgb/hdr_left_02747.png", + "transform_matrix": [ + [ + -0.394582599401474, + -0.04698514565825462, + -0.9176583886146545, + -34.2115478515625 + ], + [ + 0.9181123375892639, + 0.020131997764110565, + -0.39580851793289185, + -43.57712173461914 + ], + [ + 0.03707141801714897, + -0.9986927509307861, + 0.03519390895962715, + -19.2546329498291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2747, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_142267704", + "mask_path": "../../mask/hdr_left_02747.png" + }, + { + "file_path": "../../rgb/hdr_left_02748.png", + "transform_matrix": [ + [ + -0.3925495445728302, + -0.02975856140255928, + -0.9192492961883545, + -34.26639175415039 + ], + [ + 0.9193000197410583, + 0.017890043556690216, + -0.3931504189968109, + -43.497833251953125 + ], + [ + 0.028144998475909233, + -0.9993970394134521, + 0.020334318280220032, + -19.260330200195312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2748, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_242267608", + "mask_path": "../../mask/hdr_left_02748.png" + }, + { + "file_path": "../../rgb/hdr_left_02749.png", + "transform_matrix": [ + [ + -0.3923548460006714, + -0.013985719531774521, + -0.9197075963020325, + -34.30337142944336 + ], + [ + 0.9195818901062012, + 0.016491273418068886, + -0.3925520181655884, + -43.43791961669922 + ], + [ + 0.020657267421483994, + -0.9997662901878357, + 0.00639058742672205, + -19.267908096313477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2749, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_342267751", + "mask_path": "../../mask/hdr_left_02749.png" + }, + { + "file_path": "../../rgb/hdr_left_02750.png", + "transform_matrix": [ + [ + -0.39016884565353394, + -0.008733019232749939, + -0.9207019209861755, + -34.3461799621582 + ], + [ + 0.9206085801124573, + 0.013397336937487125, + -0.39025646448135376, + -43.35870361328125 + ], + [ + 0.0157430712133646, + -0.9998721480369568, + 0.002812470542266965, + -19.27472496032715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2750, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_442267417", + "mask_path": "../../mask/hdr_left_02750.png" + }, + { + "file_path": "../../rgb/hdr_left_02751.png", + "transform_matrix": [ + [ + -0.38041093945503235, + -0.006091751158237457, + -0.9247974157333374, + -34.39468765258789 + ], + [ + 0.9248133897781372, + 0.00045901042176410556, + -0.3804206848144531, + -43.26413345336914 + ], + [ + 0.0027419179677963257, + -0.9999814629554749, + 0.005459123756736517, + -19.267210006713867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2751, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_542267322", + "mask_path": "../../mask/hdr_left_02751.png" + }, + { + "file_path": "../../rgb/hdr_left_02752.png", + "transform_matrix": [ + [ + -0.3677881360054016, + -0.004431768786162138, + -0.9298989772796631, + -34.42523956298828 + ], + [ + 0.929884672164917, + -0.00907510332763195, + -0.3677392303943634, + -43.195526123046875 + ], + [ + -0.0068091945722699165, + -0.999949038028717, + 0.007458751555532217, + -19.26707649230957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2752, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_642267704", + "mask_path": "../../mask/hdr_left_02752.png" + }, + { + "file_path": "../../rgb/hdr_left_02753.png", + "transform_matrix": [ + [ + -0.35574036836624146, + -0.004602269269526005, + -0.9345734715461731, + -34.448524475097656 + ], + [ + 0.9345472455024719, + -0.010722261853516102, + -0.35567760467529297, + -43.137516021728516 + ], + [ + -0.008383817039430141, + -0.9999319911003113, + 0.008115381002426147, + -19.270435333251953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2753, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_742267131", + "mask_path": "../../mask/hdr_left_02753.png" + }, + { + "file_path": "../../rgb/hdr_left_02754.png", + "transform_matrix": [ + [ + -0.34758156538009644, + 0.00562526797875762, + -0.9376328587532043, + -34.48919677734375 + ], + [ + 0.9375443458557129, + -0.01291012205183506, + -0.3476262092590332, + -43.06128692626953 + ], + [ + -0.014060446061193943, + -0.9999008774757385, + -0.000786616641562432, + -19.278818130493164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2754, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_842269420", + "mask_path": "../../mask/hdr_left_02754.png" + }, + { + "file_path": "../../rgb/hdr_left_02755.png", + "transform_matrix": [ + [ + -0.3461582064628601, + 0.024801556020975113, + -0.9378482103347778, + -34.53932189941406 + ], + [ + 0.9379286170005798, + -0.01380863506346941, + -0.34655308723449707, + -42.971622467041016 + ], + [ + -0.02154545858502388, + -0.9995970726013184, + -0.018482113257050514, + -19.285682678222656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2755, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_942268371", + "mask_path": "../../mask/hdr_left_02755.png" + }, + { + "file_path": "../../rgb/hdr_left_02756.png", + "transform_matrix": [ + [ + -0.3473179042339325, + 0.03720376268029213, + -0.9370091557502747, + -34.57866287231445 + ], + [ + 0.9374030828475952, + -0.01329956203699112, + -0.34799203276634216, + -42.9005241394043 + ], + [ + -0.025408420711755753, + -0.9992192387580872, + -0.030255746096372604, + -19.287487030029297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2756, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_42267799", + "mask_path": "../../mask/hdr_left_02756.png" + }, + { + "file_path": "../../rgb/hdr_left_02757.png", + "transform_matrix": [ + [ + -0.34696847200393677, + 0.03831998258829117, + -0.9370936155319214, + -34.61789321899414 + ], + [ + 0.9374827146530151, + -0.014790371991693974, + -0.3477173149585724, + -42.82041931152344 + ], + [ + -0.027184484526515007, + -0.9991560578346252, + -0.030792521312832832, + -19.295351028442383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2757, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_142267704", + "mask_path": "../../mask/hdr_left_02757.png" + }, + { + "file_path": "../../rgb/hdr_left_02758.png", + "transform_matrix": [ + [ + -0.3415985703468323, + 0.04028366878628731, + -0.9389822483062744, + -34.670780181884766 + ], + [ + 0.9392269253730774, + -0.021623600274324417, + -0.3426153063774109, + -42.71429443359375 + ], + [ + -0.034105975180864334, + -0.9989543557167053, + -0.03044890984892845, + -19.297168731689453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2758, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_242266893", + "mask_path": "../../mask/hdr_left_02758.png" + }, + { + "file_path": "../../rgb/hdr_left_02759.png", + "transform_matrix": [ + [ + -0.330761194229126, + 0.03943199664354324, + -0.9428903460502625, + -34.704044342041016 + ], + [ + 0.9428867101669312, + -0.028029175475239754, + -0.3319321572780609, + -42.64287185668945 + ], + [ + -0.03951718285679817, + -0.9988291263580322, + -0.027908936142921448, + -19.298908233642578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2759, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_342267274", + "mask_path": "../../mask/hdr_left_02759.png" + }, + { + "file_path": "../../rgb/hdr_left_02760.png", + "transform_matrix": [ + [ + -0.3161207139492035, + 0.039444323629140854, + -0.9478985667228699, + -34.7287712097168 + ], + [ + 0.9478928446769714, + -0.028553351759910583, + -0.3173069953918457, + -42.590850830078125 + ], + [ + -0.03958163782954216, + -0.998813807964325, + -0.028362685814499855, + -19.305253982543945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2760, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_442267417", + "mask_path": "../../mask/hdr_left_02760.png" + }, + { + "file_path": "../../rgb/hdr_left_02761.png", + "transform_matrix": [ + [ + -0.3074904680252075, + 0.05075379088521004, + -0.9501966238021851, + -34.77647399902344 + ], + [ + 0.9504968523979187, + -0.0306103453040123, + -0.30922260880470276, + -42.494659423828125 + ], + [ + -0.04478006437420845, + -0.9982420802116394, + -0.038828928023576736, + -19.32289695739746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2761, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_542268276", + "mask_path": "../../mask/hdr_left_02761.png" + }, + { + "file_path": "../../rgb/hdr_left_02762.png", + "transform_matrix": [ + [ + -0.3054558336734772, + 0.06686770170927048, + -0.949855387210846, + -34.82582092285156 + ], + [ + 0.9506797194480896, + -0.03504636883735657, + -0.3081880509853363, + -42.40342712402344 + ], + [ + -0.05389680713415146, + -0.9971461892127991, + -0.052864640951156616, + -19.33807945251465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2762, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_642267942", + "mask_path": "../../mask/hdr_left_02762.png" + }, + { + "file_path": "../../rgb/hdr_left_02763.png", + "transform_matrix": [ + [ + -0.3070041835308075, + 0.07220467180013657, + -0.9489651322364807, + -34.8661003112793 + ], + [ + 0.9499197602272034, + -0.03785143047571182, + -0.31019312143325806, + -42.33481216430664 + ], + [ + -0.05831708386540413, + -0.9966713786125183, + -0.056968092918395996, + -19.343158721923828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2763, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_742267608", + "mask_path": "../../mask/hdr_left_02763.png" + }, + { + "file_path": "../../rgb/hdr_left_02764.png", + "transform_matrix": [ + [ + -0.30796822905540466, + 0.06768476963043213, + -0.9489859342575073, + -34.916969299316406 + ], + [ + 0.949286162853241, + -0.0445396862924099, + -0.31124240159988403, + -42.24284744262695 + ], + [ + -0.0633338987827301, + -0.9967121481895447, + -0.050535403192043304, + -19.358177185058594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2764, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_842266798", + "mask_path": "../../mask/hdr_left_02764.png" + }, + { + "file_path": "../../rgb/hdr_left_02765.png", + "transform_matrix": [ + [ + -0.30240166187286377, + 0.06472142040729523, + -0.9509807825088501, + -34.97251510620117 + ], + [ + 0.9505758881568909, + -0.05322916805744171, + -0.3058956563472748, + -42.13330841064453 + ], + [ + -0.07041789591312408, + -0.996482789516449, + -0.04542602598667145, + -19.366849899291992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2765, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_942267656", + "mask_path": "../../mask/hdr_left_02765.png" + }, + { + "file_path": "../../rgb/hdr_left_02766.png", + "transform_matrix": [ + [ + -0.29152026772499084, + 0.06144673749804497, + -0.9545890092849731, + -35.005191802978516 + ], + [ + 0.9537782073020935, + -0.057442836463451385, + -0.29497018456459045, + -42.056854248046875 + ], + [ + -0.07295925170183182, + -0.9964560866355896, + -0.041860803961753845, + -19.371007919311523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2766, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_42267084", + "mask_path": "../../mask/hdr_left_02766.png" + }, + { + "file_path": "../../rgb/hdr_left_02767.png", + "transform_matrix": [ + [ + -0.27869758009910583, + 0.06353787332773209, + -0.9582747220993042, + -35.03876495361328 + ], + [ + 0.9578184485435486, + -0.05442359670996666, + -0.28217342495918274, + -41.988250732421875 + ], + [ + -0.0700814500451088, + -0.9964944124221802, + -0.04569002240896225, + -19.38913917541504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2767, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_142268180", + "mask_path": "../../mask/hdr_left_02767.png" + }, + { + "file_path": "../../rgb/hdr_left_02768.png", + "transform_matrix": [ + [ + -0.27413201332092285, + 0.06910967081785202, + -0.959205687046051, + -35.101165771484375 + ], + [ + 0.9590235948562622, + -0.054605454206466675, + -0.27801424264907837, + -41.876651763916016 + ], + [ + -0.0715913325548172, + -0.9961135387420654, + -0.05130869522690773, + -19.404409408569336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2768, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_242267370", + "mask_path": "../../mask/hdr_left_02768.png" + }, + { + "file_path": "../../rgb/hdr_left_02769.png", + "transform_matrix": [ + [ + -0.2755213975906372, + 0.07032810896635056, + -0.9587188363075256, + -35.15203857421875 + ], + [ + 0.9583441019058228, + -0.05798778310418129, + -0.2796674370765686, + -41.79172134399414 + ], + [ + -0.07526245713233948, + -0.9958370923995972, + -0.05142165347933769, + -19.411104202270508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2769, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_342267274", + "mask_path": "../../mask/hdr_left_02769.png" + }, + { + "file_path": "../../rgb/hdr_left_02770.png", + "transform_matrix": [ + [ + -0.27855151891708374, + 0.0643673837184906, + -0.9582619071006775, + -35.19296646118164 + ], + [ + 0.9574233889579773, + -0.060161713510751724, + -0.2823489308357239, + -41.72425842285156 + ], + [ + -0.07582473009824753, + -0.9961112141609192, + -0.04486870393157005, + -19.421001434326172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2770, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_442267417", + "mask_path": "../../mask/hdr_left_02770.png" + }, + { + "file_path": "../../rgb/hdr_left_02771.png", + "transform_matrix": [ + [ + -0.2773342430591583, + 0.060702405869960785, + -0.9588539600372314, + -35.24573516845703 + ], + [ + 0.9573888182640076, + -0.06623658537864685, + -0.2811037600040436, + -41.626712799072266 + ], + [ + -0.0805748775601387, + -0.9959558844566345, + -0.03974613547325134, + -19.43313217163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2771, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_542267322", + "mask_path": "../../mask/hdr_left_02771.png" + }, + { + "file_path": "../../rgb/hdr_left_02772.png", + "transform_matrix": [ + [ + -0.2699635922908783, + 0.053128503262996674, + -0.9614036083221436, + -35.29116439819336 + ], + [ + 0.9593229293823242, + -0.07078993320465088, + -0.27329131960868835, + -41.531124114990234 + ], + [ + -0.08257726579904556, + -0.9960753917694092, + -0.03185668960213661, + -19.432483673095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2772, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_642267227", + "mask_path": "../../mask/hdr_left_02772.png" + }, + { + "file_path": "../../rgb/hdr_left_02773.png", + "transform_matrix": [ + [ + -0.2595137059688568, + 0.045698340982198715, + -0.9646576642990112, + -35.3179931640625 + ], + [ + 0.9624572396278381, + -0.07004432380199432, + -0.26224005222320557, + -41.47593307495117 + ], + [ + -0.07955272495746613, + -0.9964966177940369, + -0.025805234909057617, + -19.437368392944336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2773, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_742267847", + "mask_path": "../../mask/hdr_left_02773.png" + }, + { + "file_path": "../../rgb/hdr_left_02774.png", + "transform_matrix": [ + [ + -0.2480081468820572, + 0.04334722459316254, + -0.9677876830101013, + -35.35981750488281 + ], + [ + 0.9660688638687134, + -0.06331588327884674, + -0.25040358304977417, + -41.39360427856445 + ], + [ + -0.07213062793016434, + -0.9970517754554749, + -0.02617354318499565, + -19.450593948364258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2774, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_842267274", + "mask_path": "../../mask/hdr_left_02774.png" + }, + { + "file_path": "../../rgb/hdr_left_02775.png", + "transform_matrix": [ + [ + -0.24540407955646515, + 0.05024553835391998, + -0.968117892742157, + -35.41527557373047 + ], + [ + 0.9668509364128113, + -0.05998330935835838, + -0.248196080327034, + -41.288475036621094 + ], + [ + -0.07054165005683899, + -0.9969339966773987, + -0.03385979309678078, + -19.45465850830078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2775, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_942268133", + "mask_path": "../../mask/hdr_left_02775.png" + }, + { + "file_path": "../../rgb/hdr_left_02776.png", + "transform_matrix": [ + [ + -0.24982795119285583, + 0.053013503551483154, + -0.9668379426002502, + -35.45598220825195 + ], + [ + 0.9656418561935425, + -0.06015810742974281, + -0.2528175115585327, + -41.21723937988281 + ], + [ + -0.07156587392091751, + -0.9967800974845886, + -0.03616287559270859, + -19.463733673095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2776, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_42268753", + "mask_path": "../../mask/hdr_left_02776.png" + }, + { + "file_path": "../../rgb/hdr_left_02777.png", + "transform_matrix": [ + [ + -0.2546812891960144, + 0.0460432730615139, + -0.9659281969070435, + -35.492225646972656 + ], + [ + 0.9645435214042664, + -0.059418387711048126, + -0.2571484446525574, + -41.1542854309082 + ], + [ + -0.06923384964466095, + -0.9971707463264465, + -0.029277987778186798, + -19.473018646240234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2777, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_142267942", + "mask_path": "../../mask/hdr_left_02777.png" + }, + { + "file_path": "../../rgb/hdr_left_02778.png", + "transform_matrix": [ + [ + -0.2516080439090729, + 0.045491836965084076, + -0.966759443283081, + -35.54053497314453 + ], + [ + 0.9651991724967957, + -0.06179564446210861, + -0.25410982966423035, + -41.054107666015625 + ], + [ + -0.07130143791437149, + -0.9970516562461853, + -0.028360391035676003, + -19.47942352294922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2778, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_242268562", + "mask_path": "../../mask/hdr_left_02778.png" + }, + { + "file_path": "../../rgb/hdr_left_02779.png", + "transform_matrix": [ + [ + -0.2426087111234665, + 0.04329676926136017, + -0.9691575765609741, + -35.57978820800781 + ], + [ + 0.9674410820007324, + -0.06345067173242569, + -0.24501365423202515, + -40.959205627441406 + ], + [ + -0.07210200279951096, + -0.9970453977584839, + -0.026493383571505547, + -19.479305267333984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2779, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_342267274", + "mask_path": "../../mask/hdr_left_02779.png" + }, + { + "file_path": "../../rgb/hdr_left_02780.png", + "transform_matrix": [ + [ + -0.23068292438983917, + 0.03654158115386963, + -0.9723426103591919, + -35.609153747558594 + ], + [ + 0.9706453084945679, + -0.06126144900918007, + -0.23258252441883087, + -40.896728515625 + ], + [ + -0.06806604564189911, + -0.9974527359008789, + -0.021336941048502922, + -19.484880447387695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2780, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_442268133", + "mask_path": "../../mask/hdr_left_02780.png" + }, + { + "file_path": "../../rgb/hdr_left_02781.png", + "transform_matrix": [ + [ + -0.22109778225421906, + 0.04092970862984657, + -0.9743924140930176, + -35.65656280517578 + ], + [ + 0.9730567336082458, + -0.05773426592350006, + -0.2232198566198349, + -40.79920196533203 + ], + [ + -0.0653921514749527, + -0.9974927306175232, + -0.027062013745307922, + -19.498432159423828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2781, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_542268276", + "mask_path": "../../mask/hdr_left_02781.png" + }, + { + "file_path": "../../rgb/hdr_left_02782.png", + "transform_matrix": [ + [ + -0.22025561332702637, + 0.050104398280382156, + -0.974154531955719, + -35.706298828125 + ], + [ + 0.9731418490409851, + -0.05725909397006035, + -0.22297170758247375, + -40.69920349121094 + ], + [ + -0.06695106625556946, + -0.9971013069152832, + -0.03614703565835953, + -19.51072883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2782, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_642268657", + "mask_path": "../../mask/hdr_left_02782.png" + }, + { + "file_path": "../../rgb/hdr_left_02783.png", + "transform_matrix": [ + [ + -0.2238345742225647, + 0.05144498497247696, + -0.973268449306488, + -35.74430847167969 + ], + [ + 0.9723559617996216, + -0.05634623020887375, + -0.22660307586193085, + -40.62815475463867 + ], + [ + -0.06649759411811829, + -0.9970850348472595, + -0.03741059824824333, + -19.516544342041016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2783, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_742268323", + "mask_path": "../../mask/hdr_left_02783.png" + }, + { + "file_path": "../../rgb/hdr_left_02784.png", + "transform_matrix": [ + [ + -0.2252364307641983, + 0.0457528755068779, + -0.9732292294502258, + -35.78400421142578 + ], + [ + 0.9720627069473267, + -0.057163264602422714, + -0.22765383124351501, + -40.550968170166016 + ], + [ + -0.06604877859354019, + -0.9973159432411194, + -0.031599413603544235, + -19.53041648864746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2784, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_842267513", + "mask_path": "../../mask/hdr_left_02784.png" + }, + { + "file_path": "../../rgb/hdr_left_02785.png", + "transform_matrix": [ + [ + -0.21882782876491547, + 0.04608362540602684, + -0.9746747016906738, + -35.82795333862305 + ], + [ + 0.9732866287231445, + -0.0608169324696064, + -0.22139176726341248, + -40.45281982421875 + ], + [ + -0.06947924941778183, + -0.9970846772193909, + -0.03154413774609566, + -19.529624938964844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2785, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_942267417", + "mask_path": "../../mask/hdr_left_02785.png" + }, + { + "file_path": "../../rgb/hdr_left_02786.png", + "transform_matrix": [ + [ + -0.20975752174854279, + 0.04520537704229355, + -0.9767078757286072, + -35.85717010498047 + ], + [ + 0.9752556681632996, + -0.06168395280838013, + -0.21230055391788483, + -40.375518798828125 + ], + [ + -0.0698443278670311, + -0.9970715045928955, + -0.031148120760917664, + -19.52752685546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2786, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_42267084", + "mask_path": "../../mask/hdr_left_02786.png" + }, + { + "file_path": "../../rgb/hdr_left_02787.png", + "transform_matrix": [ + [ + -0.19878749549388885, + 0.039476241916418076, + -0.9792473316192627, + -35.877830505371094 + ], + [ + 0.9778665900230408, + -0.058557212352752686, + -0.2008678913116455, + -40.31889724731445 + ], + [ + -0.06527149677276611, + -0.9975032806396484, + -0.026962049305438995, + -19.53211212158203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2787, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_142267465", + "mask_path": "../../mask/hdr_left_02787.png" + }, + { + "file_path": "../../rgb/hdr_left_02788.png", + "transform_matrix": [ + [ + -0.19106438755989075, + 0.04285096004605293, + -0.9806416630744934, + -35.91764831542969 + ], + [ + 0.9794602990150452, + -0.05725730583071709, + -0.19333620369434357, + -40.224220275878906 + ], + [ + -0.06443353742361069, + -0.997439444065094, + -0.031030982732772827, + -19.543745040893555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2788, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_242266893", + "mask_path": "../../mask/hdr_left_02788.png" + }, + { + "file_path": "../../rgb/hdr_left_02789.png", + "transform_matrix": [ + [ + -0.18829672038555145, + 0.051166098564863205, + -0.9807784557342529, + -35.95643997192383 + ], + [ + 0.9797479510307312, + -0.059465035796165466, + -0.1912011057138443, + -40.12751770019531 + ], + [ + -0.068105049431324, + -0.996918261051178, + -0.03893280401825905, + -19.559246063232422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2789, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_342266082", + "mask_path": "../../mask/hdr_left_02789.png" + }, + { + "file_path": "../../rgb/hdr_left_02790.png", + "transform_matrix": [ + [ + -0.18910478055477142, + 0.05168524384498596, + -0.9805957078933716, + -35.98788833618164 + ], + [ + 0.9795092344284058, + -0.06053532660007477, + -0.19208596646785736, + -40.056312561035156 + ], + [ + -0.06928868591785431, + -0.9968270063400269, + -0.03917865455150604, + -19.56613540649414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2790, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_442266225", + "mask_path": "../../mask/hdr_left_02790.png" + }, + { + "file_path": "../../rgb/hdr_left_02791.png", + "transform_matrix": [ + [ + -0.18930070102214813, + 0.04688986390829086, + -0.9807989597320557, + -36.027095794677734 + ], + [ + 0.9794358015060425, + -0.06197698414325714, + -0.1920005977153778, + -39.972206115722656 + ], + [ + -0.0697898343205452, + -0.9969755411148071, + -0.03419332951307297, + -19.57485580444336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2791, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_542267322", + "mask_path": "../../mask/hdr_left_02791.png" + }, + { + "file_path": "../../rgb/hdr_left_02792.png", + "transform_matrix": [ + [ + -0.18234118819236755, + 0.043066658079624176, + -0.9822916984558105, + -36.06686782836914 + ], + [ + 0.9805610775947571, + -0.0656675472855568, + -0.1848989874124527, + -39.8610725402832 + ], + [ + -0.07246767729520798, + -0.9969117641448975, + -0.03025558590888977, + -19.576398849487305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2792, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_642267227", + "mask_path": "../../mask/hdr_left_02792.png" + }, + { + "file_path": "../../rgb/hdr_left_02793.png", + "transform_matrix": [ + [ + -0.1724500209093094, + 0.03696779906749725, + -0.9843242764472961, + -36.09321975708008 + ], + [ + 0.9822974801063538, + -0.06776785850524902, + -0.17464004456996918, + -39.78211212158203 + ], + [ + -0.07316160202026367, + -0.9970160722732544, + -0.024626802653074265, + -19.579078674316406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2793, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_742267847", + "mask_path": "../../mask/hdr_left_02793.png" + }, + { + "file_path": "../../rgb/hdr_left_02794.png", + "transform_matrix": [ + [ + -0.1607697606086731, + 0.032036956399679184, + -0.9864718914031982, + -36.111148834228516 + ], + [ + 0.9846838116645813, + -0.0631064772605896, + -0.16252784430980682, + -39.72976303100586 + ], + [ + -0.06745965033769608, + -0.9974925518035889, + -0.021400652825832367, + -19.58729362487793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2794, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_842267036", + "mask_path": "../../mask/hdr_left_02794.png" + }, + { + "file_path": "../../rgb/hdr_left_02795.png", + "transform_matrix": [ + [ + -0.1549510955810547, + 0.03792886435985565, + -0.9871938228607178, + -36.15376281738281 + ], + [ + 0.9856842160224915, + -0.06128622218966484, + -0.15706881880760193, + -39.622108459472656 + ], + [ + -0.0664588212966919, + -0.9973993301391602, + -0.027889514341950417, + -19.59909439086914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2795, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_942267417", + "mask_path": "../../mask/hdr_left_02795.png" + }, + { + "file_path": "../../rgb/hdr_left_02796.png", + "transform_matrix": [ + [ + -0.15586228668689728, + 0.04198766499757767, + -0.9868860244750977, + -36.19564437866211 + ], + [ + 0.9854249954223633, + -0.062321990728378296, + -0.15828309953212738, + -39.525413513183594 + ], + [ + -0.06815062463283539, + -0.9971725940704346, + -0.031662046909332275, + -19.611995697021484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2796, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_42267084", + "mask_path": "../../mask/hdr_left_02796.png" + }, + { + "file_path": "../../rgb/hdr_left_02797.png", + "transform_matrix": [ + [ + -0.1584227979183197, + 0.03798634931445122, + -0.986640453338623, + -36.2239875793457 + ], + [ + 0.9850472211837769, + -0.06244215741753578, + -0.1605711132287979, + -39.45845413208008 + ], + [ + -0.06770746409893036, + -0.9973254799842834, + -0.027526075020432472, + -19.614639282226562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2797, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_142266988", + "mask_path": "../../mask/hdr_left_02797.png" + }, + { + "file_path": "../../rgb/hdr_left_02798.png", + "transform_matrix": [ + [ + -0.15721078217029572, + 0.033283788710832596, + -0.9870039820671082, + -36.25883483886719 + ], + [ + 0.9849324226379395, + -0.06764255464076996, + -0.15916191041469574, + -39.369049072265625 + ], + [ + -0.07206099480390549, + -0.9971543550491333, + -0.022148139774799347, + -19.62984275817871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2798, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_242266893", + "mask_path": "../../mask/hdr_left_02798.png" + }, + { + "file_path": "../../rgb/hdr_left_02799.png", + "transform_matrix": [ + [ + -0.15015806257724762, + 0.028590811416506767, + -0.9882484674453735, + -36.29233169555664 + ], + [ + 0.9857692122459412, + -0.07208012789487839, + -0.15186670422554016, + -39.269752502441406 + ], + [ + -0.07557506114244461, + -0.9969890117645264, + -0.01736052893102169, + -19.63359260559082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2799, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_342268705", + "mask_path": "../../mask/hdr_left_02799.png" + }, + { + "file_path": "../../rgb/hdr_left_02800.png", + "transform_matrix": [ + [ + -0.14285844564437866, + 0.021670158952474594, + -0.9895058274269104, + -36.311927795410156 + ], + [ + 0.9868627786636353, + -0.07309898734092712, + -0.14407773315906525, + -39.203739166259766 + ], + [ + -0.07545406371355057, + -0.9970893263816833, + -0.010942656546831131, + -19.63243293762207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2800, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_442267179", + "mask_path": "../../mask/hdr_left_02800.png" + }, + { + "file_path": "../../rgb/hdr_left_02801.png", + "transform_matrix": [ + [ + -0.1341189444065094, + 0.01931597664952278, + -0.9907768964767456, + -36.3343620300293 + ], + [ + 0.9885261654853821, + -0.0674959123134613, + -0.1351301521062851, + -39.134498596191406 + ], + [ + -0.06948356330394745, + -0.9975326061248779, + -0.010041862726211548, + -19.63967514038086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2801, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_542269229", + "mask_path": "../../mask/hdr_left_02801.png" + }, + { + "file_path": "../../rgb/hdr_left_02802.png", + "transform_matrix": [ + [ + -0.1305190920829773, + 0.025999391451478004, + -0.991104781627655, + -36.37377166748047 + ], + [ + 0.9889808893203735, + -0.06703202426433563, + -0.13199780881404877, + -39.024627685546875 + ], + [ + -0.06986761838197708, + -0.9974120855331421, + -0.016963932663202286, + -19.65277671813965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2802, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_642267704", + "mask_path": "../../mask/hdr_left_02802.png" + }, + { + "file_path": "../../rgb/hdr_left_02803.png", + "transform_matrix": [ + [ + -0.13233378529548645, + 0.03194072097539902, + -0.9906904101371765, + -36.4055290222168 + ], + [ + 0.9886336922645569, + -0.06769369542598724, + -0.13424162566661835, + -38.93986511230469 + ], + [ + -0.07135126739740372, + -0.9971948266029358, + -0.02261951006948948, + -19.664047241210938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2803, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_742267370", + "mask_path": "../../mask/hdr_left_02803.png" + }, + { + "file_path": "../../rgb/hdr_left_02804.png", + "transform_matrix": [ + [ + -0.13562653958797455, + 0.0304099153727293, + -0.9902932643890381, + -36.42836380004883 + ], + [ + 0.9883554577827454, + -0.06544260680675507, + -0.13737082481384277, + -38.87654113769531 + ], + [ + -0.06898480653762817, + -0.9973928332328796, + -0.021180052310228348, + -19.67088508605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2804, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_842267513", + "mask_path": "../../mask/hdr_left_02804.png" + }, + { + "file_path": "../../rgb/hdr_left_02805.png", + "transform_matrix": [ + [ + -0.1343691647052765, + 0.030991211533546448, + -0.9904465675354004, + -36.46072769165039 + ], + [ + 0.9884200096130371, + -0.06692326813936234, + -0.13618826866149902, + -38.785064697265625 + ], + [ + -0.07050454616546631, + -0.9972767233848572, + -0.021639904007315636, + -19.68182373046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2805, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_942267656", + "mask_path": "../../mask/hdr_left_02805.png" + }, + { + "file_path": "../../rgb/hdr_left_02806.png", + "transform_matrix": [ + [ + -0.12750564515590668, + 0.028863737359642982, + -0.9914178252220154, + -36.48451614379883 + ], + [ + 0.9893892407417297, + -0.06649191677570343, + -0.12918061017990112, + -38.6901969909668 + ], + [ + -0.06964989751577377, + -0.9973694086074829, + -0.020079374313354492, + -19.67354965209961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2806, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_42268514", + "mask_path": "../../mask/hdr_left_02806.png" + }, + { + "file_path": "../../rgb/hdr_left_02807.png", + "transform_matrix": [ + [ + -0.11759405583143234, + 0.02401600405573845, + -0.9927712678909302, + -36.50204086303711 + ], + [ + 0.9909433722496033, + -0.062424831092357635, + -0.11888765543699265, + -38.616485595703125 + ], + [ + -0.0648287832736969, + -0.9977607727050781, + -0.016457710415124893, + -19.670446395874023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2807, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_142266988", + "mask_path": "../../mask/hdr_left_02807.png" + }, + { + "file_path": "../../rgb/hdr_left_02808.png", + "transform_matrix": [ + [ + -0.1085667684674263, + 0.021720465272665024, + -0.9938518404960632, + -36.52550506591797 + ], + [ + 0.9924067854881287, + -0.05577167123556137, + -0.1096278503537178, + -38.53847122192383 + ], + [ + -0.057809941470623016, + -0.9982073307037354, + -0.015500582754611969, + -19.682193756103516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2808, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_242267131", + "mask_path": "../../mask/hdr_left_02808.png" + }, + { + "file_path": "../../rgb/hdr_left_02809.png", + "transform_matrix": [ + [ + -0.10996539145708084, + 0.028106804937124252, + -0.9935379028320312, + -36.56400680541992 + ], + [ + 0.9923198223114014, + -0.05386611446738243, + -0.11135446280241013, + -38.42821502685547 + ], + [ + -0.05664784088730812, + -0.9981525540351868, + -0.021967532113194466, + -19.68909454345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2809, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_342267751", + "mask_path": "../../mask/hdr_left_02809.png" + }, + { + "file_path": "../../rgb/hdr_left_02810.png", + "transform_matrix": [ + [ + -0.11870571225881577, + 0.03365802392363548, + -0.9923588633537292, + -36.59490203857422 + ], + [ + 0.9912800788879395, + -0.053564172238111496, + -0.12039344757795334, + -38.346981048583984 + ], + [ + -0.05720708146691322, + -0.997996985912323, + -0.027006151154637337, + -19.698028564453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2810, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_442266941", + "mask_path": "../../mask/hdr_left_02810.png" + }, + { + "file_path": "../../rgb/hdr_left_02811.png", + "transform_matrix": [ + [ + -0.1303495168685913, + 0.030262166634202003, + -0.9910061359405518, + -36.6160774230957 + ], + [ + 0.9898912906646729, + -0.05237668752670288, + -0.13180230557918549, + -38.2841796875 + ], + [ + -0.055894237011671066, + -0.9981688261032104, + -0.023128977045416832, + -19.70809555053711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2811, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_542267322", + "mask_path": "../../mask/hdr_left_02811.png" + }, + { + "file_path": "../../rgb/hdr_left_02812.png", + "transform_matrix": [ + [ + -0.14056138694286346, + 0.02756989374756813, + -0.989687979221344, + -36.649452209472656 + ], + [ + 0.988306999206543, + -0.05575377866625786, + -0.14191843569278717, + -38.182884216308594 + ], + [ + -0.05909151956439018, + -0.9980639219284058, + -0.01941068470478058, + -19.710819244384766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2812, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_642267465", + "mask_path": "../../mask/hdr_left_02812.png" + }, + { + "file_path": "../../rgb/hdr_left_02813.png", + "transform_matrix": [ + [ + -0.14581242203712463, + 0.0231682937592268, + -0.9890408515930176, + -36.680259704589844 + ], + [ + 0.9875683784484863, + -0.05592349171638489, + -0.1469053477048874, + -38.08799743652344 + ], + [ + -0.05871416628360748, + -0.9981662631034851, + -0.01472593192011118, + -19.706518173217773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2813, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_742266893", + "mask_path": "../../mask/hdr_left_02813.png" + }, + { + "file_path": "../../rgb/hdr_left_02814.png", + "transform_matrix": [ + [ + -0.14778859913349152, + 0.016321934759616852, + -0.9888842701911926, + -36.698829650878906 + ], + [ + 0.9875155687332153, + -0.05267235264182091, + -0.1484534740447998, + -38.030025482177734 + ], + [ + -0.054509904235601425, + -0.9984784722328186, + -0.008333786390721798, + -19.708650588989258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2814, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_842266798", + "mask_path": "../../mask/hdr_left_02814.png" + }, + { + "file_path": "../../rgb/hdr_left_02815.png", + "transform_matrix": [ + [ + -0.15149091184139252, + 0.01412589568644762, + -0.988357663154602, + -36.72977066040039 + ], + [ + 0.9871742725372314, + -0.04879317432641983, + -0.1520068645477295, + -37.95322799682617 + ], + [ + -0.05037233978509903, + -0.9987090229988098, + -0.0065529970452189445, + -19.720720291137695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2815, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_942267417", + "mask_path": "../../mask/hdr_left_02815.png" + }, + { + "file_path": "../../rgb/hdr_left_02816.png", + "transform_matrix": [ + [ + -0.1653713881969452, + 0.020023660734295845, + -0.9860280156135559, + -36.77451705932617 + ], + [ + 0.9849417805671692, + -0.04775698482990265, + -0.16615904867649078, + -37.85192108154297 + ], + [ + -0.05041683837771416, + -0.9986583590507507, + -0.011824500747025013, + -19.72709083557129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2816, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_42267084", + "mask_path": "../../mask/hdr_left_02816.png" + }, + { + "file_path": "../../rgb/hdr_left_02817.png", + "transform_matrix": [ + [ + -0.1829167902469635, + 0.023080354556441307, + -0.9828574657440186, + -36.8088493347168 + ], + [ + 0.9818734526634216, + -0.04620705172419548, + -0.1838187873363495, + -37.78108596801758 + ], + [ + -0.049657538533210754, + -0.9986652135848999, + -0.01420994196087122, + -19.730403900146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2817, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_142266988", + "mask_path": "../../mask/hdr_left_02817.png" + }, + { + "file_path": "../../rgb/hdr_left_02818.png", + "transform_matrix": [ + [ + -0.19932018220424652, + 0.01543461810797453, + -0.9798129200935364, + -36.84177017211914 + ], + [ + 0.9787471294403076, + -0.04606784135103226, + -0.19982914626598358, + -37.71389389038086 + ], + [ + -0.048222146928310394, + -0.9988190531730652, + -0.005924338474869728, + -19.740955352783203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2818, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_242267608", + "mask_path": "../../mask/hdr_left_02818.png" + }, + { + "file_path": "../../rgb/hdr_left_02819.png", + "transform_matrix": [ + [ + -0.20785430073738098, + 0.009768893010914326, + -0.9781109690666199, + -36.88730239868164 + ], + [ + 0.97661292552948, + -0.05414024740457535, + -0.20807670056819916, + -37.6090202331543 + ], + [ + -0.054987844079732895, + -0.9984856247901917, + 0.0017128579784184694, + -19.74062728881836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2819, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_342266798", + "mask_path": "../../mask/hdr_left_02819.png" + }, + { + "file_path": "../../rgb/hdr_left_02820.png", + "transform_matrix": [ + [ + -0.21087437868118286, + 0.002798507222905755, + -0.9775091409683228, + -36.923030853271484 + ], + [ + 0.9758209586143494, + -0.05821230262517929, + -0.2106768786907196, + -37.52402877807617 + ], + [ + -0.05749262869358063, + -0.9983003735542297, + 0.009544645436108112, + -19.7347469329834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2820, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_442268371", + "mask_path": "../../mask/hdr_left_02820.png" + }, + { + "file_path": "../../rgb/hdr_left_02821.png", + "transform_matrix": [ + [ + -0.21141943335533142, + -0.006734639871865511, + -0.9773721694946289, + -36.94673156738281 + ], + [ + 0.9759207367897034, + -0.05636484548449516, + -0.21071703732013702, + -37.472068786621094 + ], + [ + -0.05367032438516617, + -0.9983875751495361, + 0.01848909817636013, + -19.73828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2821, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_542268276", + "mask_path": "../../mask/hdr_left_02821.png" + }, + { + "file_path": "../../rgb/hdr_left_02822.png", + "transform_matrix": [ + [ + -0.2150462120771408, + -0.0018001599237322807, + -0.9766021370887756, + -36.993934631347656 + ], + [ + 0.975124180316925, + -0.05542255565524101, + -0.21461857855319977, + -37.37507247924805 + ], + [ + -0.05373943969607353, + -0.9984614253044128, + 0.013673795387148857, + -19.75078582763672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2822, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_642268657", + "mask_path": "../../mask/hdr_left_02822.png" + }, + { + "file_path": "../../rgb/hdr_left_02823.png", + "transform_matrix": [ + [ + -0.2262437492609024, + 0.009350957348942757, + -0.9740258455276489, + -37.047630310058594 + ], + [ + 0.9724488258361816, + -0.05551111698150635, + -0.2264104187488556, + -37.27516174316406 + ], + [ + -0.056186411529779434, + -0.9984142780303955, + 0.0034657169599086046, + -19.765886306762695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2823, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_742267370", + "mask_path": "../../mask/hdr_left_02823.png" + }, + { + "file_path": "../../rgb/hdr_left_02824.png", + "transform_matrix": [ + [ + -0.23796838521957397, + 0.013495040126144886, + -0.971179187297821, + -37.08448028564453 + ], + [ + 0.9696323275566101, + -0.054790519177913666, + -0.2383507639169693, + -37.21084213256836 + ], + [ + -0.056427959352731705, + -0.998406708240509, + -4.681018617702648e-05, + -19.770763397216797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2824, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_842268228", + "mask_path": "../../mask/hdr_left_02824.png" + }, + { + "file_path": "../../rgb/hdr_left_02825.png", + "transform_matrix": [ + [ + -0.2457878440618515, + 0.009651078842580318, + -0.9692755341529846, + -37.12018585205078 + ], + [ + 0.9677053689956665, + -0.0553131178021431, + -0.2459404468536377, + -37.14314651489258 + ], + [ + -0.05598725005984306, + -0.9984224438667297, + 0.004255895037204027, + -19.779314041137695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2825, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_942266941", + "mask_path": "../../mask/hdr_left_02825.png" + }, + { + "file_path": "../../rgb/hdr_left_02826.png", + "transform_matrix": [ + [ + -0.24410203099250793, + 0.010611765086650848, + -0.9696915149688721, + -37.16335678100586 + ], + [ + 0.9680805206298828, + -0.05597318336367607, + -0.2443091720342636, + -37.03908157348633 + ], + [ + -0.0568692609667778, + -0.9983758926391602, + 0.0033901268616318703, + -19.775270462036133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2826, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_42267560", + "mask_path": "../../mask/hdr_left_02826.png" + }, + { + "file_path": "../../rgb/hdr_left_02827.png", + "transform_matrix": [ + [ + -0.23542845249176025, + 0.00742150517180562, + -0.9718632698059082, + -37.19346237182617 + ], + [ + 0.9702900052070618, + -0.0555911511182785, + -0.23547185957431793, + -36.96134567260742 + ], + [ + -0.05577455088496208, + -0.9984260201454163, + 0.0058867307379841805, + -19.76906967163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2827, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_142267704", + "mask_path": "../../mask/hdr_left_02827.png" + }, + { + "file_path": "../../rgb/hdr_left_02828.png", + "transform_matrix": [ + [ + -0.22396759688854218, + 0.004343133419752121, + -0.9745869040489197, + -37.21514129638672 + ], + [ + 0.9732902646064758, + -0.05076126381754875, + -0.2238958328962326, + -36.908172607421875 + ], + [ + -0.05044367536902428, + -0.9987014532089233, + 0.0071417526341974735, + -19.774656295776367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2828, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_242268085", + "mask_path": "../../mask/hdr_left_02828.png" + }, + { + "file_path": "../../rgb/hdr_left_02829.png", + "transform_matrix": [ + [ + -0.21706721186637878, + 0.015018104575574398, + -0.9760410785675049, + -37.259559631347656 + ], + [ + 0.9748762249946594, + -0.04785973206162453, + -0.2175445705652237, + -36.80665969848633 + ], + [ + -0.04998016729950905, + -0.9987412095069885, + -0.0042520142160356045, + -19.78282356262207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2829, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_342268228", + "mask_path": "../../mask/hdr_left_02829.png" + }, + { + "file_path": "../../rgb/hdr_left_02830.png", + "transform_matrix": [ + [ + -0.21675781905651093, + 0.026839928701519966, + -0.9758563041687012, + -37.30231857299805 + ], + [ + 0.9748193621635437, + -0.047681014984846115, + -0.217838853597641, + -36.71550750732422 + ], + [ + -0.05237659811973572, + -0.9985020160675049, + -0.015828846022486687, + -19.79689598083496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2830, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_442267417", + "mask_path": "../../mask/hdr_left_02830.png" + }, + { + "file_path": "../../rgb/hdr_left_02831.png", + "transform_matrix": [ + [ + -0.21867406368255615, + 0.030384235084056854, + -0.975324809551239, + -37.33135986328125 + ], + [ + 0.9743950366973877, + -0.04677610471844673, + -0.21992285549640656, + -36.652217864990234 + ], + [ + -0.05230407789349556, + -0.9984433054924011, + -0.01937752217054367, + -19.808103561401367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2831, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_542267322", + "mask_path": "../../mask/hdr_left_02831.png" + }, + { + "file_path": "../../rgb/hdr_left_02832.png", + "transform_matrix": [ + [ + -0.21853308379650116, + 0.029921693727374077, + -0.9753707051277161, + -37.36845016479492 + ], + [ + 0.9743604063987732, + -0.048135265707969666, + -0.2197834700345993, + -36.56450271606445 + ], + [ + -0.05352602154016495, + -0.9983925819396973, + -0.01863536424934864, + -19.816869735717773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2832, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_642268657", + "mask_path": "../../mask/hdr_left_02832.png" + }, + { + "file_path": "../../rgb/hdr_left_02833.png", + "transform_matrix": [ + [ + -0.21051308512687683, + 0.027942920103669167, + -0.9771916270256042, + -37.40556716918945 + ], + [ + 0.9759907722473145, + -0.05116405338048935, + -0.21171745657920837, + -36.46108627319336 + ], + [ + -0.055913086980581284, + -0.9982993006706238, + -0.016501324251294136, + -19.81418800354004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2833, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_742267847", + "mask_path": "../../mask/hdr_left_02833.png" + }, + { + "file_path": "../../rgb/hdr_left_02834.png", + "transform_matrix": [ + [ + -0.19902925193309784, + 0.0230768583714962, + -0.9797218441963196, + -37.42539596557617 + ], + [ + 0.9784666299819946, + -0.051105957478284836, + -0.1999780386686325, + -36.3952522277832 + ], + [ + -0.05468447878956795, + -0.998426616191864, + -0.012408352456986904, + -19.814735412597656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2834, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_842267513", + "mask_path": "../../mask/hdr_left_02834.png" + }, + { + "file_path": "../../rgb/hdr_left_02835.png", + "transform_matrix": [ + [ + -0.18747170269489288, + 0.02118801325559616, + -0.9820414185523987, + -37.442481994628906 + ], + [ + 0.9810822606086731, + -0.045111607760190964, + -0.18826188147068024, + -36.337440490722656 + ], + [ + -0.04829036444425583, + -0.9987572431564331, + -0.012330028228461742, + -19.82297134399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2835, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_942267656", + "mask_path": "../../mask/hdr_left_02835.png" + }, + { + "file_path": "../../rgb/hdr_left_02836.png", + "transform_matrix": [ + [ + -0.18249572813510895, + 0.03045363537967205, + -0.9827349185943604, + -37.48139572143555 + ], + [ + 0.981924295425415, + -0.045385830104351044, + -0.18375164270401, + -36.23272705078125 + ], + [ + -0.05019814148545265, + -0.9985052347183228, + -0.021620437502861023, + -19.82856559753418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2836, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_42267560", + "mask_path": "../../mask/hdr_left_02836.png" + }, + { + "file_path": "../../rgb/hdr_left_02837.png", + "transform_matrix": [ + [ + -0.18390528857707977, + 0.038776930421590805, + -0.9821787476539612, + -37.518150329589844 + ], + [ + 0.981500506401062, + -0.04688645526766777, + -0.18562938272953033, + -36.1459846496582 + ], + [ + -0.053249020129442215, + -0.9981473684310913, + -0.029436910524964333, + -19.835996627807617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2837, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_142268419", + "mask_path": "../../mask/hdr_left_02837.png" + }, + { + "file_path": "../../rgb/hdr_left_02838.png", + "transform_matrix": [ + [ + -0.18725591897964478, + 0.03842749074101448, + -0.9815593361854553, + -37.54520034790039 + ], + [ + 0.9808987975120544, + -0.04625006765127182, + -0.18894056975841522, + -36.08281707763672 + ], + [ + -0.05265768989920616, + -0.9981905221939087, + -0.029032878577709198, + -19.84056282043457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2838, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_242268800", + "mask_path": "../../mask/hdr_left_02838.png" + }, + { + "file_path": "../../rgb/hdr_left_02839.png", + "transform_matrix": [ + [ + -0.1879645586013794, + 0.038091935217380524, + -0.9814368486404419, + -37.58023452758789 + ], + [ + 0.9807484745979309, + -0.04657232388854027, + -0.1896403282880783, + -35.99446487426758 + ], + [ + -0.05293155834078789, + -0.9981884360313416, + -0.028604652732610703, + -19.852134704589844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2839, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_342267513", + "mask_path": "../../mask/hdr_left_02839.png" + }, + { + "file_path": "../../rgb/hdr_left_02840.png", + "transform_matrix": [ + [ + -0.18067613244056702, + 0.0343143455684185, + -0.9829438924789429, + -37.61199188232422 + ], + [ + 0.9822477102279663, + -0.044971831142902374, + -0.18211811780929565, + -35.89175796508789 + ], + [ + -0.05045405402779579, + -0.9983987808227539, + -0.025579847395420074, + -19.846792221069336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2840, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_442268133", + "mask_path": "../../mask/hdr_left_02840.png" + }, + { + "file_path": "../../rgb/hdr_left_02841.png", + "transform_matrix": [ + [ + -0.16973213851451874, + 0.026233220472931862, + -0.9851409792900085, + -37.632686614990234 + ], + [ + 0.9843538999557495, + -0.043478213250637054, + -0.1707543134689331, + -35.82413864135742 + ], + [ + -0.04731159657239914, + -0.9987099766731262, + -0.018443118780851364, + -19.84279441833496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2841, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_542267799", + "mask_path": "../../mask/hdr_left_02841.png" + }, + { + "file_path": "../../rgb/hdr_left_02842.png", + "transform_matrix": [ + [ + -0.15874448418617249, + 0.023499654605984688, + -0.9870400428771973, + -37.65440368652344 + ], + [ + 0.986483097076416, + -0.037370167672634125, + -0.1595447063446045, + -35.76129150390625 + ], + [ + -0.04063509404659271, + -0.9990251660346985, + -0.017249703407287598, + -19.846385955810547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2842, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_642267227", + "mask_path": "../../mask/hdr_left_02842.png" + }, + { + "file_path": "../../rgb/hdr_left_02843.png", + "transform_matrix": [ + [ + -0.15784773230552673, + 0.02829129248857498, + -0.9870581030845642, + -37.69310760498047 + ], + [ + 0.9865815043449402, + -0.037717144936323166, + -0.15885260701179504, + -35.65902328491211 + ], + [ + -0.041723158210515976, + -0.9988879561424255, + -0.02195809967815876, + -19.85620880126953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2843, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_742267370", + "mask_path": "../../mask/hdr_left_02843.png" + }, + { + "file_path": "../../rgb/hdr_left_02844.png", + "transform_matrix": [ + [ + -0.16239450871944427, + 0.032843247056007385, + -0.9861791729927063, + -37.72685623168945 + ], + [ + 0.9857537150382996, + -0.0389552041888237, + -0.16362178325653076, + -35.5760612487793 + ], + [ + -0.043790675699710846, + -0.9987010955810547, + -0.026049241423606873, + -19.866905212402344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2844, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_842267036", + "mask_path": "../../mask/hdr_left_02844.png" + }, + { + "file_path": "../../rgb/hdr_left_02845.png", + "transform_matrix": [ + [ + -0.16623540222644806, + 0.029897723346948624, + -0.9856327176094055, + -37.75096893310547 + ], + [ + 0.9851883053779602, + -0.03760756924748421, + -0.1673012226819992, + -35.50713348388672 + ], + [ + -0.04206917807459831, + -0.9988452792167664, + -0.02320317178964615, + -19.875356674194336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2845, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_942267894", + "mask_path": "../../mask/hdr_left_02845.png" + }, + { + "file_path": "../../rgb/hdr_left_02846.png", + "transform_matrix": [ + [ + -0.1636481136083603, + 0.02898443676531315, + -0.9860928654670715, + -37.78562545776367 + ], + [ + 0.9854239821434021, + -0.0422758050262928, + -0.16477970778942108, + -35.405818939208984 + ], + [ + -0.04646391049027443, + -0.9986854791641235, + -0.02164360135793686, + -19.880176544189453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2846, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_42267560", + "mask_path": "../../mask/hdr_left_02846.png" + }, + { + "file_path": "../../rgb/hdr_left_02847.png", + "transform_matrix": [ + [ + -0.15738935768604279, + 0.02866324968636036, + -0.9871205687522888, + -37.81269454956055 + ], + [ + 0.9864118695259094, + -0.04313073307275772, + -0.15852877497673035, + -35.31507873535156 + ], + [ + -0.04711918160319328, + -0.998658299446106, + -0.021485451608896255, + -19.875865936279297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2847, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_142266988", + "mask_path": "../../mask/hdr_left_02847.png" + }, + { + "file_path": "../../rgb/hdr_left_02848.png", + "transform_matrix": [ + [ + -0.15042877197265625, + 0.021768376231193542, + -0.9883812665939331, + -37.829524993896484 + ], + [ + 0.9876996874809265, + -0.03983943164348602, + -0.15120254456996918, + -35.25925827026367 + ], + [ + -0.042667973786592484, + -0.9989690184593201, + -0.01550761517137289, + -19.875408172607422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2848, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_242270231", + "mask_path": "../../mask/hdr_left_02848.png" + }, + { + "file_path": "../../rgb/hdr_left_02849.png", + "transform_matrix": [ + [ + -0.1452566683292389, + 0.02266867831349373, + -0.9891343116760254, + -37.863529205322266 + ], + [ + 0.9884703159332275, + -0.03986365348100662, + -0.14607274532318115, + -35.171749114990234 + ], + [ + -0.04274177923798561, + -0.9989480376243591, + -0.01661684922873974, + -19.88677215576172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2849, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_342267990", + "mask_path": "../../mask/hdr_left_02849.png" + }, + { + "file_path": "../../rgb/hdr_left_02850.png", + "transform_matrix": [ + [ + -0.14933308959007263, + 0.03215092793107033, + -0.9882642030715942, + -37.90534973144531 + ], + [ + 0.9876739382743835, + -0.04256012290716171, + -0.15062853693962097, + -35.07468795776367 + ], + [ + -0.04690348356962204, + -0.9985765218734741, + -0.025398990139365196, + -19.89626121520996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2850, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_442270517", + "mask_path": "../../mask/hdr_left_02850.png" + }, + { + "file_path": "../../rgb/hdr_left_02851.png", + "transform_matrix": [ + [ + -0.1647077053785324, + 0.03678549826145172, + -0.9856563210487366, + -37.93830871582031 + ], + [ + 0.9851153492927551, + -0.043695852160453796, + -0.1662481427192688, + -35.00806427001953 + ], + [ + -0.04918460547924042, + -0.9983674883842468, + -0.029040910303592682, + -19.90243148803711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2851, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_542267799", + "mask_path": "../../mask/hdr_left_02851.png" + }, + { + "file_path": "../../rgb/hdr_left_02852.png", + "transform_matrix": [ + [ + -0.18393896520137787, + 0.030853942036628723, + -0.9824532270431519, + -37.973262786865234 + ], + [ + 0.9816861152648926, + -0.04465517774224281, + -0.18519777059555054, + -34.93901062011719 + ], + [ + -0.04958570748567581, + -0.9985259175300598, + -0.02207505702972412, + -19.912023544311523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2852, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_642267465", + "mask_path": "../../mask/hdr_left_02852.png" + }, + { + "file_path": "../../rgb/hdr_left_02853.png", + "transform_matrix": [ + [ + -0.20134620368480682, + 0.02783026359975338, + -0.9791246056556702, + -38.01806640625 + ], + [ + 0.9781394004821777, + -0.04734281077980995, + -0.20248925685882568, + -34.84293746948242 + ], + [ + -0.0519898422062397, + -0.9984909892082214, + -0.017689576372504234, + -19.91234016418457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2853, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_742267608", + "mask_path": "../../mask/hdr_left_02853.png" + }, + { + "file_path": "../../rgb/hdr_left_02854.png", + "transform_matrix": [ + [ + -0.21519650518894196, + 0.023691069334745407, + -0.9762833714485168, + -38.05103302001953 + ], + [ + 0.9752108454704285, + -0.04752698540687561, + -0.21611343324184418, + -34.76771926879883 + ], + [ + -0.051519762724637985, + -0.998589038848877, + -0.01287614181637764, + -19.907865524291992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2854, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_842267990", + "mask_path": "../../mask/hdr_left_02854.png" + }, + { + "file_path": "../../rgb/hdr_right_02719.png", + "transform_matrix": [ + [ + 0.6437530517578125, + -0.030585020780563354, + 0.764621913433075, + -33.59299850463867 + ], + [ + -0.7633006572723389, + 0.045306138694286346, + 0.6444528698921204, + -44.762840270996094 + ], + [ + -0.05435267463326454, + -0.9985048174858093, + 0.005820399150252342, + -19.347997665405273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2719, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_642267942", + "mask_path": "../../mask/hdr_right_02719.png" + }, + { + "file_path": "../../rgb/hdr_right_02720.png", + "transform_matrix": [ + [ + 0.6505526900291443, + -0.036581818014383316, + 0.7585797309875488, + -33.629844665527344 + ], + [ + -0.7572752237319946, + 0.04448402300477028, + 0.6515792012214661, + -44.711944580078125 + ], + [ + -0.057580623775720596, + -0.9983401298522949, + 0.0012366933515295386, + -19.34575843811035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2720, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_742267608", + "mask_path": "../../mask/hdr_right_02720.png" + }, + { + "file_path": "../../rgb/hdr_right_02721.png", + "transform_matrix": [ + [ + 0.6589345335960388, + -0.03916284814476967, + 0.7511801719665527, + -33.6884765625 + ], + [ + -0.7498444318771362, + 0.04477692395448685, + 0.6600972414016724, + -44.626182556152344 + ], + [ + -0.05948682501912117, + -0.9982290863990784, + 0.0001390176039421931, + -19.33983039855957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2721, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_842267751", + "mask_path": "../../mask/hdr_right_02721.png" + }, + { + "file_path": "../../rgb/hdr_right_02722.png", + "transform_matrix": [ + [ + 0.6709296703338623, + -0.032817043364048004, + 0.7407944798469543, + -33.74892044067383 + ], + [ + -0.739416241645813, + 0.0456087626516819, + 0.6717019081115723, + -44.545265197753906 + ], + [ + -0.05582999065518379, + -0.9984201788902283, + 0.0063348133116960526, + -19.334732055664062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2722, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_942266941", + "mask_path": "../../mask/hdr_right_02722.png" + }, + { + "file_path": "../../rgb/hdr_right_02723.png", + "transform_matrix": [ + [ + 0.6834672689437866, + -0.031170351430773735, + 0.7293155193328857, + -33.796260833740234 + ], + [ + -0.7280142307281494, + 0.04419086128473282, + 0.6841363906860352, + -44.4913444519043 + ], + [ + -0.05355384945869446, + -0.9985367059707642, + 0.007510542403906584, + -19.328899383544922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2723, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_42267560", + "mask_path": "../../mask/hdr_right_02723.png" + }, + { + "file_path": "../../rgb/hdr_right_02724.png", + "transform_matrix": [ + [ + 0.6927762031555176, + -0.03401131182909012, + 0.7203502058982849, + -33.848388671875 + ], + [ + -0.7192109227180481, + 0.040668074041604996, + 0.6936006546020508, + -44.41870880126953 + ], + [ + -0.052885524928569794, + -0.9985936880111694, + 0.0037125658709555864, + -19.32694435119629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2724, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_142267465", + "mask_path": "../../mask/hdr_right_02724.png" + }, + { + "file_path": "../../rgb/hdr_right_02725.png", + "transform_matrix": [ + [ + 0.6960267424583435, + -0.04183162748813629, + 0.7167962193489075, + -33.907405853271484 + ], + [ + -0.7157919406890869, + 0.03808676823973656, + 0.6972744464874268, + -44.33332061767578 + ], + [ + -0.056468576192855835, + -0.99839848279953, + -0.00343332439661026, + -19.303144454956055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2725, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_242267847", + "mask_path": "../../mask/hdr_right_02725.png" + }, + { + "file_path": "../../rgb/hdr_right_02726.png", + "transform_matrix": [ + [ + 0.6970986723899841, + -0.05023040622472763, + 0.7152136564254761, + -33.95164108276367 + ], + [ + -0.7143998146057129, + 0.03581155464053154, + 0.6988207101821899, + -44.27320861816406 + ], + [ + -0.060714952647686005, + -0.9980954527854919, + -0.010920412838459015, + -19.290172576904297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2726, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_342266321", + "mask_path": "../../mask/hdr_right_02726.png" + }, + { + "file_path": "../../rgb/hdr_right_02727.png", + "transform_matrix": [ + [ + 0.6965663433074951, + -0.055820077657699585, + 0.7153177261352539, + -34.0056037902832 + ], + [ + -0.7144955396652222, + 0.037061143666505814, + 0.698657751083374, + -44.20417022705078 + ], + [ + -0.0655096173286438, + -0.9977527260780334, + -0.01406764890998602, + -19.286609649658203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2727, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_442267894", + "mask_path": "../../mask/hdr_right_02727.png" + }, + { + "file_path": "../../rgb/hdr_right_02728.png", + "transform_matrix": [ + [ + 0.7022159099578857, + -0.04820952191948891, + 0.7103299498558044, + -34.07601547241211 + ], + [ + -0.7093541026115417, + 0.03797554224729538, + 0.7038285732269287, + -44.115474700927734 + ], + [ + -0.06090639904141426, + -0.998115062713623, + -0.007530596107244492, + -19.283443450927734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2728, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_542266607", + "mask_path": "../../mask/hdr_right_02728.png" + }, + { + "file_path": "../../rgb/hdr_right_02729.png", + "transform_matrix": [ + [ + 0.7069730162620544, + -0.03877273574471474, + 0.7061769962310791, + -34.12801742553711 + ], + [ + -0.7051050066947937, + 0.038894783705472946, + 0.7080353498458862, + -44.05488204956055 + ], + [ + -0.05491907149553299, + -0.9984907507896423, + 0.00015870865900069475, + -19.285419464111328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2729, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_642266988", + "mask_path": "../../mask/hdr_right_02729.png" + }, + { + "file_path": "../../rgb/hdr_right_02730.png", + "transform_matrix": [ + [ + 0.7077131271362305, + -0.038531191647052765, + 0.705448567867279, + -34.17377471923828 + ], + [ + -0.7044607400894165, + 0.037324950098991394, + 0.7087607979774475, + -43.99564743041992 + ], + [ + -0.05364023149013519, + -0.9985600709915161, + -0.0007283624727278948, + -19.286537170410156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2730, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_742267370", + "mask_path": "../../mask/hdr_right_02730.png" + }, + { + "file_path": "../../rgb/hdr_right_02731.png", + "transform_matrix": [ + [ + 0.7038390040397644, + -0.037789247930049896, + 0.7093537449836731, + -34.231258392333984 + ], + [ + -0.7085473537445068, + 0.0339355506002903, + 0.7048467397689819, + -43.91478729248047 + ], + [ + -0.05070794001221657, + -0.9987092614173889, + -0.0028903165366500616, + -19.27233123779297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2731, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_842267990", + "mask_path": "../../mask/hdr_right_02731.png" + }, + { + "file_path": "../../rgb/hdr_right_02732.png", + "transform_matrix": [ + [ + 0.6955464482307434, + -0.04077613353729248, + 0.7173231840133667, + -34.28230667114258 + ], + [ + -0.7166205048561096, + 0.03243304416537285, + 0.6967088580131531, + -43.83114242553711 + ], + [ + -0.05167406052350998, + -0.9986417293548584, + -0.006662333849817514, + -19.25567054748535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2732, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639073_942266464", + "mask_path": "../../mask/hdr_right_02732.png" + }, + { + "file_path": "../../rgb/hdr_right_02733.png", + "transform_matrix": [ + [ + 0.6880012154579163, + -0.04724026843905449, + 0.7241703867912292, + -34.326473236083984 + ], + [ + -0.7235670685768127, + 0.03196752443909645, + 0.6895134449005127, + -43.76834487915039 + ], + [ + -0.055722735822200775, + -0.9983718395233154, + -0.012187814339995384, + -19.245243072509766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2733, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_42267560", + "mask_path": "../../mask/hdr_right_02733.png" + }, + { + "file_path": "../../rgb/hdr_right_02734.png", + "transform_matrix": [ + [ + 0.6838455200195312, + -0.041640713810920715, + 0.7284376621246338, + -34.38513946533203 + ], + [ + -0.7279139161109924, + 0.02943497896194458, + 0.6850364208221436, + -43.69001388549805 + ], + [ + -0.049966949969530106, + -0.9986989498138428, + -0.010181881487369537, + -19.249780654907227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2734, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_142267704", + "mask_path": "../../mask/hdr_right_02734.png" + }, + { + "file_path": "../../rgb/hdr_right_02735.png", + "transform_matrix": [ + [ + 0.6825309991836548, + -0.024388384073972702, + 0.7304496765136719, + -34.44036102294922 + ], + [ + -0.7299441695213318, + 0.027177968993782997, + 0.6829661726951599, + -43.6102294921875 + ], + [ + -0.03650858253240585, + -0.9993330240249634, + 0.00074764370219782, + -19.25819969177246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2735, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_242267608", + "mask_path": "../../mask/hdr_right_02735.png" + }, + { + "file_path": "../../rgb/hdr_right_02736.png", + "transform_matrix": [ + [ + 0.6825534701347351, + -0.008611263707280159, + 0.730785071849823, + -34.47742462158203 + ], + [ + -0.7304176688194275, + 0.025775952264666557, + 0.6825141906738281, + -43.55020523071289 + ], + [ + -0.024713987484574318, + -0.9996307492256165, + 0.011303643696010113, + -19.26836395263672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2736, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_342267751", + "mask_path": "../../mask/hdr_right_02736.png" + }, + { + "file_path": "../../rgb/hdr_right_02737.png", + "transform_matrix": [ + [ + 0.6808542609214783, + -0.003336268477141857, + 0.7324113249778748, + -34.520511627197266 + ], + [ + -0.7321756482124329, + 0.02266908809542656, + 0.6807385087013245, + -43.470558166503906 + ], + [ + -0.01887422427535057, + -0.9997374415397644, + 0.012991610914468765, + -19.275739669799805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2737, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_442267417", + "mask_path": "../../mask/hdr_right_02737.png" + }, + { + "file_path": "../../rgb/hdr_right_02738.png", + "transform_matrix": [ + [ + 0.673087477684021, + -0.0005972209037281573, + 0.7395626306533813, + -34.5701904296875 + ], + [ + -0.7395241856575012, + 0.009674093686044216, + 0.6730604767799377, + -43.374141693115234 + ], + [ + -0.007556564174592495, + -0.9999530911445618, + 0.006069851107895374, + -19.267229080200195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2738, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_542267322", + "mask_path": "../../mask/hdr_right_02738.png" + }, + { + "file_path": "../../rgb/hdr_right_02739.png", + "transform_matrix": [ + [ + 0.6629678606987, + 0.0011876629432663321, + 0.7486468553543091, + -34.60222625732422 + ], + [ + -0.7486475110054016, + 6.42560189589858e-05, + 0.6629682779312134, + -43.303131103515625 + ], + [ + 0.0007392778061330318, + -0.9999992847442627, + 0.0009317389922216535, + -19.266353607177734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2739, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_642267704", + "mask_path": "../../mask/hdr_right_02739.png" + }, + { + "file_path": "../../rgb/hdr_right_02740.png", + "transform_matrix": [ + [ + 0.6532374024391174, + 0.0011348044499754906, + 0.7571524381637573, + -34.62688446044922 + ], + [ + -0.7571506500244141, + -0.0016563886310905218, + 0.6532382965087891, + -43.24282455444336 + ], + [ + 0.001995435683056712, + -0.9999979734420776, + -0.000222797563765198, + -19.26952362060547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2740, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_742267131", + "mask_path": "../../mask/hdr_right_02740.png" + }, + { + "file_path": "../../rgb/hdr_right_02741.png", + "transform_matrix": [ + [ + 0.6466438174247742, + 0.011440501548349857, + 0.7627063393592834, + -34.66845703125 + ], + [ + -0.7627217173576355, + -0.003893979825079441, + 0.6467152237892151, + -43.16505813598633 + ], + [ + 0.010368711315095425, + -0.9999269247055054, + 0.00620789872482419, + -19.279525756835938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2741, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_842269420", + "mask_path": "../../mask/hdr_right_02741.png" + }, + { + "file_path": "../../rgb/hdr_right_02742.png", + "transform_matrix": [ + [ + 0.645439088344574, + 0.03062668815255165, + 0.7631974816322327, + -34.71865463256836 + ], + [ + -0.763451874256134, + -0.0047991834580898285, + 0.6458468437194824, + -43.07518768310547 + ], + [ + 0.02344287373125553, + -0.999519407749176, + 0.020284419879317284, + -19.28973960876465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2742, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639074_942268371", + "mask_path": "../../mask/hdr_right_02742.png" + }, + { + "file_path": "../../rgb/hdr_right_02743.png", + "transform_matrix": [ + [ + 0.6462815403938293, + 0.04301351681351662, + 0.7618858218193054, + -34.757774353027344 + ], + [ + -0.7624653577804565, + -0.004281165078282356, + 0.6470149159431458, + -43.004364013671875 + ], + [ + 0.031092144548892975, + -0.9990652799606323, + 0.030029481276869774, + -19.293813705444336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2743, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_42267799", + "mask_path": "../../mask/hdr_right_02743.png" + }, + { + "file_path": "../../rgb/hdr_right_02744.png", + "transform_matrix": [ + [ + 0.6459853649139404, + 0.044132646173238754, + 0.7620730400085449, + -34.79703140258789 + ], + [ + -0.762638509273529, + -0.005773735232651234, + 0.6467991471290588, + -42.92420959472656 + ], + [ + 0.03294496610760689, + -0.9990089535713196, + 0.029927505180239677, + -19.30172348022461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2744, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_142267704", + "mask_path": "../../mask/hdr_right_02744.png" + }, + { + "file_path": "../../rgb/hdr_right_02745.png", + "transform_matrix": [ + [ + 0.6415882110595703, + 0.046146977692842484, + 0.7656599283218384, + -34.85049057006836 + ], + [ + -0.7660401463508606, + -0.012639161199331284, + 0.642668604850769, + -42.817108154296875 + ], + [ + 0.039334509521722794, + -0.9988546967506409, + 0.02724129520356655, + -19.3032283782959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2745, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_242266893", + "mask_path": "../../mask/hdr_right_02745.png" + }, + { + "file_path": "../../rgb/hdr_right_02746.png", + "transform_matrix": [ + [ + 0.6327319145202637, + 0.04539861902594566, + 0.7730390429496765, + -34.88493347167969 + ], + [ + -0.7731450796127319, + -0.019112560898065567, + 0.633941113948822, + -42.7436408996582 + ], + [ + 0.04355480894446373, + -0.9987860918045044, + 0.02300659380853176, + -19.30426025390625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2746, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_342267274", + "mask_path": "../../mask/hdr_right_02746.png" + }, + { + "file_path": "../../rgb/hdr_right_02747.png", + "transform_matrix": [ + [ + 0.620678722858429, + 0.04554811865091324, + 0.7827409505844116, + -34.911190032958984 + ], + [ + -0.7828423380851746, + -0.019730089232325554, + 0.6219072341918945, + -42.68880844116211 + ], + [ + 0.04377024993300438, + -0.9987673163414001, + 0.02341095171868801, + -19.31069564819336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2747, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_442267417", + "mask_path": "../../mask/hdr_right_02747.png" + }, + { + "file_path": "../../rgb/hdr_right_02748.png", + "transform_matrix": [ + [ + 0.6133856177330017, + 0.05693218111991882, + 0.7877289056777954, + -34.95965576171875 + ], + [ + -0.7880547046661377, + -0.02183963544666767, + 0.6152176856994629, + -42.591060638427734 + ], + [ + 0.052229393273591995, + -0.9981392025947571, + 0.03146955370903015, + -19.330293655395508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2748, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_542268276", + "mask_path": "../../mask/hdr_right_02748.png" + }, + { + "file_path": "../../rgb/hdr_right_02749.png", + "transform_matrix": [ + [ + 0.6114068627357483, + 0.07305531948804855, + 0.7879368662834167, + -35.00898742675781 + ], + [ + -0.7885933518409729, + -0.026283109560608864, + 0.6143531799316406, + -42.499629974365234 + ], + [ + 0.06559119373559952, + -0.9969815015792847, + 0.04154125601053238, + -19.3480224609375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2749, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_642267942", + "mask_path": "../../mask/hdr_right_02749.png" + }, + { + "file_path": "../../rgb/hdr_right_02750.png", + "transform_matrix": [ + [ + 0.6125752329826355, + 0.07837437838315964, + 0.7865170836448669, + -35.04902648925781 + ], + [ + -0.7872036099433899, + -0.029075682163238525, + 0.616007387638092, + -42.431400299072266 + ], + [ + 0.07114771753549576, + -0.9964998960494995, + 0.04388555511832237, + -19.353784561157227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2750, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_742267608", + "mask_path": "../../mask/hdr_right_02750.png" + }, + { + "file_path": "../../rgb/hdr_right_02751.png", + "transform_matrix": [ + [ + 0.613474428653717, + 0.07384870946407318, + 0.7862541079521179, + -35.09986877441406 + ], + [ + -0.7862709760665894, + -0.0357586145401001, + 0.6168462038040161, + -42.33963394165039 + ], + [ + 0.07366865128278732, + -0.9966281652450562, + 0.036128100007772446, + -19.367313385009766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2751, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_842266798", + "mask_path": "../../mask/hdr_right_02751.png" + }, + { + "file_path": "../../rgb/hdr_right_02752.png", + "transform_matrix": [ + [ + 0.6089133024215698, + 0.07093846797943115, + 0.7900584936141968, + -35.15602111816406 + ], + [ + -0.7893345952033997, + -0.04448521137237549, + 0.6123496294021606, + -42.22905731201172 + ], + [ + 0.07858505845069885, + -0.9964882731437683, + 0.028906548395752907, + -19.37469482421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2752, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639075_942267656", + "mask_path": "../../mask/hdr_right_02752.png" + }, + { + "file_path": "../../rgb/hdr_right_02753.png", + "transform_matrix": [ + [ + 0.5999056696891785, + 0.06776494532823563, + 0.7971957921981812, + -35.1898193359375 + ], + [ + -0.7960854172706604, + -0.04877185821533203, + 0.6032158136367798, + -42.150489807128906 + ], + [ + 0.07975761592388153, + -0.9965085387229919, + 0.024688169360160828, + -19.378036499023438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2753, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_42267084", + "mask_path": "../../mask/hdr_right_02753.png" + }, + { + "file_path": "../../rgb/hdr_right_02754.png", + "transform_matrix": [ + [ + 0.5891164541244507, + 0.06997008621692657, + 0.8050130009651184, + -35.224586486816406 + ], + [ + -0.804239809513092, + -0.045836687088012695, + 0.5925346612930298, + -42.07941436767578 + ], + [ + 0.07835883647203445, + -0.9964954257011414, + 0.029269587248563766, + -19.397050857543945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2754, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_142268180", + "mask_path": "../../mask/hdr_right_02754.png" + }, + { + "file_path": "../../rgb/hdr_right_02755.png", + "transform_matrix": [ + [ + 0.5851597785949707, + 0.07557892799377441, + 0.8073883056640625, + -35.28733444213867 + ], + [ + -0.8067921996116638, + -0.04604649916291237, + 0.5890381932258606, + -41.96700668334961 + ], + [ + 0.0816962793469429, + -0.9960760474205017, + 0.034031931310892105, + -19.413415908813477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2755, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_242267370", + "mask_path": "../../mask/hdr_right_02755.png" + }, + { + "file_path": "../../rgb/hdr_right_02756.png", + "transform_matrix": [ + [ + 0.5863035321235657, + 0.0767841786146164, + 0.8064442873001099, + -35.33805847167969 + ], + [ + -0.8056000471115112, + -0.04941880330443382, + 0.5903950929641724, + -41.88239288330078 + ], + [ + 0.08518650382757187, + -0.9958222508430481, + 0.032882917672395706, + -19.42000389099121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2756, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_342267274", + "mask_path": "../../mask/hdr_right_02756.png" + }, + { + "file_path": "../../rgb/hdr_right_02757.png", + "transform_matrix": [ + [ + 0.5889773964881897, + 0.07080037891864777, + 0.8050422072410583, + -35.37879180908203 + ], + [ + -0.8038264513015747, + -0.05157550796866417, + 0.592623770236969, + -41.81544494628906 + ], + [ + 0.08347845077514648, + -0.9961562752723694, + 0.026534423232078552, + -19.428544998168945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2757, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_442267417", + "mask_path": "../../mask/hdr_right_02757.png" + }, + { + "file_path": "../../rgb/hdr_right_02758.png", + "transform_matrix": [ + [ + 0.5880237221717834, + 0.06714852899312973, + 0.8060516715049744, + -35.431724548339844 + ], + [ + -0.8042377233505249, + -0.057660944759845734, + 0.591503918170929, + -41.7176513671875 + ], + [ + 0.08619631826877594, + -0.9960755109786987, + 0.020097386091947556, + -19.439462661743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2758, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_542267322", + "mask_path": "../../mask/hdr_right_02758.png" + }, + { + "file_path": "../../rgb/hdr_right_02759.png", + "transform_matrix": [ + [ + 0.5819416642189026, + 0.05964436009526253, + 0.8110403418540955, + -35.477943420410156 + ], + [ + -0.8087354898452759, + -0.06226867064833641, + 0.5848671197891235, + -41.620540618896484 + ], + [ + 0.08538643270730972, + -0.9962756037712097, + 0.01199977658689022, + -19.437131881713867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2759, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_642267227", + "mask_path": "../../mask/hdr_right_02759.png" + }, + { + "file_path": "../../rgb/hdr_right_02760.png", + "transform_matrix": [ + [ + 0.5732058882713318, + 0.0523097887635231, + 0.8177400827407837, + -35.50580978393555 + ], + [ + -0.8154498338699341, + -0.06159784272313118, + 0.5755409002304077, + -41.563201904296875 + ], + [ + 0.08047744631767273, + -0.99672931432724, + 0.007347761653363705, + -19.440889358520508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2760, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_742267847", + "mask_path": "../../mask/hdr_right_02760.png" + }, + { + "file_path": "../../rgb/hdr_right_02761.png", + "transform_matrix": [ + [ + 0.5634512901306152, + 0.050059687346220016, + 0.8246312737464905, + -35.548675537109375 + ], + [ + -0.8228620886802673, + -0.054948192089796066, + 0.5655781626701355, + -41.47857666015625 + ], + [ + 0.07362466305494308, + -0.9972335696220398, + 0.010231584310531616, + -19.454450607299805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2761, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_842267274", + "mask_path": "../../mask/hdr_right_02761.png" + }, + { + "file_path": "../../rgb/hdr_right_02762.png", + "transform_matrix": [ + [ + 0.5611376762390137, + 0.05697718635201454, + 0.8257591724395752, + -35.604286193847656 + ], + [ + -0.8243399858474731, + -0.05162973701953888, + 0.5637357234954834, + -41.37302017211914 + ], + [ + 0.07475379854440689, + -0.9970395565032959, + 0.01799718476831913, + -19.46013832092285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2762, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639076_942268133", + "mask_path": "../../mask/hdr_right_02762.png" + }, + { + "file_path": "../../rgb/hdr_right_02763.png", + "transform_matrix": [ + [ + 0.5648680329322815, + 0.059705547988414764, + 0.823018491268158, + -35.64457702636719 + ], + [ + -0.8216273188591003, + -0.05177261680364609, + 0.5676690936088562, + -41.30268859863281 + ], + [ + 0.07650280743837357, + -0.9968724846839905, + 0.019811011850833893, + -19.469648361206055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2763, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_42268753", + "mask_path": "../../mask/hdr_right_02763.png" + }, + { + "file_path": "../../rgb/hdr_right_02764.png", + "transform_matrix": [ + [ + 0.5690980553627014, + 0.05269669368863106, + 0.8205792903900146, + -35.68046951293945 + ], + [ + -0.8191149234771729, + -0.05100281536579132, + 0.5713576674461365, + -41.240577697753906 + ], + [ + 0.07196051627397537, + -0.9973072409629822, + 0.014139043167233467, + -19.477609634399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2764, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_142267942", + "mask_path": "../../mask/hdr_right_02764.png" + }, + { + "file_path": "../../rgb/hdr_right_02765.png", + "transform_matrix": [ + [ + 0.5664911270141602, + 0.05217219144105911, + 0.822414755821228, + -35.72905731201172 + ], + [ + -0.8207753896713257, + -0.05340181291103363, + 0.5687495470046997, + -41.13980484008789 + ], + [ + 0.07359135150909424, + -0.9972093105316162, + 0.012569993734359741, + -19.483755111694336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2765, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_242268562", + "mask_path": "../../mask/hdr_right_02765.png" + }, + { + "file_path": "../../rgb/hdr_right_02766.png", + "transform_matrix": [ + [ + 0.5588430762290955, + 0.05005573108792305, + 0.8277613520622253, + -35.76911544799805 + ], + [ + -0.8259913921356201, + -0.05512043461203575, + 0.5609813332557678, + -41.04312515258789 + ], + [ + 0.07370690256357193, + -0.9972242116928101, + 0.010541923344135284, + -19.483226776123047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2766, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_342267274", + "mask_path": "../../mask/hdr_right_02766.png" + }, + { + "file_path": "../../rgb/hdr_right_02767.png", + "transform_matrix": [ + [ + 0.5486986041069031, + 0.04340498521924019, + 0.8348928093910217, + -35.799556732177734 + ], + [ + -0.8332377672195435, + -0.05301746726036072, + 0.5503671765327454, + -40.97822189331055 + ], + [ + 0.06815258413553238, + -0.9976498484611511, + 0.007076062727719545, + -19.487890243530273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2767, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_442268133", + "mask_path": "../../mask/hdr_right_02767.png" + }, + { + "file_path": "../../rgb/hdr_right_02768.png", + "transform_matrix": [ + [ + 0.5404016375541687, + 0.047872114926576614, + 0.8400443196296692, + -35.847713470458984 + ], + [ + -0.8386878371238708, + -0.049555372446775436, + 0.542353093624115, + -40.87886428833008 + ], + [ + 0.06759230047464371, + -0.9976235032081604, + 0.013369961641728878, + -19.50270652770996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2768, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_542268276", + "mask_path": "../../mask/hdr_right_02768.png" + }, + { + "file_path": "../../rgb/hdr_right_02769.png", + "transform_matrix": [ + [ + 0.5395574569702148, + 0.05704965069890022, + 0.8400138020515442, + -35.897422790527344 + ], + [ + -0.8388509750366211, + -0.04908180981874466, + 0.5421440005302429, + -40.77881622314453 + ], + [ + 0.07215851545333862, + -0.9971641302108765, + 0.02137369103729725, + -19.516799926757812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2769, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_642268657", + "mask_path": "../../mask/hdr_right_02769.png" + }, + { + "file_path": "../../rgb/hdr_right_02770.png", + "transform_matrix": [ + [ + 0.5426235198974609, + 0.058359529823064804, + 0.8379462361335754, + -35.93512725830078 + ], + [ + -0.8368704319000244, + -0.048142872750759125, + 0.5452798008918762, + -40.70848083496094 + ], + [ + 0.0721634179353714, + -0.9971340894699097, + 0.022715914994478226, + -19.522890090942383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2770, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_742268323", + "mask_path": "../../mask/hdr_right_02770.png" + }, + { + "file_path": "../../rgb/hdr_right_02771.png", + "transform_matrix": [ + [ + 0.5439100861549377, + 0.05265839397907257, + 0.8374896049499512, + -35.974769592285156 + ], + [ + -0.8362389802932739, + -0.048952724784612656, + 0.5461758971214294, + -40.631500244140625 + ], + [ + 0.06975814700126648, + -0.9974119663238525, + 0.01740911789238453, + -19.53559112548828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2771, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_842267513", + "mask_path": "../../mask/hdr_right_02771.png" + }, + { + "file_path": "../../rgb/hdr_right_02772.png", + "transform_matrix": [ + [ + 0.5383802652359009, + 0.053042758256196976, + 0.8410311341285706, + -36.01923751831055 + ], + [ + -0.8395372033119202, + -0.05265207961201668, + 0.5407448410987854, + -40.53211975097656 + ], + [ + 0.0729646235704422, + -0.9972032904624939, + 0.01618453860282898, + -19.534669876098633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2772, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639077_942267417", + "mask_path": "../../mask/hdr_right_02772.png" + }, + { + "file_path": "../../rgb/hdr_right_02773.png", + "transform_matrix": [ + [ + 0.5305452346801758, + 0.05224036052823067, + 0.8460454344749451, + -36.04918670654297 + ], + [ + -0.8444925546646118, + -0.053584448993206024, + 0.5328800678253174, + -40.453033447265625 + ], + [ + 0.07317271828651428, + -0.9971958994865417, + 0.015687622129917145, + -19.53247833251953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2773, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_42267084", + "mask_path": "../../mask/hdr_right_02773.png" + }, + { + "file_path": "../../rgb/hdr_right_02774.png", + "transform_matrix": [ + [ + 0.5210819840431213, + 0.04660392180085182, + 0.8522334098815918, + -36.07075500488281 + ], + [ + -0.8508376479148865, + -0.05053926631808281, + 0.5229923725128174, + -40.3941650390625 + ], + [ + 0.06744475662708282, + -0.9976341128349304, + 0.013317265547811985, + -19.53636932373047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2774, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_142267465", + "mask_path": "../../mask/hdr_right_02774.png" + }, + { + "file_path": "../../rgb/hdr_right_02775.png", + "transform_matrix": [ + [ + 0.5143085718154907, + 0.050040096044540405, + 0.8561440110206604, + -36.111122131347656 + ], + [ + -0.8549013733863831, + -0.04929385334253311, + 0.5164432525634766, + -40.298004150390625 + ], + [ + 0.06804551184177399, + -0.9975299835205078, + 0.017427096143364906, + -19.548860549926758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2775, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_242266893", + "mask_path": "../../mask/hdr_right_02775.png" + }, + { + "file_path": "../../rgb/hdr_right_02776.png", + "transform_matrix": [ + [ + 0.5117796659469604, + 0.05837373435497284, + 0.8571314215660095, + -36.15003204345703 + ], + [ + -0.855907142162323, + -0.05151794105768204, + 0.5145571231842041, + -40.20087814331055 + ], + [ + 0.0741942748427391, + -0.9969646334648132, + 0.02359665557742119, + -19.565847396850586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2776, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_342266082", + "mask_path": "../../mask/hdr_right_02776.png" + }, + { + "file_path": "../../rgb/hdr_right_02777.png", + "transform_matrix": [ + [ + 0.5124784111976624, + 0.0588860809803009, + 0.8566786646842957, + -36.18141555786133 + ], + [ + -0.8553841710090637, + -0.05258210748434067, + 0.5153184533119202, + -40.12984848022461 + ], + [ + 0.07539105415344238, + -0.9968788623809814, + 0.023423025384545326, + -19.572744369506836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2777, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_442266225", + "mask_path": "../../mask/hdr_right_02777.png" + }, + { + "file_path": "../../rgb/hdr_right_02778.png", + "transform_matrix": [ + [ + 0.5127170085906982, + 0.05409146472811699, + 0.8568520545959473, + -36.22066116333008 + ], + [ + -0.8553487658500671, + -0.05402488633990288, + 0.5152279138565063, + -40.04572296142578 + ], + [ + 0.07416076213121414, + -0.9970734119415283, + 0.01856759376823902, + -19.58043098449707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2778, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_542267322", + "mask_path": "../../mask/hdr_right_02778.png" + }, + { + "file_path": "../../rgb/hdr_right_02779.png", + "transform_matrix": [ + [ + 0.5066725015640259, + 0.05032605677843094, + 0.8606685996055603, + -36.260986328125 + ], + [ + -0.8588409423828125, + -0.05776898190379143, + 0.5089744925498962, + -39.93318176269531 + ], + [ + 0.07533463090658188, + -0.9970606565475464, + 0.013952123001217842, + -19.58107566833496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2779, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_642267227", + "mask_path": "../../mask/hdr_right_02779.png" + }, + { + "file_path": "../../rgb/hdr_right_02780.png", + "transform_matrix": [ + [ + 0.4980493485927582, + 0.0443086251616478, + 0.8660159111022949, + -36.28810501098633 + ], + [ + -0.8639798164367676, + -0.05994608998298645, + 0.49994537234306335, + -39.85219192504883 + ], + [ + 0.074066162109375, + -0.9972177743911743, + 0.00842564832419157, + -19.582582473754883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2780, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_742267847", + "mask_path": "../../mask/hdr_right_02780.png" + }, + { + "file_path": "../../rgb/hdr_right_02781.png", + "transform_matrix": [ + [ + 0.4877873361110687, + 0.03947163373231888, + 0.8720697164535522, + -36.306884765625 + ], + [ + -0.870340883731842, + -0.05537363141775131, + 0.4893265962600708, + -39.797447204589844 + ], + [ + 0.0676041916012764, + -0.9976851940155029, + 0.007343219127506018, + -19.5903377532959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2781, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_842267036", + "mask_path": "../../mask/hdr_right_02781.png" + }, + { + "file_path": "../../rgb/hdr_right_02782.png", + "transform_matrix": [ + [ + 0.4825824797153473, + 0.045406829565763474, + 0.8746727705001831, + -36.34984588623047 + ], + [ + -0.8731380701065063, + -0.05359392613172531, + 0.4845179319381714, + -39.6887092590332 + ], + [ + 0.06887757778167725, + -0.997529923915863, + 0.013782943598926067, + -19.603500366210938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2782, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639078_942267417", + "mask_path": "../../mask/hdr_right_02782.png" + }, + { + "file_path": "../../rgb/hdr_right_02783.png", + "transform_matrix": [ + [ + 0.4833466410636902, + 0.049456894397735596, + 0.8740310072898865, + -36.39162826538086 + ], + [ + -0.8724833726882935, + -0.05462087690830231, + 0.48558154702186584, + -39.59225845336914 + ], + [ + 0.07175568491220474, + -0.9972816109657288, + 0.016749506816267967, + -19.617111206054688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2783, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_42267084", + "mask_path": "../../mask/hdr_right_02783.png" + }, + { + "file_path": "../../rgb/hdr_right_02784.png", + "transform_matrix": [ + [ + 0.4856572449207306, + 0.04543722793459892, + 0.8729677200317383, + -36.41983413696289 + ], + [ + -0.871347963809967, + -0.054723817855119705, + 0.4876045286655426, + -39.525753021240234 + ], + [ + 0.06992752104997635, + -0.9974671602249146, + 0.013014616444706917, + -19.618925094604492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2784, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_142266988", + "mask_path": "../../mask/hdr_right_02784.png" + }, + { + "file_path": "../../rgb/hdr_right_02785.png", + "transform_matrix": [ + [ + 0.484627366065979, + 0.04074585810303688, + 0.8737712502479553, + -36.454803466796875 + ], + [ + -0.8717371225357056, + -0.059936754405498505, + 0.4862941801548004, + -39.436058044433594 + ], + [ + 0.07218549400568008, + -0.9973702430725098, + 0.006472679320722818, + -19.63287925720215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2785, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_242266893", + "mask_path": "../../mask/hdr_right_02785.png" + }, + { + "file_path": "../../rgb/hdr_right_02786.png", + "transform_matrix": [ + [ + 0.4784078299999237, + 0.03610920161008835, + 0.8773951530456543, + -36.488807678222656 + ], + [ + -0.8750264644622803, + -0.064431332051754, + 0.47976794838905334, + -39.33530807495117 + ], + [ + 0.07385576516389847, + -0.9972686171531677, + 0.00077205675188452, + -19.635528564453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2786, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_342268705", + "mask_path": "../../mask/hdr_right_02786.png" + }, + { + "file_path": "../../rgb/hdr_right_02787.png", + "transform_matrix": [ + [ + 0.4719536602497101, + 0.02924669347703457, + 0.8811381459236145, + -36.5089225769043 + ], + [ + -0.8787149786949158, + -0.06550998240709305, + 0.4728301763534546, + -39.26774215698242 + ], + [ + 0.07155206799507141, + -0.9974232316017151, + -0.005218169651925564, + -19.6330623626709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2787, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_442267179", + "mask_path": "../../mask/hdr_right_02787.png" + }, + { + "file_path": "../../rgb/hdr_right_02788.png", + "transform_matrix": [ + [ + 0.46416494250297546, + 0.026959776878356934, + 0.8853384256362915, + -36.53192138671875 + ], + [ + -0.8833138942718506, + -0.05997335910797119, + 0.4649297297000885, + -39.19672775268555 + ], + [ + 0.06563112139701843, + -0.9978358149528503, + -0.004023585002869368, + -19.640329360961914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2788, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_542269229", + "mask_path": "../../mask/hdr_right_02788.png" + }, + { + "file_path": "../../rgb/hdr_right_02789.png", + "transform_matrix": [ + [ + 0.460913747549057, + 0.03366877883672714, + 0.886806070804596, + -36.57151794433594 + ], + [ + -0.8848085999488831, + -0.05953346937894821, + 0.46213585138320923, + -39.08623123168945 + ], + [ + 0.06835418194532394, + -0.997658371925354, + 0.002350622322410345, + -19.654830932617188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2789, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_642267704", + "mask_path": "../../mask/hdr_right_02789.png" + }, + { + "file_path": "../../rgb/hdr_right_02790.png", + "transform_matrix": [ + [ + 0.46249669790267944, + 0.03959453105926514, + 0.8857364654541016, + -36.60312271118164 + ], + [ + -0.883718729019165, + -0.06017807498574257, + 0.46413326263427734, + -39.00191879272461 + ], + [ + 0.07167904824018478, + -0.9974020719528198, + 0.007158276624977589, + -19.667203903198242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2790, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_742267370", + "mask_path": "../../mask/hdr_right_02790.png" + }, + { + "file_path": "../../rgb/hdr_right_02791.png", + "transform_matrix": [ + [ + 0.46545159816741943, + 0.038039229810237885, + 0.8842556476593018, + -36.625762939453125 + ], + [ + -0.8823825120925903, + -0.057902030646800995, + 0.46695658564567566, + -38.9392204284668 + ], + [ + 0.06896286457777023, + -0.9975972771644592, + 0.006614558398723602, + -19.673831939697266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2791, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_842267513", + "mask_path": "../../mask/hdr_right_02791.png" + }, + { + "file_path": "../../rgb/hdr_right_02792.png", + "transform_matrix": [ + [ + 0.4643237888813019, + 0.03862989321351051, + 0.8848227262496948, + -36.658199310302734 + ], + [ + -0.8828513026237488, + -0.05939234420657158, + 0.46588224172592163, + -38.847503662109375 + ], + [ + 0.0705486610531807, + -0.99748694896698, + 0.006527172867208719, + -19.684810638427734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2792, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639079_942267656", + "mask_path": "../../mask/hdr_right_02792.png" + }, + { + "file_path": "../../rgb/hdr_right_02793.png", + "transform_matrix": [ + [ + 0.45819687843322754, + 0.036555029451847076, + 0.8880988359451294, + -36.682430267333984 + ], + [ + -0.886151909828186, + -0.05901496112346649, + 0.4596215784549713, + -38.75123977661133 + ], + [ + 0.06921259313821793, + -0.9975875616073608, + 0.0053528426215052605, + -19.67624855041504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2793, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_42268514", + "mask_path": "../../mask/hdr_right_02793.png" + }, + { + "file_path": "../../rgb/hdr_right_02794.png", + "transform_matrix": [ + [ + 0.44932669401168823, + 0.03178295120596886, + 0.8928020000457764, + -36.700584411621094 + ], + [ + -0.8911118507385254, + -0.05502649396657944, + 0.45043501257896423, + -38.67547607421875 + ], + [ + 0.06344392150640488, + -0.997978925704956, + 0.003597289090976119, + -19.67257308959961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2794, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_142266988", + "mask_path": "../../mask/hdr_right_02794.png" + }, + { + "file_path": "../../rgb/hdr_right_02795.png", + "transform_matrix": [ + [ + 0.44120264053344727, + 0.029554884880781174, + 0.8969207406044006, + -36.72458267211914 + ], + [ + -0.8956260085105896, + -0.04844381660223007, + 0.44216209650039673, + -38.59561538696289 + ], + [ + 0.0565183125436306, + -0.9983885884284973, + 0.0050965831615030766, + -19.684371948242188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2795, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_242267131", + "mask_path": "../../mask/hdr_right_02795.png" + }, + { + "file_path": "../../rgb/hdr_right_02796.png", + "transform_matrix": [ + [ + 0.44243013858795166, + 0.03592916578054428, + 0.8960829973220825, + -36.76296615600586 + ], + [ + -0.8949493169784546, + -0.04652410373091698, + 0.443735808134079, + -38.48571014404297 + ], + [ + 0.05763251334428787, + -0.9982708096504211, + 0.01157111581414938, + -19.69263458251953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2796, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_342267751", + "mask_path": "../../mask/hdr_right_02796.png" + }, + { + "file_path": "../../rgb/hdr_right_02797.png", + "transform_matrix": [ + [ + 0.4502609968185425, + 0.041413720697164536, + 0.8919361233711243, + -36.79330825805664 + ], + [ + -0.8908870816230774, + -0.04615125432610512, + 0.451874315738678, + -38.406280517578125 + ], + [ + 0.05987776070833206, + -0.9980756044387817, + 0.016114838421344757, + -19.702577590942383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2797, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_442266941", + "mask_path": "../../mask/hdr_right_02797.png" + }, + { + "file_path": "../../rgb/hdr_right_02798.png", + "transform_matrix": [ + [ + 0.46073397994041443, + 0.03793155029416084, + 0.8867273926734924, + -36.813804626464844 + ], + [ + -0.885685384273529, + -0.044874802231788635, + 0.4621121883392334, + -38.345760345458984 + ], + [ + 0.05732034519314766, + -0.9982722401618958, + 0.012920072302222252, + -19.711898803710938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2798, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_542267322", + "mask_path": "../../mask/hdr_right_02798.png" + }, + { + "file_path": "../../rgb/hdr_right_02799.png", + "transform_matrix": [ + [ + 0.46987494826316833, + 0.03516242653131485, + 0.8820323944091797, + -36.846553802490234 + ], + [ + -0.8807552456855774, + -0.04817502200603485, + 0.4711151421070099, + -38.24647903442383 + ], + [ + 0.059057485312223434, + -0.9982197880744934, + 0.008333254605531693, + -19.7137508392334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2799, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_642267465", + "mask_path": "../../mask/hdr_right_02799.png" + }, + { + "file_path": "../../rgb/hdr_right_02800.png", + "transform_matrix": [ + [ + 0.4745764136314392, + 0.03072175197303295, + 0.8796780109405518, + -36.877052307128906 + ], + [ + -0.8783600926399231, + -0.0483066588640213, + 0.47555240988731384, + -38.152584075927734 + ], + [ + 0.05710410699248314, + -0.9983599781990051, + 0.004059561062604189, + -19.708507537841797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2800, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_742266893", + "mask_path": "../../mask/hdr_right_02800.png" + }, + { + "file_path": "../../rgb/hdr_right_02801.png", + "transform_matrix": [ + [ + 0.47635921835899353, + 0.023861728608608246, + 0.8789269328117371, + -36.89552688598633 + ], + [ + -0.8777720928192139, + -0.045042749494314194, + 0.47695618867874146, + -38.09492492675781 + ], + [ + 0.05097028985619545, + -0.9987000226974487, + -0.000511369202286005, + -19.709482192993164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2801, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_842266798", + "mask_path": "../../mask/hdr_right_02801.png" + }, + { + "file_path": "../../rgb/hdr_right_02802.png", + "transform_matrix": [ + [ + 0.47965288162231445, + 0.021637482568621635, + 0.8771915435791016, + -36.92623519897461 + ], + [ + -0.8762268424034119, + -0.041135478764772415, + 0.48014000058174133, + -38.018836975097656 + ], + [ + 0.04647271707653999, + -0.9989191889762878, + -0.000771406339481473, + -19.72133445739746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2802, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639080_942267417", + "mask_path": "../../mask/hdr_right_02802.png" + }, + { + "file_path": "../../rgb/hdr_right_02803.png", + "transform_matrix": [ + [ + 0.4919239580631256, + 0.027425622567534447, + 0.8702061176300049, + -36.97001647949219 + ], + [ + -0.8692966103553772, + -0.039992187172174454, + 0.4926702082157135, + -37.92033767700195 + ], + [ + 0.048313237726688385, + -0.9988235831260681, + 0.00416788924485445, + -19.728778839111328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2803, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_42267084", + "mask_path": "../../mask/hdr_right_02803.png" + }, + { + "file_path": "../../rgb/hdr_right_02804.png", + "transform_matrix": [ + [ + 0.5073443055152893, + 0.030342061072587967, + 0.8612091541290283, + -37.003082275390625 + ], + [ + -0.8603824973106384, + -0.03831043839454651, + 0.5082070231437683, + -37.852996826171875 + ], + [ + 0.04841335117816925, + -0.998805046081543, + 0.006669195368885994, + -19.73260498046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2804, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_142266988", + "mask_path": "../../mask/hdr_right_02804.png" + }, + { + "file_path": "../../rgb/hdr_right_02805.png", + "transform_matrix": [ + [ + 0.5217007994651794, + 0.022565113380551338, + 0.852830171585083, + -37.03481674194336 + ], + [ + -0.8519808053970337, + -0.03805387020111084, + 0.5221881866455078, + -37.78896713256836 + ], + [ + 0.04423672333359718, + -0.9990208148956299, + -0.0006276852218434215, + -19.74151611328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2805, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_242267608", + "mask_path": "../../mask/hdr_right_02805.png" + }, + { + "file_path": "../../rgb/hdr_right_02806.png", + "transform_matrix": [ + [ + 0.5291244387626648, + 0.016830209642648697, + 0.8483772873878479, + -37.079708099365234 + ], + [ + -0.8471859693527222, + -0.046068716794252396, + 0.5292953252792358, + -37.68571090698242 + ], + [ + 0.0479918047785759, + -0.9987964630126953, + -0.010117767378687859, + -19.739391326904297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2806, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_342266798", + "mask_path": "../../mask/hdr_right_02806.png" + }, + { + "file_path": "../../rgb/hdr_right_02807.png", + "transform_matrix": [ + [ + 0.5317362546920776, + 0.009835630655288696, + 0.8468528985977173, + -37.11521530151367 + ], + [ + -0.8455671072006226, + -0.05012330412864685, + 0.531511127948761, + -37.601226806640625 + ], + [ + 0.04767480865120888, + -0.9986945986747742, + -0.018335692584514618, + -19.73182487487793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2807, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_442268371", + "mask_path": "../../mask/hdr_right_02807.png" + }, + { + "file_path": "../../rgb/hdr_right_02808.png", + "transform_matrix": [ + [ + 0.5321722030639648, + 0.00029835052555426955, + 0.8466361165046692, + -37.138877868652344 + ], + [ + -0.8456413745880127, + -0.048274967819452286, + 0.5315638780593872, + -37.549278259277344 + ], + [ + 0.0410299226641655, + -0.9988340139389038, + -0.02543829195201397, + -19.733665466308594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2808, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_542268276", + "mask_path": "../../mask/hdr_right_02808.png" + }, + { + "file_path": "../../rgb/hdr_right_02809.png", + "transform_matrix": [ + [ + 0.5353339910507202, + 0.0052026063203811646, + 0.8446244597434998, + -37.185794830322266 + ], + [ + -0.8435586094856262, + -0.04730435088276863, + 0.534949779510498, + -37.45304870605469 + ], + [ + 0.04273754730820656, + -0.9988669753074646, + -0.020934928208589554, + -19.747150421142578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2809, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_642268657", + "mask_path": "../../mask/hdr_right_02809.png" + }, + { + "file_path": "../../rgb/hdr_right_02810.png", + "transform_matrix": [ + [ + 0.5450153350830078, + 0.016258934512734413, + 0.8382684588432312, + -37.23855972290039 + ], + [ + -0.8370209336280823, + -0.04730886220932007, + 0.5451218485832214, + -37.35545349121094 + ], + [ + 0.04852062463760376, + -0.9987479448318481, + -0.012174987234175205, + -19.764249801635742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2810, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_742267370", + "mask_path": "../../mask/hdr_right_02810.png" + }, + { + "file_path": "../../rgb/hdr_right_02811.png", + "transform_matrix": [ + [ + 0.5550780892372131, + 0.020302919670939445, + 0.8315505385398865, + -37.2744140625 + ], + [ + -0.8302973508834839, + -0.04650389403104782, + 0.5553771257400513, + -37.2934684753418 + ], + [ + 0.04994610697031021, + -0.9987117648124695, + -0.008955835364758968, + -19.76983642578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2811, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_842268228", + "mask_path": "../../mask/hdr_right_02811.png" + }, + { + "file_path": "../../rgb/hdr_right_02812.png", + "transform_matrix": [ + [ + 0.5617669224739075, + 0.0163925401866436, + 0.8271331787109375, + -37.30946350097656 + ], + [ + -0.8258981704711914, + -0.046973686665296555, + 0.5618590712547302, + -37.227256774902344 + ], + [ + 0.048063796013593674, + -0.9987615942955017, + -0.012849696911871433, + -19.777523040771484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2812, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639081_942266941", + "mask_path": "../../mask/hdr_right_02812.png" + }, + { + "file_path": "../../rgb/hdr_right_02813.png", + "transform_matrix": [ + [ + 0.5603271722793579, + 0.017367584630846977, + 0.8280893564224243, + -37.35277557373047 + ], + [ + -0.8268095254898071, + -0.04764530807733536, + 0.5604605674743652, + -37.12287139892578 + ], + [ + 0.049188412725925446, + -0.9987132549285889, + -0.012337272986769676, + -19.773624420166016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2813, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_42267560", + "mask_path": "../../mask/hdr_right_02813.png" + }, + { + "file_path": "../../rgb/hdr_right_02814.png", + "transform_matrix": [ + [ + 0.5529050230979919, + 0.014251946471631527, + 0.8331223726272583, + -37.383628845214844 + ], + [ + -0.8319002389907837, + -0.04732497036457062, + 0.5529036521911621, + -37.04341125488281 + ], + [ + 0.047307442873716354, + -0.9987778067588806, + -0.01431002002209425, + -19.766952514648438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2814, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_142267704", + "mask_path": "../../mask/hdr_right_02814.png" + }, + { + "file_path": "../../rgb/hdr_right_02815.png", + "transform_matrix": [ + [ + 0.5430516004562378, + 0.01127085741609335, + 0.839623749256134, + -37.40626907348633 + ], + [ + -0.8386549353599548, + -0.04257546365261078, + 0.5429965257644653, + -36.98797607421875 + ], + [ + 0.04186740890145302, + -0.9990296959877014, + -0.013668316416442394, + -19.772470474243164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2815, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_242268085", + "mask_path": "../../mask/hdr_right_02815.png" + }, + { + "file_path": "../../rgb/hdr_right_02816.png", + "transform_matrix": [ + [ + 0.5370946526527405, + 0.0220020841807127, + 0.8432350158691406, + -37.45121383666992 + ], + [ + -0.8423036336898804, + -0.03971843793988228, + 0.5375378727912903, + -36.885215759277344 + ], + [ + 0.045318927615880966, + -0.9989686012268066, + -0.0028001219034194946, + -19.78297996520996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2816, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_342268228", + "mask_path": "../../mask/hdr_right_02816.png" + }, + { + "file_path": "../../rgb/hdr_right_02817.png", + "transform_matrix": [ + [ + 0.536777675151825, + 0.03382363170385361, + 0.8430454730987549, + -37.49393844604492 + ], + [ + -0.8421491980552673, + -0.039537567645311356, + 0.5377932190895081, + -36.794124603271484 + ], + [ + 0.051522091031074524, + -0.9986454844474792, + 0.00726166320964694, + -19.799331665039062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2817, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_442267417", + "mask_path": "../../mask/hdr_right_02817.png" + }, + { + "file_path": "../../rgb/hdr_right_02818.png", + "transform_matrix": [ + [ + 0.5384086966514587, + 0.037350844591856, + 0.8418558239936829, + -37.52280044555664 + ], + [ + -0.8410366177558899, + -0.03861754387617111, + 0.5395980477333069, + -36.73124313354492 + ], + [ + 0.05266484245657921, + -0.9985558390617371, + 0.010621407069265842, + -19.81126594543457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2818, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_542267322", + "mask_path": "../../mask/hdr_right_02818.png" + }, + { + "file_path": "../../rgb/hdr_right_02819.png", + "transform_matrix": [ + [ + 0.5382903218269348, + 0.03688963130116463, + 0.8419517278671265, + -37.55990219116211 + ], + [ + -0.8410557508468628, + -0.03997804597020149, + 0.5394691824913025, + -36.64350128173828 + ], + [ + 0.05356040969491005, + -0.9985193610191345, + 0.009506442584097385, + -19.81983757019043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2819, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_642268657", + "mask_path": "../../mask/hdr_right_02819.png" + }, + { + "file_path": "../../rgb/hdr_right_02820.png", + "transform_matrix": [ + [ + 0.5313666462898254, + 0.034978192299604416, + 0.8464195728302002, + -37.59767532348633 + ], + [ + -0.8453497290611267, + -0.04306543245911598, + 0.5324747562408447, + -36.53849792480469 + ], + [ + 0.05507643148303032, + -0.9984597563743591, + 0.006685263942927122, + -19.81663703918457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2820, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_742267847", + "mask_path": "../../mask/hdr_right_02820.png" + }, + { + "file_path": "../../rgb/hdr_right_02821.png", + "transform_matrix": [ + [ + 0.5214200615882874, + 0.030208002775907516, + 0.8527653217315674, + -37.61842727661133 + ], + [ + -0.8516821265220642, + -0.04309222102165222, + 0.5222841501235962, + -36.47035217285156 + ], + [ + 0.052524711936712265, + -0.9986143112182617, + 0.003258467186242342, + -19.816390991210938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2821, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_842267513", + "mask_path": "../../mask/hdr_right_02821.png" + }, + { + "file_path": "../../rgb/hdr_right_02822.png", + "transform_matrix": [ + [ + 0.5113415122032166, + 0.028413524851202965, + 0.8589076995849609, + -37.636390686035156 + ], + [ + -0.8581193685531616, + -0.03718199580907822, + 0.5121021866798401, + -36.41023254394531 + ], + [ + 0.04648653790354729, + -0.9989044666290283, + 0.005369491409510374, + -19.82483673095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2822, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639082_942267656", + "mask_path": "../../mask/hdr_right_02822.png" + }, + { + "file_path": "../../rgb/hdr_right_02823.png", + "transform_matrix": [ + [ + 0.5069296360015869, + 0.0377165749669075, + 0.8611619472503662, + -37.67560958862305 + ], + [ + -0.8604506254196167, + -0.03748951479792595, + 0.5081528425216675, + -36.30462646484375 + ], + [ + 0.051450323313474655, + -0.9985849261283875, + 0.013448698446154594, + -19.832260131835938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2823, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_42267560", + "mask_path": "../../mask/hdr_right_02823.png" + }, + { + "file_path": "../../rgb/hdr_right_02824.png", + "transform_matrix": [ + [ + 0.5080908536911011, + 0.04602554813027382, + 0.860072910785675, + -37.712196350097656 + ], + [ + -0.8594162464141846, + -0.038976654410362244, + 0.5097886919975281, + -36.21825408935547 + ], + [ + 0.05698607116937637, + -0.9981796145439148, + 0.019751422107219696, + -19.8411808013916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2824, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_142268419", + "mask_path": "../../mask/hdr_right_02824.png" + }, + { + "file_path": "../../rgb/hdr_right_02825.png", + "transform_matrix": [ + [ + 0.511027991771698, + 0.04564925655722618, + 0.8583512306213379, + -37.7390022277832 + ], + [ + -0.8577189445495605, + -0.03831574320793152, + 0.5126892328262329, + -36.15574264526367 + ], + [ + 0.05629224330186844, + -0.9982224106788635, + 0.019573818892240524, + -19.845684051513672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2825, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_242268800", + "mask_path": "../../mask/hdr_right_02825.png" + }, + { + "file_path": "../../rgb/hdr_right_02826.png", + "transform_matrix": [ + [ + 0.5116512775421143, + 0.04530811309814453, + 0.8579978346824646, + -37.77398681640625 + ], + [ + -0.8573398590087891, + -0.038632940500974655, + 0.5132990479469299, + -36.06753158569336 + ], + [ + 0.05640358850359917, + -0.9982258081436157, + 0.019077854230999947, + -19.857158660888672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2826, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_342267513", + "mask_path": "../../mask/hdr_right_02826.png" + }, + { + "file_path": "../../rgb/hdr_right_02827.png", + "transform_matrix": [ + [ + 0.5053026080131531, + 0.04159056022763252, + 0.8619394898414612, + -37.80630874633789 + ], + [ + -0.861310601234436, + -0.037087488919496536, + 0.5067234039306641, + -35.96333694458008 + ], + [ + 0.053042080253362656, + -0.9984461665153503, + 0.017081987112760544, + -19.851285934448242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2827, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_442268133", + "mask_path": "../../mask/hdr_right_02827.png" + }, + { + "file_path": "../../rgb/hdr_right_02828.png", + "transform_matrix": [ + [ + 0.49573972821235657, + 0.033599160611629486, + 0.8678209781646729, + -37.827842712402344 + ], + [ + -0.867162823677063, + -0.035677988082170486, + 0.49674513936042786, + -35.893470764160156 + ], + [ + 0.04765231907367706, + -0.9987983703613281, + 0.01144894864410162, + -19.8459415435791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2828, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_542267799", + "mask_path": "../../mask/hdr_right_02828.png" + }, + { + "file_path": "../../rgb/hdr_right_02829.png", + "transform_matrix": [ + [ + 0.4860508143901825, + 0.030952731147408485, + 0.8733822703361511, + -37.850337982177734 + ], + [ + -0.8729697465896606, + -0.029652850702404976, + 0.4868721663951874, + -35.82840347290039 + ], + [ + 0.04096830263733864, + -0.9990808367729187, + 0.012608007527887821, + -19.849523544311523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2829, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_642267227", + "mask_path": "../../mask/hdr_right_02829.png" + }, + { + "file_path": "../../rgb/hdr_right_02830.png", + "transform_matrix": [ + [ + 0.4852290153503418, + 0.03575001657009125, + 0.8736560940742493, + -37.88907241821289 + ], + [ + -0.8732995390892029, + -0.030005117878317833, + 0.4862588047981262, + -35.72599411010742 + ], + [ + 0.04359791427850723, + -0.9989102482795715, + 0.01666111871600151, + -19.86026954650879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2830, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_742267370", + "mask_path": "../../mask/hdr_right_02830.png" + }, + { + "file_path": "../../rgb/hdr_right_02831.png", + "transform_matrix": [ + [ + 0.48921719193458557, + 0.04026491567492485, + 0.8712320327758789, + -37.92247772216797 + ], + [ + -0.8708980083465576, + -0.031207479536533356, + 0.49047189950942993, + -35.643978118896484 + ], + [ + 0.046937763690948486, + -0.9987015128135681, + 0.019799405708909035, + -19.871726989746094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2831, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_842267036", + "mask_path": "../../mask/hdr_right_02831.png" + }, + { + "file_path": "../../rgb/hdr_right_02832.png", + "transform_matrix": [ + [ + 0.4926320016384125, + 0.03729016333818436, + 0.8694384098052979, + -37.946346282958984 + ], + [ + -0.8691070079803467, + -0.029831962659955025, + 0.4937237501144409, + -35.575782775878906 + ], + [ + 0.04434809461236, + -0.9988591074943542, + 0.01771296001970768, + -19.87965965270996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2832, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639083_942267894", + "mask_path": "../../mask/hdr_right_02832.png" + }, + { + "file_path": "../../rgb/hdr_right_02833.png", + "transform_matrix": [ + [ + 0.49035412073135376, + 0.03639752417802811, + 0.8707629442214966, + -37.98118591308594 + ], + [ + -0.8702033758163452, + -0.034520067274570465, + 0.4914819300174713, + -35.473968505859375 + ], + [ + 0.04794751852750778, + -0.9987409710884094, + 0.014746192842721939, + -19.88400650024414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2833, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_42267560", + "mask_path": "../../mask/hdr_right_02833.png" + }, + { + "file_path": "../../rgb/hdr_right_02834.png", + "transform_matrix": [ + [ + 0.4848206043243408, + 0.036125436425209045, + 0.8738672733306885, + -38.00868606567383 + ], + [ + -0.8732672929763794, + -0.03542226552963257, + 0.48595207929611206, + -35.38198471069336 + ], + [ + 0.04850959777832031, + -0.9987193942070007, + 0.014373723417520523, + -19.879640579223633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2834, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_142266988", + "mask_path": "../../mask/hdr_right_02834.png" + }, + { + "file_path": "../../rgb/hdr_right_02835.png", + "transform_matrix": [ + [ + 0.4786863327026367, + 0.02928655594587326, + 0.8774976134300232, + -38.026023864746094 + ], + [ + -0.876967191696167, + -0.03218578174710274, + 0.47947126626968384, + -35.324710845947266 + ], + [ + 0.042284995317459106, + -0.9990527629852295, + 0.010276458226144314, + -19.87811851501465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2835, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_242270231", + "mask_path": "../../mask/hdr_right_02835.png" + }, + { + "file_path": "../../rgb/hdr_right_02836.png", + "transform_matrix": [ + [ + 0.4740842878818512, + 0.030226541683077812, + 0.8799605369567871, + -38.06036376953125 + ], + [ + -0.8794418573379517, + -0.0322490930557251, + 0.4749126136302948, + -35.23617935180664 + ], + [ + 0.04273288697004318, + -0.9990227222442627, + 0.011293698102235794, + -19.889707565307617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2836, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_342267990", + "mask_path": "../../mask/hdr_right_02836.png" + }, + { + "file_path": "../../rgb/hdr_right_02837.png", + "transform_matrix": [ + [ + 0.4776488244533539, + 0.0396745502948761, + 0.8776546716690063, + -38.10185241699219 + ], + [ + -0.8771473169326782, + -0.03491140902042389, + 0.4789508581161499, + -35.1400260925293 + ], + [ + 0.04964232072234154, + -0.998602569103241, + 0.018125031143426895, + -19.900842666625977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2837, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_442270517", + "mask_path": "../../mask/hdr_right_02837.png" + }, + { + "file_path": "../../rgb/hdr_right_02838.png", + "transform_matrix": [ + [ + 0.4912254810333252, + 0.04418757185339928, + 0.8699110150337219, + -38.13373947143555 + ], + [ + -0.8694167733192444, + -0.03592940792441368, + 0.4927714765071869, + -35.07650375366211 + ], + [ + 0.05302976071834564, + -0.9983769655227661, + 0.020767971873283386, + -19.907676696777344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2838, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_542267799", + "mask_path": "../../mask/hdr_right_02838.png" + }, + { + "file_path": "../../rgb/hdr_right_02839.png", + "transform_matrix": [ + [ + 0.5081914663314819, + 0.038105156272649765, + 0.8604007959365845, + -38.1673698425293 + ], + [ + -0.8597310185432434, + -0.036748018115758896, + 0.5094233751296997, + -35.011199951171875 + ], + [ + 0.05102967843413353, + -0.9985978007316589, + 0.014085155911743641, + -19.91583251953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2839, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_642267465", + "mask_path": "../../mask/hdr_right_02839.png" + }, + { + "file_path": "../../rgb/hdr_right_02840.png", + "transform_matrix": [ + [ + 0.5234090685844421, + 0.03494110330939293, + 0.85136479139328, + -38.21089172363281 + ], + [ + -0.8505060076713562, + -0.03930983319878578, + 0.5244943499565125, + -34.91853713989258 + ], + [ + 0.051793422549963, + -0.9986159801483154, + 0.009142494760453701, + -19.91516876220703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2840, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_742267608", + "mask_path": "../../mask/hdr_right_02840.png" + }, + { + "file_path": "../../rgb/hdr_right_02841.png", + "transform_matrix": [ + [ + 0.5354459285736084, + 0.030688663944602013, + 0.8440118432044983, + -38.242794036865234 + ], + [ + -0.8431054353713989, + -0.03939584642648697, + 0.5363034009933472, + -34.84599685668945 + ], + [ + 0.04970899224281311, + -0.9987523555755615, + 0.004779431968927383, + -19.90972900390625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2841, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639084_842267990", + "mask_path": "../../mask/hdr_right_02841.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/74f51641/mesh.ply b/2024-11-03-13-59-54/splats/74f51641/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..7d9bf6ee71bd4c10d0669b9e313f3f7d1ec6f9a2 --- /dev/null +++ b/2024-11-03-13-59-54/splats/74f51641/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cc20b75ed3ccdbe252775dbed21ed61f085a9095a5c1ea75c81cb0321236c1d +size 101811906 diff --git a/2024-11-03-13-59-54/splats/74f51641/mesh_filled_decimated.ply b/2024-11-03-13-59-54/splats/74f51641/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..a2337f72893358ec243d67eba1b5eea365c6a067 --- /dev/null +++ b/2024-11-03-13-59-54/splats/74f51641/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b075d1ccd3f97859453755904f129fa66e28144df03ae8749a1412cc389c7d7 +size 1578459 diff --git a/2024-11-03-13-59-54/splats/74f51641/splatfacto/config.yml b/2024-11-03-13-59-54/splats/74f51641/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..8d1fc39b8f640784c5ff94e557a316dedf205242 --- /dev/null +++ b/2024-11-03-13-59-54/splats/74f51641/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-03-13-59-54_nerfstudio +- slices +- slice_74f51641 +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-03-13-59-54_nerfstudio + - slices + - slice_74f51641 + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-03-13-59-54/splats/74f51641/splatfacto/dataparser_transforms.json b/2024-11-03-13-59-54/splats/74f51641/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..53a43c012b7647e80e9e3786bad4c1f1b5ae24bc --- /dev/null +++ b/2024-11-03-13-59-54/splats/74f51641/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + 0.042765676975250244, + -0.9942174553871155, + -0.09850222617387772, + -17.11738395690918 + ], + [ + -0.9942174553871155, + -0.03262948989868164, + -0.10230790078639984, + -17.151147842407227 + ], + [ + 0.09850222617387772, + 0.10230790078639984, + -0.9898638725280762, + -3.6797728538513184 + ] + ], + "scale": 0.2512996053072739 +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/74f51641/splatfacto/splat.ply b/2024-11-03-13-59-54/splats/74f51641/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..27899631ca922d63f5e4951e9a22312486f7cef3 --- /dev/null +++ b/2024-11-03-13-59-54/splats/74f51641/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:847459a505bf1075c8470b1215fbef7bbd0759670e4544bdfd6b451043c17c92 +size 238096969 diff --git a/2024-11-03-13-59-54/splats/74f51641/transforms.json b/2024-11-03-13-59-54/splats/74f51641/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9fa030874adc2809a673c5c51c14c987b75d2132 --- /dev/null +++ b/2024-11-03-13-59-54/splats/74f51641/transforms.json @@ -0,0 +1,18528 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_00629.png", + "transform_matrix": [ + [ + 0.8904918432235718, + 0.1343425214290619, + 0.43471428751945496, + -13.294096946716309 + ], + [ + -0.45380207896232605, + 0.1929689198732376, + 0.8699579238891602, + -13.383222579956055 + ], + [ + 0.03298598900437355, + -0.9719646573066711, + 0.23280216753482819, + -5.273263454437256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 629, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638864_842267513", + "mask_path": "../../mask/hdr_front_00629.png" + }, + { + "file_path": "../../rgb/hdr_front_00632.png", + "transform_matrix": [ + [ + 0.9223847389221191, + 0.12342863529920578, + 0.3660215139389038, + -13.317490577697754 + ], + [ + -0.38370367884635925, + 0.18367987871170044, + 0.9050045013427734, + -13.528857231140137 + ], + [ + 0.04447270184755325, + -0.975206196308136, + 0.2167835384607315, + -5.291330814361572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 632, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_142267704", + "mask_path": "../../mask/hdr_front_00632.png" + }, + { + "file_path": "../../rgb/hdr_front_00633.png", + "transform_matrix": [ + [ + 0.9318596124649048, + 0.11206377297639847, + 0.34507864713668823, + -13.321969032287598 + ], + [ + -0.36104780435562134, + 0.19255632162094116, + 0.912450909614563, + -13.585077285766602 + ], + [ + 0.0358056016266346, + -0.9748660326004028, + 0.2198958843946457, + -5.310229778289795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 633, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_242268323", + "mask_path": "../../mask/hdr_front_00633.png" + }, + { + "file_path": "../../rgb/hdr_front_00635.png", + "transform_matrix": [ + [ + 0.9375805258750916, + 0.10999128967523575, + 0.32991623878479004, + -13.33296012878418 + ], + [ + -0.3457561731338501, + 0.19291797280311584, + 0.9182785153388977, + -13.663432121276855 + ], + [ + 0.03735586255788803, + -0.9750306010246277, + 0.21890628337860107, + -5.333812236785889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 635, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_442267656", + "mask_path": "../../mask/hdr_front_00635.png" + }, + { + "file_path": "../../rgb/hdr_front_00637.png", + "transform_matrix": [ + [ + 0.9341066479682922, + 0.10896170884370804, + 0.33995920419692993, + -13.376026153564453 + ], + [ + -0.35513973236083984, + 0.18668659031391144, + 0.9159824848175049, + -13.746576309204102 + ], + [ + 0.036341190338134766, + -0.9763583540916443, + 0.21308180689811707, + -5.36805534362793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 637, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_642266988", + "mask_path": "../../mask/hdr_front_00637.png" + }, + { + "file_path": "../../rgb/hdr_front_00638.png", + "transform_matrix": [ + [ + 0.931251585483551, + 0.10268568247556686, + 0.3496083915233612, + -13.40202808380127 + ], + [ + -0.3631809949874878, + 0.18390965461730957, + 0.913387656211853, + -13.79473876953125 + ], + [ + 0.029495444148778915, + -0.977564811706543, + 0.20855966210365295, + -5.357306957244873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 638, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_742267847", + "mask_path": "../../mask/hdr_front_00638.png" + }, + { + "file_path": "../../rgb/hdr_front_00640.png", + "transform_matrix": [ + [ + 0.9239395260810852, + 0.0968441516160965, + 0.37007683515548706, + -13.437226295471191 + ], + [ + -0.38183721899986267, + 0.17492879927158356, + 0.9075242877006531, + -13.899229049682617 + ], + [ + 0.02315131202340126, + -0.979806661605835, + 0.1986023336648941, + -5.391772270202637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 640, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_942267894", + "mask_path": "../../mask/hdr_front_00640.png" + }, + { + "file_path": "../../rgb/hdr_front_00641.png", + "transform_matrix": [ + [ + 0.9228274822235107, + 0.09116951376199722, + 0.3742694854736328, + -13.462681770324707 + ], + [ + -0.3850639760494232, + 0.19124343991279602, + 0.9028574824333191, + -13.979097366333008 + ], + [ + 0.010736488737165928, + -0.9772993922233582, + 0.21159078180789948, + -5.413550853729248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 641, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_42267799", + "mask_path": "../../mask/hdr_front_00641.png" + }, + { + "file_path": "../../rgb/hdr_front_00642.png", + "transform_matrix": [ + [ + 0.9216561913490295, + 0.09104762971401215, + 0.3771740794181824, + -13.485358238220215 + ], + [ + -0.38797375559806824, + 0.20340414345264435, + 0.8989455699920654, + -14.041508674621582 + ], + [ + 0.005128094460815191, + -0.974852442741394, + 0.22279278934001923, + -5.436352252960205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 642, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_142267704", + "mask_path": "../../mask/hdr_front_00642.png" + }, + { + "file_path": "../../rgb/hdr_front_00643.png", + "transform_matrix": [ + [ + 0.9198932647705078, + 0.08974819630384445, + 0.38176125288009644, + -13.506861686706543 + ], + [ + -0.3921511769294739, + 0.20127162337303162, + 0.8976120352745056, + -14.097113609313965 + ], + [ + 0.003721347777172923, + -0.9754152894020081, + 0.22034327685832977, + -5.465973377227783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 643, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_242268562", + "mask_path": "../../mask/hdr_front_00643.png" + }, + { + "file_path": "../../rgb/hdr_front_00644.png", + "transform_matrix": [ + [ + 0.9182300567626953, + 0.08601053059101105, + 0.3865951895713806, + -13.550132751464844 + ], + [ + -0.3960473835468292, + 0.20028690993785858, + 0.8961203098297119, + -14.160965919494629 + ], + [ + -0.0003541696351021528, + -0.9759545922279358, + 0.21797367930412292, + -5.486478805541992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 644, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_342268705", + "mask_path": "../../mask/hdr_front_00644.png" + }, + { + "file_path": "../../rgb/hdr_front_00645.png", + "transform_matrix": [ + [ + 0.9141119718551636, + 0.0853007584810257, + 0.39638751745224, + -13.594762802124023 + ], + [ + -0.40545380115509033, + 0.19845084846019745, + 0.8923141956329346, + -14.227463722229004 + ], + [ + -0.002548365853726864, + -0.9763918519020081, + 0.2159918248653412, + -5.47692346572876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 645, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_442267656", + "mask_path": "../../mask/hdr_front_00645.png" + }, + { + "file_path": "../../rgb/hdr_front_00646.png", + "transform_matrix": [ + [ + 0.9100735187530518, + 0.08485995978116989, + 0.40566587448120117, + -13.617538452148438 + ], + [ + -0.4144330322742462, + 0.19428177177906036, + 0.8891006112098694, + -14.27493667602539 + ], + [ + -0.003364452626556158, + -0.9772683382034302, + 0.21197949349880219, + -5.479854583740234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 646, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_542267799", + "mask_path": "../../mask/hdr_front_00646.png" + }, + { + "file_path": "../../rgb/hdr_front_00648.png", + "transform_matrix": [ + [ + 0.906344473361969, + 0.07538352906703949, + 0.41576051712036133, + -13.659945487976074 + ], + [ + -0.4221225678920746, + 0.20522640645503998, + 0.8830032348632812, + -14.408133506774902 + ], + [ + -0.01876114308834076, + -0.9758071303367615, + 0.2178269326686859, + -5.519431114196777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 648, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_742267847", + "mask_path": "../../mask/hdr_front_00648.png" + }, + { + "file_path": "../../rgb/hdr_front_00649.png", + "transform_matrix": [ + [ + 0.9061314463615417, + 0.07812203466892242, + 0.4157197177410126, + -13.678139686584473 + ], + [ + -0.42251551151275635, + 0.2140093296766281, + 0.8807274103164673, + -14.46723747253418 + ], + [ + -0.02016368880867958, + -0.9737027883529663, + 0.22692835330963135, + -5.5397562980651855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 649, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_842267513", + "mask_path": "../../mask/hdr_front_00649.png" + }, + { + "file_path": "../../rgb/hdr_front_00650.png", + "transform_matrix": [ + [ + 0.9046194553375244, + 0.08076725155115128, + 0.4184976816177368, + -13.693867683410645 + ], + [ + -0.42590510845184326, + 0.20904260873794556, + 0.8802874684333801, + -14.517509460449219 + ], + [ + -0.01638544537127018, + -0.9745654463768005, + 0.2235032021999359, + -5.560181617736816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 650, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_942266941", + "mask_path": "../../mask/hdr_front_00650.png" + }, + { + "file_path": "../../rgb/hdr_front_00651.png", + "transform_matrix": [ + [ + 0.9035030007362366, + 0.08120658993721008, + 0.42081817984580994, + -13.718624114990234 + ], + [ + -0.4282773435115814, + 0.2080826312303543, + 0.879363477230072, + -14.572427749633789 + ], + [ + -0.016154838725924492, + -0.9747344255447388, + 0.2227821946144104, + -5.581993103027344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 651, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_42268276", + "mask_path": "../../mask/hdr_front_00651.png" + }, + { + "file_path": "../../rgb/hdr_front_00652.png", + "transform_matrix": [ + [ + 0.9002874493598938, + 0.08119919151067734, + 0.427655428647995, + -13.753787994384766 + ], + [ + -0.43495193123817444, + 0.20685267448425293, + 0.8763725757598877, + -14.633108139038086 + ], + [ + -0.017300931736826897, + -0.97499680519104, + 0.22154459357261658, + -5.585117816925049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 652, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_142267465", + "mask_path": "../../mask/hdr_front_00652.png" + }, + { + "file_path": "../../rgb/hdr_front_00653.png", + "transform_matrix": [ + [ + 0.8961031436920166, + 0.077001191675663, + 0.43711549043655396, + -13.785054206848145 + ], + [ + -0.4432946741580963, + 0.2043360024690628, + 0.8727753162384033, + -14.681365966796875 + ], + [ + -0.02211371436715126, + -0.9758676886558533, + 0.2172403782606125, + -5.585533618927002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 653, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_242267847", + "mask_path": "../../mask/hdr_front_00653.png" + }, + { + "file_path": "../../rgb/hdr_front_00655.png", + "transform_matrix": [ + [ + 0.8880307674407959, + 0.07108160108327866, + 0.4542562663555145, + -13.842256546020508 + ], + [ + -0.45902135968208313, + 0.19394148886203766, + 0.8669983148574829, + -14.774925231933594 + ], + [ + -0.02647150121629238, + -0.9784345626831055, + 0.20485398173332214, + -5.617379188537598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 655, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_442268371", + "mask_path": "../../mask/hdr_front_00655.png" + }, + { + "file_path": "../../rgb/hdr_front_00656.png", + "transform_matrix": [ + [ + 0.8860371708869934, + 0.07306516915559769, + 0.45782047510147095, + -13.868335723876953 + ], + [ + -0.46255406737327576, + 0.206059068441391, + 0.8623128533363342, + -14.83377456665039 + ], + [ + -0.031333014369010925, + -0.9758079648017883, + 0.21637257933616638, + -5.627900123596191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 656, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_542268276", + "mask_path": "../../mask/hdr_front_00656.png" + }, + { + "file_path": "../../rgb/hdr_front_00659.png", + "transform_matrix": [ + [ + 0.8835957050323486, + 0.08648494631052017, + 0.46019455790519714, + -13.927249908447266 + ], + [ + -0.4677490293979645, + 0.208502396941185, + 0.8589165210723877, + -14.957476615905762 + ], + [ + -0.021668313071131706, + -0.9741905927658081, + 0.22468505799770355, + -5.690260410308838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 659, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_842267990", + "mask_path": "../../mask/hdr_front_00659.png" + }, + { + "file_path": "../../rgb/hdr_front_00660.png", + "transform_matrix": [ + [ + 0.8791747689247131, + 0.09478385746479034, + 0.46697717905044556, + -13.956620216369629 + ], + [ + -0.4762252867221832, + 0.2080167979001999, + 0.8543643951416016, + -15.006359100341797 + ], + [ + -0.016159135848283768, + -0.9735219478607178, + 0.22802160680294037, + -5.699270248413086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 660, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_942267179", + "mask_path": "../../mask/hdr_front_00660.png" + }, + { + "file_path": "../../rgb/hdr_front_00661.png", + "transform_matrix": [ + [ + 0.873231828212738, + 0.09906407445669174, + 0.4771294891834259, + -13.981348037719727 + ], + [ + -0.4871004521846771, + 0.20581470429897308, + 0.8487482070922852, + -15.050216674804688 + ], + [ + -0.014119819737970829, + -0.9735639095306396, + 0.22797809541225433, + -5.699175834655762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 661, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_42266845", + "mask_path": "../../mask/hdr_front_00661.png" + }, + { + "file_path": "../../rgb/hdr_front_00663.png", + "transform_matrix": [ + [ + 0.8674811720848083, + 0.09068412333726883, + 0.489134818315506, + -14.025823593139648 + ], + [ + -0.4965924918651581, + 0.2162303775548935, + 0.8406189680099487, + -15.157203674316406 + ], + [ + -0.029534995555877686, + -0.9721218347549438, + 0.23260881006717682, + -5.7299113273620605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 663, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_242267608", + "mask_path": "../../mask/hdr_front_00663.png" + }, + { + "file_path": "../../rgb/hdr_front_00664.png", + "transform_matrix": [ + [ + 0.8664484620094299, + 0.09422637522220612, + 0.49029430747032166, + -14.049249649047852 + ], + [ + -0.4982547461986542, + 0.22568127512931824, + 0.8371440172195435, + -15.21258544921875 + ], + [ + -0.03176918625831604, + -0.9696336388587952, + 0.24248991906642914, + -5.753329277038574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 664, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_342267751", + "mask_path": "../../mask/hdr_front_00664.png" + }, + { + "file_path": "../../rgb/hdr_front_00665.png", + "transform_matrix": [ + [ + 0.8641030788421631, + 0.10038381814956665, + 0.4932027757167816, + -14.067436218261719 + ], + [ + -0.5026440620422363, + 0.22268563508987427, + 0.8353202939033508, + -15.256081581115723 + ], + [ + -0.025976533070206642, + -0.9697083830833435, + 0.2428806573152542, + -5.777241230010986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 665, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_442266702", + "mask_path": "../../mask/hdr_front_00665.png" + }, + { + "file_path": "../../rgb/hdr_front_00666.png", + "transform_matrix": [ + [ + 0.8630635142326355, + 0.10290714353322983, + 0.49450117349624634, + -14.08862590789795 + ], + [ + -0.5046225190162659, + 0.21802760660648346, + 0.8353563547134399, + -15.30332088470459 + ], + [ + -0.021850768476724625, + -0.9705019593238831, + 0.2401009351015091, + -5.800704479217529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 666, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_542269468", + "mask_path": "../../mask/hdr_front_00666.png" + }, + { + "file_path": "../../rgb/hdr_front_00667.png", + "transform_matrix": [ + [ + 0.8623329401016235, + 0.10520610958337784, + 0.4952913522720337, + -14.124675750732422 + ], + [ + -0.5059449076652527, + 0.21774625778198242, + 0.834629476070404, + -15.360270500183105 + ], + [ + -0.020039714872837067, + -0.9703186750411987, + 0.2409982830286026, + -5.819569110870361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 667, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_642267704", + "mask_path": "../../mask/hdr_front_00667.png" + }, + { + "file_path": "../../rgb/hdr_front_00668.png", + "transform_matrix": [ + [ + 0.8589321970939636, + 0.10487572103738785, + 0.5012352466583252, + -14.159188270568848 + ], + [ + -0.5116488933563232, + 0.21634939312934875, + 0.8315096497535706, + -15.413249015808105 + ], + [ + -0.021236756816506386, + -0.9706668257713318, + 0.23948901891708374, + -5.81586217880249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 668, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_742269039", + "mask_path": "../../mask/hdr_front_00668.png" + }, + { + "file_path": "../../rgb/hdr_front_00670.png", + "transform_matrix": [ + [ + 0.850734293460846, + 0.10285887122154236, + 0.5154328346252441, + -14.21220874786377 + ], + [ + -0.5251630544662476, + 0.20614060759544373, + 0.8256572484970093, + -15.51935863494873 + ], + [ + -0.021325483918190002, + -0.9731013178825378, + 0.22938857972621918, + -5.847968578338623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 670, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_942268133", + "mask_path": "../../mask/hdr_front_00670.png" + }, + { + "file_path": "../../rgb/hdr_front_00671.png", + "transform_matrix": [ + [ + 0.8503786325454712, + 0.09987928718328476, + 0.5166045427322388, + -14.242246627807617 + ], + [ + -0.5251670479774475, + 0.22174161672592163, + 0.8216022849082947, + -15.587716102600098 + ], + [ + -0.03249168023467064, + -0.9699767827987671, + 0.2410176694393158, + -5.866149425506592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 671, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_42267322", + "mask_path": "../../mask/hdr_front_00671.png" + }, + { + "file_path": "../../rgb/hdr_front_00672.png", + "transform_matrix": [ + [ + 0.8512630462646484, + 0.10267633199691772, + 0.5145956873893738, + -14.26006031036377 + ], + [ + -0.5236651301383972, + 0.22894088923931122, + 0.8205857276916504, + -15.632294654846191 + ], + [ + -0.03355727344751358, + -0.9680101871490479, + 0.24865694344043732, + -5.884554862976074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 672, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_142267227", + "mask_path": "../../mask/hdr_front_00672.png" + }, + { + "file_path": "../../rgb/hdr_front_00674.png", + "transform_matrix": [ + [ + 0.8505655527114868, + 0.11111462116241455, + 0.5139959454536438, + -14.30904483795166 + ], + [ + -0.5254166126251221, + 0.22010047733783722, + 0.8218839168548584, + -15.722186088562012 + ], + [ + -0.02180742286145687, + -0.9691281914710999, + 0.24559137225151062, + -5.9394001960754395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 674, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_342267036", + "mask_path": "../../mask/hdr_front_00674.png" + }, + { + "file_path": "../../rgb/hdr_front_00675.png", + "transform_matrix": [ + [ + 0.8424622416496277, + 0.14504095911979675, + 0.5188645124435425, + -14.33802604675293 + ], + [ + -0.5387535095214844, + 0.22430510818958282, + 0.8120540976524353, + -15.770913124084473 + ], + [ + 0.001397152547724545, + -0.9636651277542114, + 0.2671099305152893, + -5.948016166687012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 675, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_442267656", + "mask_path": "../../mask/hdr_front_00675.png" + }, + { + "file_path": "../../rgb/hdr_front_00678.png", + "transform_matrix": [ + [ + 0.8318646550178528, + 0.13478516042232513, + 0.5383623838424683, + -14.412174224853516 + ], + [ + -0.5548760294914246, + 0.22063025832176208, + 0.802143931388855, + -15.935371398925781 + ], + [ + -0.010661927983164787, + -0.9659996628761292, + 0.2583235800266266, + -5.974165439605713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 678, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_742266654", + "mask_path": "../../mask/hdr_front_00678.png" + }, + { + "file_path": "../../rgb/hdr_front_00679.png", + "transform_matrix": [ + [ + 0.8300750851631165, + 0.13336440920829773, + 0.5414695739746094, + -14.437047004699707 + ], + [ + -0.5575680732727051, + 0.2152864933013916, + 0.8017290830612183, + -15.986072540283203 + ], + [ + -0.009648976847529411, + -0.9674015045166016, + 0.2530636787414551, + -5.990999698638916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 679, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_842268466", + "mask_path": "../../mask/hdr_front_00679.png" + }, + { + "file_path": "../../rgb/hdr_front_00681.png", + "transform_matrix": [ + [ + 0.8275707364082336, + 0.13380897045135498, + 0.5451805591583252, + -14.488390922546387 + ], + [ + -0.5613571405410767, + 0.20103611052036285, + 0.8027842044830322, + -16.06201171875 + ], + [ + -0.0021812496706843376, + -0.9704018235206604, + 0.24148623645305634, + -6.022987365722656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 681, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638870_42268037", + "mask_path": "../../mask/hdr_front_00681.png" + }, + { + "file_path": "../../rgb/hdr_front_00682.png", + "transform_matrix": [ + [ + 0.8254915475845337, + 0.1380453258752823, + 0.5472726821899414, + -14.532647132873535 + ], + [ + -0.5644028782844543, + 0.1956568956375122, + 0.8019774556159973, + -16.10779571533203 + ], + [ + 0.0036315773613750935, + -0.9709077477455139, + 0.23942628502845764, + -6.037906169891357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 682, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638870_142267704", + "mask_path": "../../mask/hdr_front_00682.png" + }, + { + "file_path": "../../rgb/hdr_front_00683.png", + "transform_matrix": [ + [ + 0.8231011629104614, + 0.1361202746629715, + 0.551339864730835, + -14.56949234008789 + ], + [ + -0.567893385887146, + 0.19519276916980743, + 0.7996230125427246, + -16.148744583129883 + ], + [ + 0.0012273433385416865, + -0.9712729454040527, + 0.2379651963710785, + -6.047285079956055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 683, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638870_242267847", + "mask_path": "../../mask/hdr_front_00683.png" + }, + { + "file_path": "../../rgb/hdr_front_00685.png", + "transform_matrix": [ + [ + 0.818324625492096, + 0.12675519287586212, + 0.5606049299240112, + -14.612892150878906 + ], + [ + -0.5747528076171875, + 0.18387781083583832, + 0.7974010109901428, + -16.221647262573242 + ], + [ + -0.0020080995745956898, + -0.97474205493927, + 0.22332465648651123, + -6.068459510803223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 685, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638870_442267894", + "mask_path": "../../mask/hdr_front_00685.png" + }, + { + "file_path": "../../rgb/hdr_front_00686.png", + "transform_matrix": [ + [ + 0.8175999522209167, + 0.11931867152452469, + 0.5632879734039307, + -14.645005226135254 + ], + [ + -0.5756936073303223, + 0.1869959533214569, + 0.7959959506988525, + -16.27872657775879 + ], + [ + -0.010355394333600998, + -0.9750875234603882, + 0.22157888114452362, + -6.072501182556152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 686, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638870_542268037", + "mask_path": "../../mask/hdr_front_00686.png" + }, + { + "file_path": "../../rgb/hdr_front_00691.png", + "transform_matrix": [ + [ + 0.8527464270591736, + 0.10876229405403137, + 0.5108759999275208, + -14.748419761657715 + ], + [ + -0.5223215222358704, + 0.1739768087863922, + 0.8348127603530884, + -16.47935676574707 + ], + [ + 0.0019155873451381922, + -0.9787251949310303, + 0.2051669955253601, + -6.124629974365234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 691, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_42268276", + "mask_path": "../../mask/hdr_front_00691.png" + }, + { + "file_path": "../../rgb/hdr_front_00693.png", + "transform_matrix": [ + [ + 0.858221709728241, + 0.103497713804245, + 0.5027362704277039, + -14.7819242477417 + ], + [ + -0.5132709741592407, + 0.1675385683774948, + 0.8417147397994995, + -16.549497604370117 + ], + [ + 0.002887853654101491, + -0.980417788028717, + 0.1969076246023178, + -6.138278484344482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 693, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_242267131", + "mask_path": "../../mask/hdr_front_00693.png" + }, + { + "file_path": "../../rgb/hdr_front_00694.png", + "transform_matrix": [ + [ + 0.8564492464065552, + 0.09435296803712845, + 0.5075355172157288, + -14.810258865356445 + ], + [ + -0.5161300301551819, + 0.17597715556621552, + 0.8382373452186584, + -16.60500717163086 + ], + [ + -0.010224476456642151, + -0.9798620343208313, + 0.19941388070583344, + -6.145752429962158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 694, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_342267751", + "mask_path": "../../mask/hdr_front_00694.png" + }, + { + "file_path": "../../rgb/hdr_front_00695.png", + "transform_matrix": [ + [ + 0.8539352416992188, + 0.09179732948541641, + 0.5122185349464417, + -14.831633567810059 + ], + [ + -0.5201044678688049, + 0.1825469434261322, + 0.8343668580055237, + -16.6480712890625 + ], + [ + -0.016911283135414124, + -0.9789023995399475, + 0.20362746715545654, + -6.161072254180908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 695, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_442267417", + "mask_path": "../../mask/hdr_front_00695.png" + }, + { + "file_path": "../../rgb/hdr_front_00697.png", + "transform_matrix": [ + [ + 0.8513553738594055, + 0.09642931818962097, + 0.5156503915786743, + -14.861286163330078 + ], + [ + -0.5244789123535156, + 0.17662885785102844, + 0.8329010605812073, + -16.71805763244629 + ], + [ + -0.010762663558125496, + -0.97954261302948, + 0.20094908773899078, + -6.1967453956604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 697, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_642267704", + "mask_path": "../../mask/hdr_front_00697.png" + }, + { + "file_path": "../../rgb/hdr_front_00699.png", + "transform_matrix": [ + [ + 0.8569902181625366, + 0.10651320964097977, + 0.504205048084259, + -14.906318664550781 + ], + [ + -0.5153312087059021, + 0.17474691569805145, + 0.8389858603477478, + -16.80562973022461 + ], + [ + 0.0012548010563477874, + -0.9788352847099304, + 0.20464597642421722, + -6.226726531982422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 699, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_842267751", + "mask_path": "../../mask/hdr_front_00699.png" + }, + { + "file_path": "../../rgb/hdr_front_00702.png", + "transform_matrix": [ + [ + 0.8801655173301697, + 0.0932995080947876, + 0.46540725231170654, + -14.953805923461914 + ], + [ + -0.47466546297073364, + 0.17060433328151703, + 0.8634737133979797, + -16.958358764648438 + ], + [ + 0.0011611853260546923, + -0.9809125661849976, + 0.19444608688354492, + -6.2334747314453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 702, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638872_142267465", + "mask_path": "../../mask/hdr_front_00702.png" + }, + { + "file_path": "../../rgb/hdr_front_00709.png", + "transform_matrix": [ + [ + 0.9193919897079468, + 0.09915007650852203, + 0.3806411027908325, + -14.969667434692383 + ], + [ + -0.3926497995853424, + 0.17393432557582855, + 0.90309077501297, + -17.26351547241211 + ], + [ + 0.023334966972470284, + -0.9797531366348267, + 0.19884508848190308, + -6.306132793426514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 709, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638872_842268228", + "mask_path": "../../mask/hdr_front_00709.png" + }, + { + "file_path": "../../rgb/hdr_front_00710.png", + "transform_matrix": [ + [ + 0.9177483916282654, + 0.08888056129217148, + 0.3870891034603119, + -14.985970497131348 + ], + [ + -0.3970927894115448, + 0.18714262545108795, + 0.8984959125518799, + -17.32839012145996 + ], + [ + 0.00741795776411891, + -0.9783036112785339, + 0.20704369246959686, + -6.3333916664123535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 710, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638872_942267179", + "mask_path": "../../mask/hdr_front_00710.png" + }, + { + "file_path": "../../rgb/hdr_front_00711.png", + "transform_matrix": [ + [ + 0.9159954190254211, + 0.08683543652296066, + 0.3916783928871155, + -14.99755573272705 + ], + [ + -0.4011787474155426, + 0.20512719452381134, + 0.8927364945411682, + -17.379817962646484 + ], + [ + -0.0028227295260876417, + -0.9748756289482117, + 0.22273209691047668, + -6.359879016876221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 711, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_42267322", + "mask_path": "../../mask/hdr_front_00711.png" + }, + { + "file_path": "../../rgb/hdr_front_00713.png", + "transform_matrix": [ + [ + 0.9123992323875427, + 0.09731101989746094, + 0.3975653648376465, + -15.01307487487793 + ], + [ + -0.4092771112918854, + 0.22749675810337067, + 0.8835934996604919, + -17.442564010620117 + ], + [ + -0.004461447708308697, + -0.968904435634613, + 0.24739503860473633, + -6.417835712432861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 713, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_242266178", + "mask_path": "../../mask/hdr_front_00713.png" + }, + { + "file_path": "../../rgb/hdr_front_00714.png", + "transform_matrix": [ + [ + 0.9113514423370361, + 0.09906930476427078, + 0.39952951669692993, + -15.032712936401367 + ], + [ + -0.4115850031375885, + 0.23353247344493866, + 0.8809429407119751, + -17.488985061645508 + ], + [ + -0.006028702948242426, + -0.9672889709472656, + 0.25360557436943054, + -6.450517177581787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 714, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_342267036", + "mask_path": "../../mask/hdr_front_00714.png" + }, + { + "file_path": "../../rgb/hdr_front_00715.png", + "transform_matrix": [ + [ + 0.9105814695358276, + 0.10522041469812393, + 0.39971238374710083, + -15.053200721740723 + ], + [ + -0.41330665349960327, + 0.24196816980838776, + 0.8778547644615173, + -17.54020118713379 + ], + [ + -0.00434943288564682, + -0.9645621180534363, + 0.2638200521469116, + -6.464207172393799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 715, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_442266941", + "mask_path": "../../mask/hdr_front_00715.png" + }, + { + "file_path": "../../rgb/hdr_front_00718.png", + "transform_matrix": [ + [ + 0.9023545980453491, + 0.09810211509466171, + 0.4196810722351074, + -15.115510940551758 + ], + [ + -0.43007731437683105, + 0.26844775676727295, + 0.8619567155838013, + -17.680866241455078 + ], + [ + -0.02810266613960266, + -0.958285927772522, + 0.2844265103340149, + -6.525626182556152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 718, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_742267608", + "mask_path": "../../mask/hdr_front_00718.png" + }, + { + "file_path": "../../rgb/hdr_front_00719.png", + "transform_matrix": [ + [ + 0.8988362550735474, + 0.09488330781459808, + 0.42789074778556824, + -15.140338897705078 + ], + [ + -0.43649184703826904, + 0.28200119733810425, + 0.8543712496757507, + -17.735719680786133 + ], + [ + -0.03960011899471283, + -0.9547107219696045, + 0.2948886752128601, + -6.536927223205566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 719, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_842267513", + "mask_path": "../../mask/hdr_front_00719.png" + }, + { + "file_path": "../../rgb/hdr_front_00721.png", + "transform_matrix": [ + [ + 0.8939274549484253, + 0.09348596632480621, + 0.43835365772247314, + -15.178272247314453 + ], + [ + -0.4454456865787506, + 0.29378318786621094, + 0.8457362055778503, + -17.817148208618164 + ], + [ + -0.04971647635102272, + -0.9512895941734314, + 0.3042638301849365, + -6.579436779022217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 721, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_42267799", + "mask_path": "../../mask/hdr_front_00721.png" + }, + { + "file_path": "../../rgb/hdr_front_00722.png", + "transform_matrix": [ + [ + 0.8918356895446777, + 0.10880643874406815, + 0.439078688621521, + -15.209173202514648 + ], + [ + -0.4506022334098816, + 0.29914969205856323, + 0.8411107063293457, + -17.867860794067383 + ], + [ + -0.03983200341463089, + -0.9479824304580688, + 0.3158208429813385, + -6.601322650909424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 722, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_142267942", + "mask_path": "../../mask/hdr_front_00722.png" + }, + { + "file_path": "../../rgb/hdr_front_00723.png", + "transform_matrix": [ + [ + 0.8886615633964539, + 0.12109216302633286, + 0.44228628277778625, + -15.234821319580078 + ], + [ + -0.45724669098854065, + 0.30703455209732056, + 0.8346588015556335, + -17.913244247436523 + ], + [ + -0.03472652658820152, + -0.9439631700515747, + 0.32821884751319885, + -6.617851734161377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 723, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_242267608", + "mask_path": "../../mask/hdr_front_00723.png" + }, + { + "file_path": "../../rgb/hdr_front_00724.png", + "transform_matrix": [ + [ + 0.8857032656669617, + 0.12713079154491425, + 0.4465058445930481, + -15.260550498962402 + ], + [ + -0.4629319906234741, + 0.31432047486305237, + 0.8287922739982605, + -17.953786849975586 + ], + [ + -0.0349808931350708, + -0.940765917301178, + 0.3372475504875183, + -6.645881175994873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 724, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_342267751", + "mask_path": "../../mask/hdr_front_00724.png" + }, + { + "file_path": "../../rgb/hdr_front_00725.png", + "transform_matrix": [ + [ + 0.8835227489471436, + 0.12619546055793762, + 0.4510680139064789, + -15.284764289855957 + ], + [ + -0.4667787253856659, + 0.31699398159980774, + 0.825610339641571, + -18.00874137878418 + ], + [ + -0.03879755735397339, + -0.9399944543838501, + 0.33897674083709717, + -6.678628444671631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 725, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_442269086", + "mask_path": "../../mask/hdr_front_00725.png" + }, + { + "file_path": "../../rgb/hdr_front_00726.png", + "transform_matrix": [ + [ + 0.8872165679931641, + 0.10849066078662872, + 0.4484155774116516, + -15.315285682678223 + ], + [ + -0.455815851688385, + 0.35626843571662903, + 0.815662145614624, + -18.072607040405273 + ], + [ + -0.0712645873427391, + -0.9280639290809631, + 0.365539014339447, + -6.703499794006348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 726, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_542268037", + "mask_path": "../../mask/hdr_front_00726.png" + }, + { + "file_path": "../../rgb/hdr_front_00729.png", + "transform_matrix": [ + [ + 0.8884924650192261, + 0.0957629457116127, + 0.44878798723220825, + -15.376001358032227 + ], + [ + -0.45077642798423767, + 0.3652409315109253, + 0.8144935369491577, + -18.193553924560547 + ], + [ + -0.08591742813587189, + -0.925974428653717, + 0.36768147349357605, + -6.748229026794434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 729, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_842268705", + "mask_path": "../../mask/hdr_front_00729.png" + }, + { + "file_path": "../../rgb/hdr_front_00730.png", + "transform_matrix": [ + [ + 0.8856794238090515, + 0.08443915843963623, + 0.456554651260376, + -15.415103912353516 + ], + [ + -0.4560997486114502, + 0.3421937823295593, + 0.8215087056159973, + -18.25098991394043 + ], + [ + -0.08686263859272003, + -0.9358277320861816, + 0.3415866494178772, + -6.752443790435791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 730, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_942267656", + "mask_path": "../../mask/hdr_front_00730.png" + }, + { + "file_path": "../../rgb/hdr_front_00733.png", + "transform_matrix": [ + [ + 0.8790758848190308, + 0.06833048909902573, + 0.4717588722705841, + -15.48097038269043 + ], + [ + -0.4703236222267151, + 0.28543442487716675, + 0.8350586295127869, + -18.415616989135742 + ], + [ + -0.0775962695479393, + -0.9559593200683594, + 0.28305596113204956, + -6.781439781188965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 733, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638875_242268562", + "mask_path": "../../mask/hdr_front_00733.png" + }, + { + "file_path": "../../rgb/hdr_front_00740.png", + "transform_matrix": [ + [ + 0.9055172801017761, + 0.06502213329076767, + 0.4192977547645569, + -15.538904190063477 + ], + [ + -0.42342573404312134, + 0.20221848785877228, + 0.8830732703208923, + -18.717792510986328 + ], + [ + -0.027370454743504524, + -0.9771795272827148, + 0.21064437925815582, + -6.848423957824707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 740, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638875_942267656", + "mask_path": "../../mask/hdr_front_00740.png" + }, + { + "file_path": "../../rgb/hdr_front_00741.png", + "transform_matrix": [ + [ + 0.907654881477356, + 0.0639444962143898, + 0.4148176312446594, + -15.559775352478027 + ], + [ + -0.41873547434806824, + 0.20552067458629608, + 0.8845462203025818, + -18.77198028564453 + ], + [ + -0.028691748157143593, + -0.9765615463256836, + 0.21331767737865448, + -6.868396759033203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 741, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638876_42268037", + "mask_path": "../../mask/hdr_front_00741.png" + }, + { + "file_path": "../../rgb/hdr_front_00748.png", + "transform_matrix": [ + [ + 0.8951573371887207, + 0.06657475978136063, + 0.4407506287097931, + -15.695491790771484 + ], + [ + -0.4450206160545349, + 0.1900266408920288, + 0.8751266598701477, + -19.075725555419922 + ], + [ + -0.025493012741208076, + -0.9795191884040833, + 0.19973088800907135, + -6.952250957489014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 748, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638876_742268323", + "mask_path": "../../mask/hdr_front_00748.png" + }, + { + "file_path": "../../rgb/hdr_front_00749.png", + "transform_matrix": [ + [ + 0.8941034078598022, + 0.06411050260066986, + 0.44324830174446106, + -15.720624923706055 + ], + [ + -0.4462137818336487, + 0.2123161405324936, + 0.8693762421607971, + -19.13416290283203 + ], + [ + -0.038372620940208435, + -0.9750957489013672, + 0.21843956410884857, + -6.97352409362793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 749, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638876_842267513", + "mask_path": "../../mask/hdr_front_00749.png" + }, + { + "file_path": "../../rgb/hdr_front_00753.png", + "transform_matrix": [ + [ + 0.8918212652206421, + 0.06976296007633209, + 0.44697636365890503, + -15.820645332336426 + ], + [ + -0.4498555362224579, + 0.2411532700061798, + 0.8599274754524231, + -19.288301467895508 + ], + [ + -0.04779873043298721, + -0.9679763913154602, + 0.24644888937473297, + -7.067949295043945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 753, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_242269515", + "mask_path": "../../mask/hdr_front_00753.png" + }, + { + "file_path": "../../rgb/hdr_front_00754.png", + "transform_matrix": [ + [ + 0.8890730738639832, + 0.06792951375246048, + 0.4526969790458679, + -15.857075691223145 + ], + [ + -0.4548852741718292, + 0.2418583184480667, + 0.8570787906646729, + -19.3338565826416 + ], + [ + -0.0512675940990448, + -0.9679309129714966, + 0.24592985212802887, + -7.063056468963623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 754, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_342268466", + "mask_path": "../../mask/hdr_front_00754.png" + }, + { + "file_path": "../../rgb/hdr_front_00756.png", + "transform_matrix": [ + [ + 0.8823413252830505, + 0.07251480221748352, + 0.4649895429611206, + -15.904403686523438 + ], + [ + -0.4671814441680908, + 0.2540150582790375, + 0.8468871712684631, + -19.404911041259766 + ], + [ + -0.056702494621276855, + -0.964478075504303, + 0.2580055594444275, + -7.118715286254883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 756, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_542267322", + "mask_path": "../../mask/hdr_front_00756.png" + }, + { + "file_path": "../../rgb/hdr_front_00757.png", + "transform_matrix": [ + [ + 0.8843119740486145, + 0.07991867512464523, + 0.4600059390068054, + -15.92784595489502 + ], + [ + -0.46250706911087036, + 0.2847268879413605, + 0.8396534323692322, + -19.45611572265625 + ], + [ + -0.06387206166982651, + -0.9552715420722961, + 0.2887503206729889, + -7.14868688583374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 757, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_642267465", + "mask_path": "../../mask/hdr_front_00757.png" + }, + { + "file_path": "../../rgb/hdr_front_00758.png", + "transform_matrix": [ + [ + 0.885723352432251, + 0.09147389978170395, + 0.4551118016242981, + -15.944185256958008 + ], + [ + -0.46029549837112427, + 0.30016735196113586, + 0.8354804515838623, + -19.49751853942871 + ], + [ + -0.06018504127860069, + -0.9494904279708862, + 0.307970255613327, + -7.1677775382995605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 758, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_742266893", + "mask_path": "../../mask/hdr_front_00758.png" + }, + { + "file_path": "../../rgb/hdr_front_00760.png", + "transform_matrix": [ + [ + 0.884315550327301, + 0.11478757858276367, + 0.45255914330482483, + -15.986716270446777 + ], + [ + -0.46503955125808716, + 0.30275943875312805, + 0.8319104909896851, + -19.572742462158203 + ], + [ + -0.04152354225516319, + -0.9461292624473572, + 0.3211156129837036, + -7.219064235687256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 760, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_942267179", + "mask_path": "../../mask/hdr_front_00760.png" + }, + { + "file_path": "../../rgb/hdr_front_00761.png", + "transform_matrix": [ + [ + 0.8815216422080994, + 0.1311936378479004, + 0.4535502791404724, + -16.009899139404297 + ], + [ + -0.4712825417518616, + 0.30249059200286865, + 0.8284879326820374, + -19.61412811279297 + ], + [ + -0.028502333909273148, + -0.9440804123878479, + 0.3284812867641449, + -7.236896991729736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 761, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638878_42267084", + "mask_path": "../../mask/hdr_front_00761.png" + }, + { + "file_path": "../../rgb/hdr_front_00763.png", + "transform_matrix": [ + [ + 0.8757886290550232, + 0.14356814324855804, + 0.460849791765213, + -16.050939559936523 + ], + [ + -0.4821506440639496, + 0.30551838874816895, + 0.8210904002189636, + -19.69354820251465 + ], + [ + -0.022915681824088097, + -0.9413005709648132, + 0.3367909789085388, + -7.276577472686768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 763, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638878_242267131", + "mask_path": "../../mask/hdr_front_00763.png" + }, + { + "file_path": "../../rgb/hdr_front_00764.png", + "transform_matrix": [ + [ + 0.882320761680603, + 0.13100913166999817, + 0.4520471692085266, + -16.076406478881836 + ], + [ + -0.4687742292881012, + 0.33025631308555603, + 0.8192567825317383, + -19.752090454101562 + ], + [ + -0.04196128994226456, + -0.9347553253173828, + 0.3528057336807251, + -7.296964645385742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 764, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638878_342268228", + "mask_path": "../../mask/hdr_front_00764.png" + }, + { + "file_path": "../../rgb/hdr_front_00767.png", + "transform_matrix": [ + [ + 0.9054577946662903, + 0.1508336365222931, + 0.39673101902008057, + -16.093507766723633 + ], + [ + -0.4243778884410858, + 0.3372572064399719, + 0.840333878993988, + -19.877262115478516 + ], + [ + -0.007049795240163803, + -0.9292506575584412, + 0.3693826496601105, + -7.358008861541748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 767, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638878_642266988", + "mask_path": "../../mask/hdr_front_00767.png" + }, + { + "file_path": "../../rgb/hdr_front_00771.png", + "transform_matrix": [ + [ + 0.9263296127319336, + 0.16102546453475952, + 0.3405647873878479, + -16.099559783935547 + ], + [ + -0.376201331615448, + 0.34826159477233887, + 0.858595609664917, + -20.035812377929688 + ], + [ + 0.019650131464004517, + -0.9234634041786194, + 0.3831830620765686, + -7.380314826965332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 771, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_42268037", + "mask_path": "../../mask/hdr_front_00771.png" + }, + { + "file_path": "../../rgb/hdr_front_00773.png", + "transform_matrix": [ + [ + 0.9244938492774963, + 0.16922008991241455, + 0.34157857298851013, + -16.105754852294922 + ], + [ + -0.3803935647010803, + 0.3513765335083008, + 0.8554736971855164, + -20.09307289123535 + ], + [ + 0.02474064566195011, + -0.9208144545555115, + 0.3892156481742859, + -7.411575794219971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 773, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_242267847", + "mask_path": "../../mask/hdr_front_00773.png" + }, + { + "file_path": "../../rgb/hdr_front_00775.png", + "transform_matrix": [ + [ + 0.9227586388587952, + 0.1692638248205185, + 0.3462170660495758, + -16.124439239501953 + ], + [ + -0.38386377692222595, + 0.32412469387054443, + 0.8646339178085327, + -20.174205780029297 + ], + [ + 0.03413373604416847, + -0.9307486414909363, + 0.3640631139278412, + -7.455501079559326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 775, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_442267417", + "mask_path": "../../mask/hdr_front_00775.png" + }, + { + "file_path": "../../rgb/hdr_front_00777.png", + "transform_matrix": [ + [ + 0.9230052828788757, + 0.1337968111038208, + 0.3607766032218933, + -16.163074493408203 + ], + [ + -0.3845604360103607, + 0.2885560989379883, + 0.8768401145935059, + -20.260107040405273 + ], + [ + 0.013214136473834515, + -0.9480684399604797, + 0.31779175996780396, + -7.422508716583252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 777, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_642267942", + "mask_path": "../../mask/hdr_front_00777.png" + }, + { + "file_path": "../../rgb/hdr_front_00778.png", + "transform_matrix": [ + [ + 0.9218031764030457, + 0.12511830031871796, + 0.3669116497039795, + -16.181089401245117 + ], + [ + -0.3874559998512268, + 0.2668084502220154, + 0.8824347257614136, + -20.326311111450195 + ], + [ + 0.012513591907918453, + -0.9555933475494385, + 0.2944227457046509, + -7.448765754699707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 778, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_742268323", + "mask_path": "../../mask/hdr_front_00778.png" + }, + { + "file_path": "../../rgb/hdr_front_00779.png", + "transform_matrix": [ + [ + 0.9189889430999756, + 0.1266171783208847, + 0.37339991331100464, + -16.19473648071289 + ], + [ + -0.3938749432563782, + 0.2517182528972626, + 0.8840251564979553, + -20.378543853759766 + ], + [ + 0.017941199243068695, + -0.9594821929931641, + 0.2811976373195648, + -7.481045722961426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 779, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_842267274", + "mask_path": "../../mask/hdr_front_00779.png" + }, + { + "file_path": "../../rgb/hdr_front_00781.png", + "transform_matrix": [ + [ + 0.9124851226806641, + 0.14618222415447235, + 0.38210150599479675, + -16.216182708740234 + ], + [ + -0.40696361660957336, + 0.22879447042942047, + 0.8843267560005188, + -20.451608657836914 + ], + [ + 0.04185012727975845, + -0.9624364376068115, + 0.2682623863220215, + -7.516626358032227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 781, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638880_42267084", + "mask_path": "../../mask/hdr_front_00781.png" + }, + { + "file_path": "../../rgb/hdr_front_00783.png", + "transform_matrix": [ + [ + 0.8902194499969482, + 0.1498730331659317, + 0.430171400308609, + -16.276155471801758 + ], + [ + -0.45411521196365356, + 0.21755801141262054, + 0.8639722466468811, + -20.524526596069336 + ], + [ + 0.03589889779686928, + -0.964472234249115, + 0.2617339789867401, + -7.545586109161377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 783, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638880_242267847", + "mask_path": "../../mask/hdr_front_00783.png" + }, + { + "file_path": "../../rgb/hdr_front_00786.png", + "transform_matrix": [ + [ + 0.8181349039077759, + 0.1229454055428505, + 0.5617293119430542, + -16.390897750854492 + ], + [ + -0.5749608278274536, + 0.18965573608875275, + 0.7958962321281433, + -20.622961044311523 + ], + [ + -0.008683396503329277, + -0.9741227626800537, + 0.22585277259349823, + -7.55508279800415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 786, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638880_542267799", + "mask_path": "../../mask/hdr_front_00786.png" + }, + { + "file_path": "../../rgb/hdr_front_00787.png", + "transform_matrix": [ + [ + 0.7964295744895935, + 0.114317387342453, + 0.5938277244567871, + -16.423694610595703 + ], + [ + -0.6044397950172424, + 0.18096429109573364, + 0.7758250832557678, + -20.665996551513672 + ], + [ + -0.018771322444081306, + -0.9768232703208923, + 0.21322327852249146, + -7.5551300048828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 787, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638880_642267704", + "mask_path": "../../mask/hdr_front_00787.png" + }, + { + "file_path": "../../rgb/hdr_front_00795.png", + "transform_matrix": [ + [ + 0.6538299322128296, + 0.12444459646940231, + 0.7463377118110657, + -16.6572322845459 + ], + [ + -0.7565293312072754, + 0.12449847161769867, + 0.6419994831085205, + -20.86795425415039 + ], + [ + -0.01302452851086855, + -0.9843850135803223, + 0.17554683983325958, + -7.610788345336914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 795, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638881_442268610", + "mask_path": "../../mask/hdr_front_00795.png" + }, + { + "file_path": "../../rgb/hdr_front_00818.png", + "transform_matrix": [ + [ + -0.22934123873710632, + 0.16206423938274384, + 0.9597592949867249, + -17.177753448486328 + ], + [ + -0.9713590741157532, + 0.024865468963980675, + -0.2363118976354599, + -20.626253128051758 + ], + [ + -0.06216256320476532, + -0.9864668846130371, + 0.15171989798545837, + -7.725620746612549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 818, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638883_742267847", + "mask_path": "../../mask/hdr_front_00818.png" + }, + { + "file_path": "../../rgb/hdr_front_00819.png", + "transform_matrix": [ + [ + -0.2324417531490326, + 0.16876919567584991, + 0.9578558802604675, + -17.229564666748047 + ], + [ + -0.9705445766448975, + 0.023904219269752502, + -0.2397327572107315, + -20.622758865356445 + ], + [ + -0.06335629522800446, + -0.9853657484054565, + 0.15824168920516968, + -7.741273403167725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 819, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638883_842267274", + "mask_path": "../../mask/hdr_front_00819.png" + }, + { + "file_path": "../../rgb/hdr_front_00821.png", + "transform_matrix": [ + [ + -0.23559513688087463, + 0.1759049892425537, + 0.9557993412017822, + -17.297292709350586 + ], + [ + -0.9697858095169067, + 0.021533798426389694, + -0.24300572276115417, + -20.613752365112305 + ], + [ + -0.06332790106534958, + -0.9841716289520264, + 0.1655168980360031, + -7.775075435638428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 821, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638884_42268514", + "mask_path": "../../mask/hdr_front_00821.png" + }, + { + "file_path": "../../rgb/hdr_front_00827.png", + "transform_matrix": [ + [ + -0.3912093937397003, + 0.20530743896961212, + 0.8971087336540222, + -17.528575897216797 + ], + [ + -0.9162458777427673, + 0.004527220036834478, + -0.40059077739715576, + -20.489442825317383 + ], + [ + -0.08630568534135818, + -0.978687047958374, + 0.18634100258350372, + -7.843519687652588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 827, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638884_642267942", + "mask_path": "../../mask/hdr_front_00827.png" + }, + { + "file_path": "../../rgb/hdr_front_00829.png", + "transform_matrix": [ + [ + -0.4437539279460907, + 0.21405057609081268, + 0.8702096939086914, + -17.573802947998047 + ], + [ + -0.8898475766181946, + 0.009702567011117935, + -0.4561547040939331, + -20.436189651489258 + ], + [ + -0.106083445250988, + -0.9767745137214661, + 0.18616685271263123, + -7.8790202140808105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 829, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638884_842268466", + "mask_path": "../../mask/hdr_front_00829.png" + }, + { + "file_path": "../../rgb/hdr_front_00831.png", + "transform_matrix": [ + [ + -0.497765451669693, + 0.214915931224823, + 0.8402622938156128, + -17.6434383392334 + ], + [ + -0.8602354526519775, + 0.0011658560251817107, + -0.5098956227302551, + -20.335416793823242 + ], + [ + -0.11056431382894516, + -0.9766319394111633, + 0.18429800868034363, + -7.894598484039307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 831, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638885_42268276", + "mask_path": "../../mask/hdr_front_00831.png" + }, + { + "file_path": "../../rgb/hdr_front_00837.png", + "transform_matrix": [ + [ + -0.6630039215087891, + 0.23510965704917908, + 0.710738480091095, + -17.761316299438477 + ], + [ + -0.7394693493843079, + -0.05772213637828827, + -0.6707110404968262, + -20.1441707611084 + ], + [ + -0.11666526645421982, + -0.9702534079551697, + 0.21212637424468994, + -7.967601299285889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 837, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638885_642268419", + "mask_path": "../../mask/hdr_front_00837.png" + }, + { + "file_path": "../../rgb/hdr_front_00839.png", + "transform_matrix": [ + [ + -0.7211177945137024, + 0.24160175025463104, + 0.6493209600448608, + -17.7781982421875 + ], + [ + -0.677801787853241, + -0.051986925303936005, + -0.7334044575691223, + -20.081636428833008 + ], + [ + -0.14343558251857758, + -0.9689819812774658, + 0.20124679803848267, + -7.987087726593018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 839, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638885_842267274", + "mask_path": "../../mask/hdr_front_00839.png" + }, + { + "file_path": "../../rgb/hdr_front_00846.png", + "transform_matrix": [ + [ + -0.9236508011817932, + 0.17885363101959229, + 0.33894026279449463, + -17.741561889648438 + ], + [ + -0.360634446144104, + -0.1064145565032959, + -0.9266167879104614, + -19.868749618530273 + ], + [ + -0.12966059148311615, + -0.9781039953231812, + 0.1627907007932663, + -7.961055278778076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 846, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638886_542268514", + "mask_path": "../../mask/hdr_front_00846.png" + }, + { + "file_path": "../../rgb/hdr_front_00850.png", + "transform_matrix": [ + [ + -0.9694758653640747, + 0.15062233805656433, + 0.19346724450588226, + -17.72507667541504 + ], + [ + -0.21074402332305908, + -0.10861670225858688, + -0.9714882373809814, + -19.819713592529297 + ], + [ + -0.12531404197216034, + -0.9826064109802246, + 0.1370440125465393, + -8.004083633422852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 850, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638886_942269086", + "mask_path": "../../mask/hdr_front_00850.png" + }, + { + "file_path": "../../rgb/hdr_front_00853.png", + "transform_matrix": [ + [ + -0.9681379795074463, + 0.17877641320228577, + 0.17535096406936646, + -17.68239974975586 + ], + [ + -0.1976141333580017, + -0.115331269800663, + -0.9734718203544617, + -19.774019241333008 + ], + [ + -0.1538103222846985, + -0.9771068096160889, + 0.14698530733585358, + -8.019424438476562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 853, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638887_242268085", + "mask_path": "../../mask/hdr_front_00853.png" + }, + { + "file_path": "../../rgb/hdr_front_00855.png", + "transform_matrix": [ + [ + -0.9702504277229309, + 0.17673654854297638, + 0.16546408832073212, + -17.650115966796875 + ], + [ + -0.18703506886959076, + -0.11321840435266495, + -0.9758070707321167, + -19.689119338989258 + ], + [ + -0.1537272036075592, + -0.9777248501777649, + 0.14290612936019897, + -7.994715213775635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 855, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638887_442267656", + "mask_path": "../../mask/hdr_front_00855.png" + }, + { + "file_path": "../../rgb/hdr_front_00857.png", + "transform_matrix": [ + [ + -0.9775969982147217, + 0.13718672096729279, + 0.15963712334632874, + -17.646127700805664 + ], + [ + -0.17853471636772156, + -0.13872887194156647, + -0.9741045832633972, + -19.575759887695312 + ], + [ + -0.11148791760206223, + -0.9807824492454529, + 0.16011351346969604, + -8.041526794433594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 857, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638887_642267227", + "mask_path": "../../mask/hdr_front_00857.png" + }, + { + "file_path": "../../rgb/hdr_front_00860.png", + "transform_matrix": [ + [ + -0.9846734404563904, + 0.10425793379545212, + 0.13981634378433228, + -17.69049644470215 + ], + [ + -0.15787683427333832, + -0.1921524554491043, + -0.9685826301574707, + -19.488492965698242 + ], + [ + -0.07411637157201767, + -0.9758113622665405, + 0.20566731691360474, + -8.098106384277344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 860, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638887_942267656", + "mask_path": "../../mask/hdr_front_00860.png" + }, + { + "file_path": "../../rgb/hdr_front_00861.png", + "transform_matrix": [ + [ + -0.9853469133377075, + 0.10056215524673462, + 0.13776297867298126, + -17.726314544677734 + ], + [ + -0.15385939180850983, + -0.17547322809696198, + -0.9723870158195496, + -19.404233932495117 + ], + [ + -0.07361161708831787, + -0.9793346524238586, + 0.18837444484233856, + -8.090339660644531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 861, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638888_42266845", + "mask_path": "../../mask/hdr_front_00861.png" + }, + { + "file_path": "../../rgb/hdr_front_00869.png", + "transform_matrix": [ + [ + -0.990851640701294, + 0.051988791674375534, + 0.12453997880220413, + -17.80097198486328 + ], + [ + -0.13181789219379425, + -0.17499108612537384, + -0.9757059812545776, + -19.086214065551758 + ], + [ + -0.02893238700926304, + -0.983196496963501, + 0.18024323880672455, + -8.144432067871094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 869, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638888_842267036", + "mask_path": "../../mask/hdr_front_00869.png" + }, + { + "file_path": "../../rgb/hdr_front_00871.png", + "transform_matrix": [ + [ + -0.9886859059333801, + 0.05008815973997116, + 0.14139114320278168, + -17.81241226196289 + ], + [ + -0.1479073166847229, + -0.16859695315361023, + -0.9745247960090637, + -19.041038513183594 + ], + [ + -0.02497403882443905, + -0.9844117164611816, + 0.17409782111644745, + -8.17092514038086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 871, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638889_42267799", + "mask_path": "../../mask/hdr_front_00871.png" + }, + { + "file_path": "../../rgb/hdr_front_00873.png", + "transform_matrix": [ + [ + -0.9870283007621765, + 0.03847215697169304, + 0.15586808323860168, + -17.817222595214844 + ], + [ + -0.16013279557228088, + -0.1663215011358261, + -0.9729823470115662, + -18.957914352416992 + ], + [ + -0.011508517898619175, + -0.9853208661079407, + 0.17032469809055328, + -8.178945541381836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 873, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638889_242267370", + "mask_path": "../../mask/hdr_front_00873.png" + }, + { + "file_path": "../../rgb/hdr_front_00877.png", + "transform_matrix": [ + [ + -0.9923015832901001, + 0.04745924472808838, + 0.11439060419797897, + -17.80889129638672 + ], + [ + -0.12124003469944, + -0.18381662666797638, + -0.9754549860954285, + -18.842144012451172 + ], + [ + -0.025267455726861954, + -0.9818142056465149, + 0.18815548717975616, + -8.212573051452637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 877, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638889_642268180", + "mask_path": "../../mask/hdr_front_00877.png" + }, + { + "file_path": "../../rgb/hdr_front_00887.png", + "transform_matrix": [ + [ + -0.9976965188980103, + 0.04437243193387985, + 0.05131019279360771, + -17.846900939941406 + ], + [ + -0.059024181216955185, + -0.19504696130752563, + -0.9790162444114685, + -18.414106369018555 + ], + [ + -0.03343342989683151, + -0.979789674282074, + 0.1972167193889618, + -8.304428100585938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 887, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638890_642267704", + "mask_path": "../../mask/hdr_front_00887.png" + }, + { + "file_path": "../../rgb/hdr_front_00890.png", + "transform_matrix": [ + [ + -0.9985917806625366, + 0.04682905972003937, + 0.024928713217377663, + -17.827960968017578 + ], + [ + -0.03305131569504738, + -0.18160611391067505, + -0.9828158020973206, + -18.287370681762695 + ], + [ + -0.041497133672237396, + -0.9822556972503662, + 0.1828981190919876, + -8.335470199584961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 890, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638890_942268371", + "mask_path": "../../mask/hdr_front_00890.png" + }, + { + "file_path": "../../rgb/hdr_front_00891.png", + "transform_matrix": [ + [ + -0.99908447265625, + 0.03846630081534386, + 0.01872384361922741, + -17.826894760131836 + ], + [ + -0.025470808148384094, + -0.18319100141525269, + -0.9827474355697632, + -18.226804733276367 + ], + [ + -0.03437260910868645, + -0.9823245406150818, + 0.1840030401945114, + -8.338448524475098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 891, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_42268276", + "mask_path": "../../mask/hdr_front_00891.png" + }, + { + "file_path": "../../rgb/hdr_front_00893.png", + "transform_matrix": [ + [ + -0.9987913370132446, + 0.04893602058291435, + 0.00459279352799058, + -17.819124221801758 + ], + [ + -0.01339151430875063, + -0.18102894723415375, + -0.9833866357803345, + -18.16710662841797 + ], + [ + -0.0472915954887867, + -0.9822595119476318, + 0.1814654916524887, + -8.344646453857422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 893, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_242268323", + "mask_path": "../../mask/hdr_front_00893.png" + }, + { + "file_path": "../../rgb/hdr_front_00895.png", + "transform_matrix": [ + [ + -0.9987906813621521, + 0.0479452908039093, + -0.010878392495214939, + -17.817886352539062 + ], + [ + 0.0027270447462797165, + -0.16689905524253845, + -0.9859701991081238, + -18.059106826782227 + ], + [ + -0.04908822476863861, + -0.9848076105117798, + 0.16656647622585297, + -8.365248680114746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 895, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_442267656", + "mask_path": "../../mask/hdr_front_00895.png" + }, + { + "file_path": "../../rgb/hdr_front_00896.png", + "transform_matrix": [ + [ + -0.9988543391227722, + 0.04468948766589165, + -0.01711527444422245, + -17.821605682373047 + ], + [ + 0.00969562865793705, + -0.1612454205751419, + -0.9868667721748352, + -18.00166130065918 + ], + [ + -0.04686233028769493, + -0.9859020113945007, + 0.16062739491462708, + -8.372673988342285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 896, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_542267799", + "mask_path": "../../mask/hdr_front_00896.png" + }, + { + "file_path": "../../rgb/hdr_front_00898.png", + "transform_matrix": [ + [ + -0.9986248016357422, + 0.043509673327207565, + -0.02924647554755211, + -17.82206153869629 + ], + [ + 0.02211829274892807, + -0.15612013638019562, + -0.9874904751777649, + -17.925086975097656 + ], + [ + -0.04753134399652481, + -0.9867793321609497, + 0.1549430787563324, + -8.398850440979004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 898, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_742267847", + "mask_path": "../../mask/hdr_front_00898.png" + }, + { + "file_path": "../../rgb/hdr_front_00899.png", + "transform_matrix": [ + [ + -0.9984686970710754, + 0.04391113668680191, + -0.033646970987319946, + -17.808385848999023 + ], + [ + 0.02684914320707321, + -0.147127166390419, + -0.9887531995773315, + -17.871673583984375 + ], + [ + -0.04836765304207802, + -0.9881423711776733, + 0.1457228660583496, + -8.407980918884277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 899, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_842267751", + "mask_path": "../../mask/hdr_front_00899.png" + }, + { + "file_path": "../../rgb/hdr_front_00900.png", + "transform_matrix": [ + [ + -0.9987310171127319, + 0.03193217143416405, + -0.038946714252233505, + -17.806793212890625 + ], + [ + 0.033694226294755936, + -0.1511201709508896, + -0.9879410266876221, + -17.805192947387695 + ], + [ + -0.03743273392319679, + -0.9879995584487915, + 0.149852454662323, + -8.408574104309082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 900, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_942267417", + "mask_path": "../../mask/hdr_front_00900.png" + }, + { + "file_path": "../../rgb/hdr_front_00904.png", + "transform_matrix": [ + [ + -0.9973127245903015, + 0.023873839527368546, + -0.06926143914461136, + -17.810169219970703 + ], + [ + 0.06515892595052719, + -0.14309167861938477, + -0.9875621795654297, + -17.61749839782715 + ], + [ + -0.03348763287067413, + -0.9894214868545532, + 0.14115159213542938, + -8.433808326721191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 904, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638892_342267990", + "mask_path": "../../mask/hdr_front_00904.png" + }, + { + "file_path": "../../rgb/hdr_front_00912.png", + "transform_matrix": [ + [ + -0.9979088306427002, + 0.02312614768743515, + 0.06035935506224632, + -17.88547134399414 + ], + [ + -0.06314823776483536, + -0.14947509765625, + -0.9867469668388367, + -17.28219223022461 + ], + [ + -0.013797435909509659, + -0.9884951114654541, + 0.1506228744983673, + -8.50102424621582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 912, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638893_142267942", + "mask_path": "../../mask/hdr_front_00912.png" + }, + { + "file_path": "../../rgb/hdr_front_00913.png", + "transform_matrix": [ + [ + -0.9960042238235474, + 0.03524124622344971, + 0.08205832540988922, + -17.904911041259766 + ], + [ + -0.08650146424770355, + -0.1522449404001236, + -0.9845502376556396, + -17.21908187866211 + ], + [ + -0.022203804925084114, + -0.9877142906188965, + 0.15468503534793854, + -8.500139236450195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 913, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638893_242268323", + "mask_path": "../../mask/hdr_front_00913.png" + }, + { + "file_path": "../../rgb/hdr_front_00916.png", + "transform_matrix": [ + [ + -0.9900169372558594, + 0.04404356703162193, + 0.13389073312282562, + -17.919931411743164 + ], + [ + -0.13926434516906738, + -0.15924225747585297, + -0.9773675799369812, + -17.07369041442871 + ], + [ + -0.021725691854953766, + -0.9862565994262695, + 0.16378624737262726, + -8.529412269592285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 916, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638893_542266130", + "mask_path": "../../mask/hdr_front_00916.png" + }, + { + "file_path": "../../rgb/hdr_front_00920.png", + "transform_matrix": [ + [ + -0.9922221302986145, + 0.048848580569028854, + 0.11449431627988815, + -17.9121036529541 + ], + [ + -0.1197459027171135, + -0.12333108484745026, + -0.985114336013794, + -16.88166618347168 + ], + [ + -0.03400073200464249, + -0.9911625981330872, + 0.12822124361991882, + -8.527688980102539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 920, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638893_942267894", + "mask_path": "../../mask/hdr_front_00920.png" + }, + { + "file_path": "../../rgb/hdr_front_00921.png", + "transform_matrix": [ + [ + -0.9926286339759827, + 0.04633478447794914, + 0.11198889464139938, + -17.920442581176758 + ], + [ + -0.11647454649209976, + -0.10931456089019775, + -0.9871594905853271, + -16.811952590942383 + ], + [ + -0.03349780663847923, + -0.9929267168045044, + 0.11390558630228043, + -8.527804374694824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 921, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_42267322", + "mask_path": "../../mask/hdr_front_00921.png" + }, + { + "file_path": "../../rgb/hdr_front_00922.png", + "transform_matrix": [ + [ + -0.992618203163147, + 0.04516550526022911, + 0.11255756765604019, + -17.93210220336914 + ], + [ + -0.11655530333518982, + -0.09870200604200363, + -0.9882675409317017, + -16.762569427490234 + ], + [ + -0.033525943756103516, + -0.9940915703773499, + 0.10323768854141235, + -8.537817001342773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 922, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_142267704", + "mask_path": "../../mask/hdr_front_00922.png" + }, + { + "file_path": "../../rgb/hdr_front_00924.png", + "transform_matrix": [ + [ + -0.9938366413116455, + 0.02575170248746872, + 0.10782227665185928, + -17.949100494384766 + ], + [ + -0.10984417051076889, + -0.0977257713675499, + -0.9891329407691956, + -16.62551498413086 + ], + [ + -0.014934840612113476, + -0.994880199432373, + 0.09995213150978088, + -8.55183219909668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 924, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_342267274", + "mask_path": "../../mask/hdr_front_00924.png" + }, + { + "file_path": "../../rgb/hdr_front_00925.png", + "transform_matrix": [ + [ + -0.9951802492141724, + 0.020155172795057297, + 0.09596987813711166, + -17.95705795288086 + ], + [ + -0.09753363579511642, + -0.10183965414762497, + -0.9900080561637878, + -16.56493377685547 + ], + [ + -0.010180244222283363, + -0.9945967197418213, + 0.10331461578607559, + -8.553709983825684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 925, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_442267656", + "mask_path": "../../mask/hdr_front_00925.png" + }, + { + "file_path": "../../rgb/hdr_front_00927.png", + "transform_matrix": [ + [ + -0.9963354468345642, + 0.02784646674990654, + 0.08087232708930969, + -17.971418380737305 + ], + [ + -0.08292779326438904, + -0.08294732868671417, + -0.9930975437164307, + -16.451984405517578 + ], + [ + -0.020946111530065536, + -0.996164858341217, + 0.08495261520147324, + -8.562358856201172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 927, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_642267465", + "mask_path": "../../mask/hdr_front_00927.png" + }, + { + "file_path": "../../rgb/hdr_front_00928.png", + "transform_matrix": [ + [ + -0.995414137840271, + 0.035949867218732834, + 0.08864664286375046, + -17.997312545776367 + ], + [ + -0.09105126559734344, + -0.07193023711442947, + -0.9932451248168945, + -16.367176055908203 + ], + [ + -0.029330650344491005, + -0.9967617392539978, + 0.0748736560344696, + -8.563775062561035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 928, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_742267608", + "mask_path": "../../mask/hdr_front_00928.png" + }, + { + "file_path": "../../rgb/hdr_front_00929.png", + "transform_matrix": [ + [ + -0.993545413017273, + 0.04342108964920044, + 0.10479529201984406, + -18.016206741333008 + ], + [ + -0.10749424993991852, + -0.06535279750823975, + -0.9920554161071777, + -16.311203002929688 + ], + [ + -0.03622746095061302, + -0.9969171285629272, + 0.0695984959602356, + -8.567633628845215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 929, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_842267513", + "mask_path": "../../mask/hdr_front_00929.png" + }, + { + "file_path": "../../rgb/hdr_front_00931.png", + "transform_matrix": [ + [ + -0.989426851272583, + 0.04182278364896774, + 0.13887178897857666, + -18.046062469482422 + ], + [ + -0.14106689393520355, + -0.055127933621406555, + -0.9884639382362366, + -16.20137596130371 + ], + [ + -0.03368460014462471, + -0.9976030588150024, + 0.06044486165046692, + -8.594060897827148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 931, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_42267560", + "mask_path": "../../mask/hdr_front_00931.png" + }, + { + "file_path": "../../rgb/hdr_front_00932.png", + "transform_matrix": [ + [ + -0.9890750646591187, + 0.03394654765725136, + 0.1434512585401535, + -18.05792808532715 + ], + [ + -0.14547966420650482, + -0.06768637150526047, + -0.9870432615280151, + -16.123046875 + ], + [ + -0.023797009140253067, + -0.997128963470459, + 0.07188541442155838, + -8.589734077453613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 932, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_142267465", + "mask_path": "../../mask/hdr_front_00932.png" + }, + { + "file_path": "../../rgb/hdr_front_00935.png", + "transform_matrix": [ + [ + -0.990669310092926, + 0.030310042202472687, + 0.13287435472011566, + -18.08732032775879 + ], + [ + -0.13478487730026245, + -0.0735151469707489, + -0.988144040107727, + -15.995899200439453 + ], + [ + -0.0201824102550745, + -0.9968333840370178, + 0.07691453397274017, + -8.598068237304688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 935, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_442268133", + "mask_path": "../../mask/hdr_front_00935.png" + }, + { + "file_path": "../../rgb/hdr_front_00936.png", + "transform_matrix": [ + [ + -0.990757942199707, + 0.03379988297820091, + 0.13136301934719086, + -18.11640167236328 + ], + [ + -0.1334400475025177, + -0.0690927505493164, + -0.9886455535888672, + -15.919960021972656 + ], + [ + -0.024339869618415833, + -0.9970375299453735, + 0.07296444475650787, + -8.601743698120117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 936, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_542268037", + "mask_path": "../../mask/hdr_front_00936.png" + }, + { + "file_path": "../../rgb/hdr_front_00937.png", + "transform_matrix": [ + [ + -0.9901230335235596, + 0.04242705553770065, + 0.13362736999988556, + -18.137983322143555 + ], + [ + -0.136393204331398, + -0.07086528837680817, + -0.988116979598999, + -15.865703582763672 + ], + [ + -0.03245334327220917, + -0.9965832233428955, + 0.07595212012529373, + -8.611655235290527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 937, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_642268180", + "mask_path": "../../mask/hdr_front_00937.png" + }, + { + "file_path": "../../rgb/hdr_front_00939.png", + "transform_matrix": [ + [ + -0.9880079030990601, + 0.06970061361789703, + 0.13777564465999603, + -18.138710021972656 + ], + [ + -0.14262771606445312, + -0.07021146267652512, + -0.987282931804657, + -15.787516593933105 + ], + [ + -0.05914079397916794, + -0.9950940608978271, + 0.07931072264909744, + -8.636025428771973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 939, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_842267513", + "mask_path": "../../mask/hdr_front_00939.png" + }, + { + "file_path": "../../rgb/hdr_front_00940.png", + "transform_matrix": [ + [ + -0.9879060387611389, + 0.06570715457201004, + 0.14044280350208282, + -18.149459838867188 + ], + [ + -0.1459779143333435, + -0.08880320936441422, + -0.9852941036224365, + -15.73792552947998 + ], + [ + -0.0522691048681736, + -0.9938796758651733, + 0.09732101857662201, + -8.641057968139648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 940, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_942267179", + "mask_path": "../../mask/hdr_front_00940.png" + }, + { + "file_path": "../../rgb/hdr_front_00942.png", + "transform_matrix": [ + [ + -0.9868166446685791, + 0.08108542859554291, + 0.14006376266479492, + -18.148672103881836 + ], + [ + -0.14806367456912994, + -0.10289839655160904, + -0.9836102724075317, + -15.675960540771484 + ], + [ + -0.06534412503242493, + -0.9913814663887024, + 0.1135476753115654, + -8.653895378112793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 942, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638896_142267227", + "mask_path": "../../mask/hdr_front_00942.png" + }, + { + "file_path": "../../rgb/hdr_front_00944.png", + "transform_matrix": [ + [ + -0.9889402985572815, + 0.07445120811462402, + 0.12827375531196594, + -18.137968063354492 + ], + [ + -0.13524077832698822, + -0.09762386977672577, + -0.9859917163848877, + -15.585989952087402 + ], + [ + -0.060885682702064514, + -0.9924347400665283, + 0.10661301761865616, + -8.662687301635742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 944, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638896_342267513", + "mask_path": "../../mask/hdr_front_00944.png" + }, + { + "file_path": "../../rgb/hdr_front_00945.png", + "transform_matrix": [ + [ + -0.9890793561935425, + 0.07194548100233078, + 0.12863069772720337, + -18.146400451660156 + ], + [ + -0.13476406037807465, + -0.08812367171049118, + -0.9869513511657715, + -15.521194458007812 + ], + [ + -0.059671275317668915, + -0.9935080409049988, + 0.0968569740653038, + -8.648784637451172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 945, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638896_442268133", + "mask_path": "../../mask/hdr_front_00945.png" + }, + { + "file_path": "../../rgb/hdr_front_00948.png", + "transform_matrix": [ + [ + -0.9884694218635559, + 0.058527301996946335, + 0.13965192437171936, + -18.178985595703125 + ], + [ + -0.14454494416713715, + -0.08996155858039856, + -0.9854002594947815, + -15.38444995880127 + ], + [ + -0.04510951042175293, + -0.9942240715026855, + 0.09738408774137497, + -8.67065143585205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 948, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638896_742268085", + "mask_path": "../../mask/hdr_front_00948.png" + }, + { + "file_path": "../../rgb/hdr_front_00953.png", + "transform_matrix": [ + [ + -0.9907569289207458, + 0.057675283402204514, + 0.12277654558420181, + -18.233261108398438 + ], + [ + -0.1279154270887375, + -0.09600293636322021, + -0.9871276617050171, + -15.173843383789062 + ], + [ + -0.04514595866203308, + -0.9937087297439575, + 0.10249313712120056, + -8.709513664245605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 953, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638897_242268085", + "mask_path": "../../mask/hdr_front_00953.png" + }, + { + "file_path": "../../rgb/hdr_front_00954.png", + "transform_matrix": [ + [ + -0.9900349974632263, + 0.057471755892038345, + 0.12856021523475647, + -18.257904052734375 + ], + [ + -0.13310879468917847, + -0.08393555134534836, + -0.9875407814979553, + -15.122380256652832 + ], + [ + -0.04596492275595665, + -0.9948124885559082, + 0.09074912965297699, + -8.703981399536133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 954, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638897_342267274", + "mask_path": "../../mask/hdr_front_00954.png" + }, + { + "file_path": "../../rgb/hdr_front_00956.png", + "transform_matrix": [ + [ + -0.9873393177986145, + 0.07174225896596909, + 0.14147116243839264, + -18.27361297607422 + ], + [ + -0.14658115804195404, + -0.07180477678775787, + -0.9865890741348267, + -15.055390357971191 + ], + [ + -0.06062180921435356, + -0.9948352575302124, + 0.08141174167394638, + -8.711122512817383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 956, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638897_542267560", + "mask_path": "../../mask/hdr_front_00956.png" + }, + { + "file_path": "../../rgb/hdr_front_00962.png", + "transform_matrix": [ + [ + -0.9906452298164368, + 0.06836259365081787, + 0.11810480803251266, + -18.30064582824707 + ], + [ + -0.12475366145372391, + -0.10293334722518921, + -0.986833930015564, + -14.798676490783691 + ], + [ + -0.0553056038916111, + -0.9923363327980042, + 0.11049889773130417, + -8.753605842590332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 962, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_142267227", + "mask_path": "../../mask/hdr_front_00962.png" + }, + { + "file_path": "../../rgb/hdr_front_00963.png", + "transform_matrix": [ + [ + -0.9899676442146301, + 0.06951838731765747, + 0.12300931662321091, + -18.31155014038086 + ], + [ + -0.1290341168642044, + -0.09009254723787308, + -0.9875391721725464, + -14.745153427124023 + ], + [ + -0.05756990611553192, + -0.9935041666030884, + 0.09815894812345505, + -8.753734588623047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 963, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_242267370", + "mask_path": "../../mask/hdr_front_00963.png" + }, + { + "file_path": "../../rgb/hdr_left_00654.png", + "transform_matrix": [ + [ + -0.5882441401481628, + 0.14666959643363953, + 0.795271635055542, + -13.350953102111816 + ], + [ + -0.7726994156837463, + 0.18814751505851746, + -0.6062475442886353, + -13.26769733428955 + ], + [ + -0.2385464608669281, + -0.9711275696754456, + 0.002654840238392353, + -5.259346008300781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 654, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638864_842267513", + "mask_path": "../../mask/hdr_left_00654.png" + }, + { + "file_path": "../../rgb/hdr_left_00657.png", + "transform_matrix": [ + [ + -0.5265015959739685, + 0.13608404994010925, + 0.8392122387886047, + -13.383060455322266 + ], + [ + -0.8198920488357544, + 0.17983171343803406, + -0.5435416102409363, + -13.417764663696289 + ], + [ + -0.2248843014240265, + -0.9742390513420105, + 0.016892563551664352, + -5.2798614501953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 657, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_142267704", + "mask_path": "../../mask/hdr_left_00657.png" + }, + { + "file_path": "../../rgb/hdr_left_00658.png", + "transform_matrix": [ + [ + -0.5076627135276794, + 0.12481672316789627, + 0.8524665832519531, + -13.390178680419922 + ], + [ + -0.8312839269638062, + 0.1890164017677307, + -0.522723376750946, + -13.47571086883545 + ], + [ + -0.2263747900724411, + -0.9740090370178223, + 0.007801556959748268, + -5.2976250648498535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 658, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_242268323", + "mask_path": "../../mask/hdr_left_00658.png" + }, + { + "file_path": "../../rgb/hdr_left_00660.png", + "transform_matrix": [ + [ + -0.49379435181617737, + 0.12279928475618362, + 0.8608643412590027, + -13.402957916259766 + ], + [ + -0.8397822976112366, + 0.18958768248558044, + -0.5087456703186035, + -13.55517292022705 + ], + [ + -0.22568286955356598, + -0.9741544723510742, + 0.009507343173027039, + -5.321444511413574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 660, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_442267656", + "mask_path": "../../mask/hdr_left_00660.png" + }, + { + "file_path": "../../rgb/hdr_left_00662.png", + "transform_matrix": [ + [ + -0.5030462145805359, + 0.12173761427402496, + 0.8556427359580994, + -13.444873809814453 + ], + [ + -0.8358486890792847, + 0.1832299381494522, + -0.5174782276153564, + -13.637543678283691 + ], + [ + -0.21977590024471283, + -0.9755034446716309, + 0.009581104852259159, + -5.356045722961426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 662, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_642266988", + "mask_path": "../../mask/hdr_left_00662.png" + }, + { + "file_path": "../../rgb/hdr_left_00663.png", + "transform_matrix": [ + [ + -0.5120424628257751, + 0.1154375895857811, + 0.8511678576469421, + -13.469828605651855 + ], + [ + -0.8318511843681335, + 0.1803436279296875, + -0.5248807072639465, + -13.685089111328125 + ], + [ + -0.2140936404466629, + -0.9768062233924866, + 0.003683295100927353, + -5.344953536987305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 663, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_742267847", + "mask_path": "../../mask/hdr_left_00663.png" + }, + { + "file_path": "../../rgb/hdr_left_00665.png", + "transform_matrix": [ + [ + -0.5308704376220703, + 0.10952793061733246, + 0.8403452634811401, + -13.502665519714355 + ], + [ + -0.8227406144142151, + 0.17110945284366608, + -0.5420510172843933, + -13.788139343261719 + ], + [ + -0.20316074788570404, + -0.9791451692581177, + -0.0007238755351863801, + -5.379557132720947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 665, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_942267894", + "mask_path": "../../mask/hdr_left_00665.png" + }, + { + "file_path": "../../rgb/hdr_left_00666.png", + "transform_matrix": [ + [ + -0.5348135828971863, + 0.10384482145309448, + 0.8385646939277649, + -13.527681350708008 + ], + [ + -0.8175060749053955, + 0.18737375736236572, + -0.544586718082428, + -13.868026733398438 + ], + [ + -0.21367749571800232, + -0.9767842292785645, + -0.01531625259667635, + -5.3990325927734375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 666, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_42267799", + "mask_path": "../../mask/hdr_left_00666.png" + }, + { + "file_path": "../../rgb/hdr_left_00667.png", + "transform_matrix": [ + [ + -0.537458598613739, + 0.10371144115924835, + 0.8368884325027466, + -13.550008773803711 + ], + [ + -0.813086748123169, + 0.19948968291282654, + -0.5468946099281311, + -13.930434226989746 + ], + [ + -0.2236698418855667, + -0.9743962287902832, + -0.022891033440828323, + -5.420371055603027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 667, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_142267704", + "mask_path": "../../mask/hdr_left_00667.png" + }, + { + "file_path": "../../rgb/hdr_left_00668.png", + "transform_matrix": [ + [ + -0.5416555404663086, + 0.10239510238170624, + 0.8343407511711121, + -13.570969581604004 + ], + [ + -0.8110268712043762, + 0.19730043411254883, + -0.5507340431213379, + -13.985718727111816 + ], + [ + -0.22100822627544403, + -0.9749809503555298, + -0.0238236952573061, + -5.450042247772217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 668, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_242268562", + "mask_path": "../../mask/hdr_left_00668.png" + }, + { + "file_path": "../../rgb/hdr_left_00669.png", + "transform_matrix": [ + [ + -0.5461224317550659, + 0.09864238649606705, + 0.8318774700164795, + -13.613693237304688 + ], + [ + -0.8088581562042236, + 0.19626235961914062, + -0.5542829036712646, + -14.049290657043457 + ], + [ + -0.2179419845342636, + -0.975577175617218, + -0.027395566925406456, + -5.4703168869018555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 669, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_342268705", + "mask_path": "../../mask/hdr_left_00669.png" + }, + { + "file_path": "../../rgb/hdr_left_00670.png", + "transform_matrix": [ + [ + -0.5550099015235901, + 0.0978916585445404, + 0.8260636329650879, + -13.657126426696777 + ], + [ + -0.8034188151359558, + 0.1942972093820572, + -0.5628204345703125, + -14.11512565612793 + ], + [ + -0.2155972719192505, + -0.9760460257530212, + -0.02918887697160244, + -5.460693836212158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 670, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_442267656", + "mask_path": "../../mask/hdr_left_00670.png" + }, + { + "file_path": "../../rgb/hdr_left_00671.png", + "transform_matrix": [ + [ + -0.5634053945541382, + 0.09741023182868958, + 0.8204178214073181, + -13.678755760192871 + ], + [ + -0.7986482977867126, + 0.19000566005706787, + -0.5710155367851257, + -14.161935806274414 + ], + [ + -0.21150679886341095, + -0.9769386649131775, + -0.02925371192395687, + -5.463859558105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 671, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_542267799", + "mask_path": "../../mask/hdr_left_00671.png" + }, + { + "file_path": "../../rgb/hdr_left_00673.png", + "transform_matrix": [ + [ + -0.572693407535553, + 0.08789915591478348, + 0.8150434494018555, + -13.719992637634277 + ], + [ + -0.7912187576293945, + 0.20083960890769958, + -0.5776125192642212, + -14.29481315612793 + ], + [ + -0.2144646793603897, + -0.975672721862793, + -0.045472048223018646, + -5.501392364501953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 673, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_742267847", + "mask_path": "../../mask/hdr_left_00673.png" + }, + { + "file_path": "../../rgb/hdr_left_00674.png", + "transform_matrix": [ + [ + -0.5726045370101929, + 0.09063456207513809, + 0.8148064613342285, + -13.738165855407715 + ], + [ + -0.7888767719268799, + 0.20961347222328186, + -0.5776986479759216, + -14.354046821594238 + ], + [ + -0.22315385937690735, + -0.973574697971344, + -0.04852612689137459, + -5.520852088928223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 674, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_842267513", + "mask_path": "../../mask/hdr_left_00674.png" + }, + { + "file_path": "../../rgb/hdr_left_00675.png", + "transform_matrix": [ + [ + -0.5750529170036316, + 0.09326337277889252, + 0.8127829432487488, + -13.75351619720459 + ], + [ + -0.7878488898277283, + 0.20460186898708344, + -0.580889105796814, + -14.404011726379395 + ], + [ + -0.2204725593328476, + -0.9743921756744385, + -0.04417945072054863, + -5.541936874389648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 675, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_942266941", + "mask_path": "../../mask/hdr_left_00675.png" + }, + { + "file_path": "../../rgb/hdr_left_00676.png", + "transform_matrix": [ + [ + -0.5771312713623047, + 0.09369109570980072, + 0.8112592101097107, + -13.777973175048828 + ], + [ + -0.7865142822265625, + 0.2036094218492508, + -0.583042323589325, + -14.458761215209961 + ], + [ + -0.21980588138103485, + -0.9745590090751648, + -0.04381997510790825, + -5.563828945159912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 676, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_42268276", + "mask_path": "../../mask/hdr_left_00676.png" + }, + { + "file_path": "../../rgb/hdr_left_00677.png", + "transform_matrix": [ + [ + -0.5832734107971191, + 0.09365057200193405, + 0.8068591356277466, + -13.812267303466797 + ], + [ + -0.7823690176010132, + 0.2022874653339386, + -0.5890488028526306, + -14.518994331359863 + ], + [ + -0.21838222444057465, + -0.974838137626648, + -0.04471958428621292, + -5.566934108734131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 677, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_142267465", + "mask_path": "../../mask/hdr_left_00677.png" + }, + { + "file_path": "../../rgb/hdr_left_00678.png", + "transform_matrix": [ + [ + -0.5918352007865906, + 0.08941059559583664, + 0.8010848164558411, + -13.842361450195312 + ], + [ + -0.777330219745636, + 0.19965606927871704, + -0.5965695381164551, + -14.566682815551758 + ], + [ + -0.2132810801267624, + -0.975778341293335, + -0.048661936074495316, + -5.567197322845459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 678, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_242267847", + "mask_path": "../../mask/hdr_left_00678.png" + }, + { + "file_path": "../../rgb/hdr_left_00680.png", + "transform_matrix": [ + [ + -0.6072531342506409, + 0.08340832591056824, + 0.7901180982589722, + -13.897387504577637 + ], + [ + -0.7688403129577637, + 0.18904712796211243, + -0.6108565926551819, + -14.659097671508789 + ], + [ + -0.2003200650215149, + -0.978419303894043, + -0.0506717748939991, + -5.599577903747559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 680, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_442268371", + "mask_path": "../../mask/hdr_left_00680.png" + }, + { + "file_path": "../../rgb/hdr_left_00681.png", + "transform_matrix": [ + [ + -0.6103901267051697, + 0.0853702649474144, + 0.7874870300292969, + -13.922979354858398 + ], + [ + -0.7635475397109985, + 0.20111066102981567, + -0.6136364340782166, + -14.717941284179688 + ], + [ + -0.21075832843780518, + -0.9758414030075073, + -0.05757170170545578, + -5.608686447143555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 681, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_542268276", + "mask_path": "../../mask/hdr_left_00681.png" + }, + { + "file_path": "../../rgb/hdr_left_00684.png", + "transform_matrix": [ + [ + -0.6122329831123352, + 0.09875987470149994, + 0.784485399723053, + -13.981439590454102 + ], + [ + -0.7592577338218689, + 0.20348063111305237, + -0.618161141872406, + -14.841375350952148 + ], + [ + -0.22067707777023315, + -0.9740853905677795, + -0.04959333315491676, + -5.671379566192627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 684, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_842267990", + "mask_path": "../../mask/hdr_left_00684.png" + }, + { + "file_path": "../../rgb/hdr_left_00685.png", + "transform_matrix": [ + [ + -0.6180721521377563, + 0.10700895637273788, + 0.7788040637969971, + -14.009810447692871 + ], + [ + -0.7532480955123901, + 0.20287705957889557, + -0.6256661415100098, + -14.889748573303223 + ], + [ + -0.22495336830615997, + -0.9733396172523499, + -0.044788360595703125, + -5.680689811706543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 685, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_942267179", + "mask_path": "../../mask/hdr_left_00685.png" + }, + { + "file_path": "../../rgb/hdr_left_00686.png", + "transform_matrix": [ + [ + -0.626964807510376, + 0.11122418940067291, + 0.7710670232772827, + -14.033122062683105 + ], + [ + -0.7457640767097473, + 0.20052406191825867, + -0.6353156566619873, + -14.932936668395996 + ], + [ + -0.22527994215488434, + -0.973354697227478, + -0.042774517089128494, + -5.6808085441589355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 686, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_42266845", + "mask_path": "../../mask/hdr_left_00686.png" + }, + { + "file_path": "../../rgb/hdr_left_00688.png", + "transform_matrix": [ + [ + -0.6377617716789246, + 0.10278542339801788, + 0.7633447051048279, + -14.076067924499512 + ], + [ + -0.7360120415687561, + 0.21080252528190613, + -0.6433106064796448, + -15.039580345153809 + ], + [ + -0.22703790664672852, + -0.9721097946166992, + -0.058790456503629684, + -5.709595203399658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 688, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_242267608", + "mask_path": "../../mask/hdr_left_00688.png" + }, + { + "file_path": "../../rgb/hdr_left_00689.png", + "transform_matrix": [ + [ + -0.638701856136322, + 0.10631532222032547, + 0.7620740532875061, + -14.099292755126953 + ], + [ + -0.7322583794593811, + 0.22022594511508942, + -0.6444362998008728, + -15.09505558013916 + ], + [ + -0.2363419234752655, + -0.9696378707885742, + -0.06280843913555145, + -5.73199987411499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 689, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_342267751", + "mask_path": "../../mask/hdr_left_00689.png" + }, + { + "file_path": "../../rgb/hdr_left_00690.png", + "transform_matrix": [ + [ + -0.6411147713661194, + 0.11244523525238037, + 0.7591627240180969, + -14.1170015335083 + ], + [ + -0.7296812534332275, + 0.21717017889022827, + -0.6483843326568604, + -15.138249397277832 + ], + [ + -0.23777520656585693, + -0.9696356654167175, + -0.05718182027339935, + -5.756475448608398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 690, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_442266702", + "mask_path": "../../mask/hdr_left_00690.png" + }, + { + "file_path": "../../rgb/hdr_left_00691.png", + "transform_matrix": [ + [ + -0.6421941518783569, + 0.11495638638734818, + 0.7578731775283813, + -14.137979507446289 + ], + [ + -0.7293758392333984, + 0.21248652040958405, + -0.6502771377563477, + -15.185287475585938 + ], + [ + -0.23579132556915283, + -0.970378577709198, + -0.05261114984750748, + -5.780582427978516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 691, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_542269468", + "mask_path": "../../mask/hdr_left_00691.png" + }, + { + "file_path": "../../rgb/hdr_left_00692.png", + "transform_matrix": [ + [ + -0.6428303718566895, + 0.1172465831041336, + 0.7569823861122131, + -14.173890113830566 + ], + [ + -0.7284227013587952, + 0.2121867537498474, + -0.6514423489570618, + -15.242158889770508 + ], + [ + -0.23700103163719177, + -0.9701701998710632, + -0.050995003432035446, + -5.799561500549316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 692, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_642267704", + "mask_path": "../../mask/hdr_left_00692.png" + }, + { + "file_path": "../../rgb/hdr_left_00693.png", + "transform_matrix": [ + [ + -0.6480615139007568, + 0.11687944084405899, + 0.7525660395622253, + -14.2075834274292 + ], + [ + -0.724327027797699, + 0.2107105255126953, + -0.6564688682556152, + -15.294800758361816 + ], + [ + -0.23530128598213196, + -0.9705361127853394, + -0.05189444124698639, + -5.795851707458496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 693, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_742269039", + "mask_path": "../../mask/hdr_left_00693.png" + }, + { + "file_path": "../../rgb/hdr_left_00695.png", + "transform_matrix": [ + [ + -0.6605477929115295, + 0.11477390676736832, + 0.7419591546058655, + -14.25864315032959 + ], + [ + -0.7161626815795898, + 0.2003163844347, + -0.6685688495635986, + -15.39999771118164 + ], + [ + -0.22536085546016693, + -0.9729852676391602, + -0.05012175813317299, + -5.828750133514404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 695, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_942268133", + "mask_path": "../../mask/hdr_left_00695.png" + }, + { + "file_path": "../../rgb/hdr_left_00696.png", + "transform_matrix": [ + [ + -0.6616467833518982, + 0.11179149150848389, + 0.741435170173645, + -14.288556098937988 + ], + [ + -0.7121159434318542, + 0.21591046452522278, + -0.6680371165275574, + -15.468657493591309 + ], + [ + -0.2347644567489624, + -0.9699925184249878, + -0.06324797123670578, + -5.844862461090088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 696, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_42267322", + "mask_path": "../../mask/hdr_left_00696.png" + }, + { + "file_path": "../../rgb/hdr_left_00697.png", + "transform_matrix": [ + [ + -0.6598208546638489, + 0.11459722369909286, + 0.7426331043243408, + -14.306615829467773 + ], + [ + -0.711361289024353, + 0.22312752902507782, + -0.6664677262306213, + -15.51346206665039 + ], + [ + -0.24207721650600433, + -0.968029797077179, + -0.06570417433977127, + -5.862553119659424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 697, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_142267227", + "mask_path": "../../mask/hdr_left_00697.png" + }, + { + "file_path": "../../rgb/hdr_left_00699.png", + "transform_matrix": [ + [ + -0.6590732336044312, + 0.12302475422620773, + 0.7419483661651611, + -14.355566024780273 + ], + [ + -0.7123538255691528, + 0.2142665535211563, + -0.6683126091957092, + -15.603081703186035 + ], + [ + -0.24119369685649872, + -0.9689968824386597, + -0.05358019098639488, + -5.91884708404541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 699, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_342267036", + "mask_path": "../../mask/hdr_left_00699.png" + }, + { + "file_path": "../../rgb/hdr_left_00700.png", + "transform_matrix": [ + [ + -0.6622679829597473, + 0.15684781968593597, + 0.7326661944389343, + -14.383293151855469 + ], + [ + -0.7002562880516052, + 0.21828150749206543, + -0.6797015070915222, + -15.651212692260742 + ], + [ + -0.2665371894836426, + -0.9631989002227783, + -0.03472715988755226, + -5.928137302398682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 700, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_442267656", + "mask_path": "../../mask/hdr_left_00700.png" + }, + { + "file_path": "../../rgb/hdr_left_00703.png", + "transform_matrix": [ + [ + -0.679563045501709, + 0.14647962152957916, + 0.7188446521759033, + -14.454824447631836 + ], + [ + -0.6876048445701599, + 0.21438081562519073, + -0.69371497631073, + -15.814804077148438 + ], + [ + -0.2557215988636017, + -0.9657042622566223, + -0.04496518522500992, + -5.953746318817139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 703, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_742266654", + "mask_path": "../../mask/hdr_left_00703.png" + }, + { + "file_path": "../../rgb/hdr_left_00704.png", + "transform_matrix": [ + [ + -0.6823002099990845, + 0.1450396031141281, + 0.7165402173995972, + -14.479269981384277 + ], + [ + -0.686729371547699, + 0.20900143682956696, + -0.6962191462516785, + -15.865267753601074 + ], + [ + -0.2507372796535492, + -0.9670997262001038, + -0.0429987795650959, + -5.971101760864258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 704, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_842268466", + "mask_path": "../../mask/hdr_left_00704.png" + }, + { + "file_path": "../../rgb/hdr_left_00706.png", + "transform_matrix": [ + [ + -0.6854947805404663, + 0.14545613527297974, + 0.7133998870849609, + -14.530062675476074 + ], + [ + -0.6871341466903687, + 0.19470375776290894, + -0.6999549269676208, + -15.940752029418945 + ], + [ + -0.24071437120437622, + -0.9700170755386353, + -0.03352052718400955, + -6.0047736167907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 706, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638870_42268037", + "mask_path": "../../mask/hdr_left_00706.png" + }, + { + "file_path": "../../rgb/hdr_left_00707.png", + "transform_matrix": [ + [ + -0.6871601343154907, + 0.14966753125190735, + 0.7109224796295166, + -14.573935508728027 + ], + [ + -0.685809314250946, + 0.18928372859954834, + -0.7027354836463928, + -15.986291885375977 + ], + [ + -0.2397427260875702, + -0.9704490303993225, + -0.027424823492765427, + -6.020452499389648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 707, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638870_142267704", + "mask_path": "../../mask/hdr_left_00707.png" + }, + { + "file_path": "../../rgb/hdr_left_00708.png", + "transform_matrix": [ + [ + -0.6907345056533813, + 0.14771664142608643, + 0.7078598141670227, + -14.610217094421387 + ], + [ + -0.6828635931015015, + 0.18877039849758148, + -0.7057358026504517, + -16.027069091796875 + ], + [ + -0.23787188529968262, + -0.9708479046821594, + -0.029519902542233467, + -6.029700756072998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 708, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638870_242267847", + "mask_path": "../../mask/hdr_left_00708.png" + }, + { + "file_path": "../../rgb/hdr_left_00710.png", + "transform_matrix": [ + [ + -0.6990165114402771, + 0.13830196857452393, + 0.7016041278839111, + -14.65240478515625 + ], + [ + -0.6794787049293518, + 0.17736293375492096, + -0.7119348645210266, + -16.099456787109375 + ], + [ + -0.22290055453777313, + -0.974379301071167, + -0.03000638820230961, + -6.051703929901123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 710, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638870_442267894", + "mask_path": "../../mask/hdr_left_00710.png" + }, + { + "file_path": "../../rgb/hdr_left_00711.png", + "transform_matrix": [ + [ + -0.7015516757965088, + 0.13086017966270447, + 0.7005003094673157, + -14.684239387512207 + ], + [ + -0.6779148578643799, + 0.18046647310256958, + -0.7126452922821045, + -16.15654754638672 + ], + [ + -0.21967369318008423, + -0.9748372435569763, + -0.037894491106271744, + -6.055027484893799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 711, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638870_542268037", + "mask_path": "../../mask/hdr_left_00711.png" + }, + { + "file_path": "../../rgb/hdr_left_00716.png", + "transform_matrix": [ + [ + -0.6564084887504578, + 0.12069716304540634, + 0.7446878552436829, + -14.795413970947266 + ], + [ + -0.7258011102676392, + 0.1682053506374359, + -0.6670230031013489, + -16.359600067138672 + ], + [ + -0.20576825737953186, + -0.9783349633216858, + -0.02280927263200283, + -6.109716415405273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 716, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_42268276", + "mask_path": "../../mask/hdr_left_00716.png" + }, + { + "file_path": "../../rgb/hdr_left_00718.png", + "transform_matrix": [ + [ + -0.6494142413139343, + 0.11549422144889832, + 0.7516130805015564, + -14.830129623413086 + ], + [ + -0.7342514991760254, + 0.1618964523077011, + -0.659290611743927, + -16.430131912231445 + ], + [ + -0.1978277564048767, + -0.9800258278846741, + -0.020336037501692772, + -6.124118804931641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 718, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_242267131", + "mask_path": "../../mask/hdr_left_00718.png" + }, + { + "file_path": "../../rgb/hdr_left_00719.png", + "transform_matrix": [ + [ + -0.653847336769104, + 0.106333427131176, + 0.7491174936294556, + -14.85791301727295 + ], + [ + -0.7302825450897217, + 0.17029185593128204, + -0.661579966545105, + -16.485614776611328 + ], + [ + -0.19791662693023682, + -0.9796397089958191, + -0.03369142860174179, + -6.130048751831055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 719, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_342267751", + "mask_path": "../../mask/hdr_left_00719.png" + }, + { + "file_path": "../../rgb/hdr_left_00720.png", + "transform_matrix": [ + [ + -0.6580073237419128, + 0.10375120490789413, + 0.7458297610282898, + -14.878663063049316 + ], + [ + -0.7257320284843445, + 0.1768033802509308, + -0.6648710370063782, + -16.528568267822266 + ], + [ + -0.2008463740348816, + -0.978762686252594, + -0.04104233905673027, + -6.144349098205566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 720, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_442267417", + "mask_path": "../../mask/hdr_left_00720.png" + }, + { + "file_path": "../../rgb/hdr_left_00722.png", + "transform_matrix": [ + [ + -0.6608980894088745, + 0.10835341364145279, + 0.7426124215126038, + -14.907774925231934 + ], + [ + -0.7235205769538879, + 0.17082610726356506, + -0.6688320636749268, + -16.598228454589844 + ], + [ + -0.19932781159877777, + -0.9793253540992737, + -0.034502726048231125, + -6.180865287780762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 722, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_642267704", + "mask_path": "../../mask/hdr_left_00722.png" + }, + { + "file_path": "../../rgb/hdr_left_00724.png", + "transform_matrix": [ + [ + -0.6506245732307434, + 0.11849519610404968, + 0.7500977516174316, + -14.954277992248535 + ], + [ + -0.7311679720878601, + 0.16907328367233276, + -0.6609141826629639, + -16.686260223388672 + ], + [ + -0.20513665676116943, + -0.9784544706344604, + -0.02336333692073822, + -6.211786270141602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 724, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_842267751", + "mask_path": "../../mask/hdr_left_00724.png" + }, + { + "file_path": "../../rgb/hdr_left_00727.png", + "transform_matrix": [ + [ + -0.6167131066322327, + 0.10553567111492157, + 0.780081570148468, + -15.007224082946777 + ], + [ + -0.7626286149024963, + 0.16550084948539734, + -0.6253054738044739, + -16.841230392456055 + ], + [ + -0.19509616494178772, + -0.9805467128753662, + -0.021581999957561493, + -6.219333171844482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 727, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638872_142267465", + "mask_path": "../../mask/hdr_left_00727.png" + }, + { + "file_path": "../../rgb/hdr_left_00734.png", + "transform_matrix": [ + [ + -0.5404281616210938, + 0.11178801953792572, + 0.8339309692382812, + -15.033802032470703 + ], + [ + -0.8164266347885132, + 0.16996639966964722, + -0.5518684983253479, + -17.15166664123535 + ], + [ + -0.20343251526355743, + -0.9790888428688049, + -0.0005879079108126462, + -6.293917655944824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 734, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638872_842268228", + "mask_path": "../../mask/hdr_left_00734.png" + }, + { + "file_path": "../../rgb/hdr_left_00735.png", + "transform_matrix": [ + [ + -0.5465103387832642, + 0.10150648653507233, + 0.8312778472900391, + -15.0494384765625 + ], + [ + -0.8110542297363281, + 0.18310867249965668, + -0.5555737614631653, + -17.216434478759766 + ], + [ + -0.2086085081100464, + -0.9778382778167725, + -0.01774350181221962, + -6.318893909454346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 735, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638872_942267179", + "mask_path": "../../mask/hdr_left_00735.png" + }, + { + "file_path": "../../rgb/hdr_left_00736.png", + "transform_matrix": [ + [ + -0.5507139563560486, + 0.09944465756416321, + 0.8287489414215088, + -15.060483932495117 + ], + [ + -0.8045832514762878, + 0.2010299265384674, + -0.5587778687477112, + -17.267879486083984 + ], + [ + -0.22217081487178802, + -0.9745243787765503, + -0.030698487535119057, + -6.3430867195129395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 736, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_42267322", + "mask_path": "../../mask/hdr_left_00736.png" + }, + { + "file_path": "../../rgb/hdr_left_00738.png", + "transform_matrix": [ + [ + -0.5558134913444519, + 0.10987987369298935, + 0.8240131735801697, + -15.075156211853027 + ], + [ + -0.7940418720245361, + 0.22327826917171478, + -0.5653708577156067, + -17.330490112304688 + ], + [ + -0.24610711634159088, + -0.9685418605804443, + -0.03685184568166733, + -6.398919582366943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 738, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_242266178", + "mask_path": "../../mask/hdr_left_00738.png" + }, + { + "file_path": "../../rgb/hdr_left_00739.png", + "transform_matrix": [ + [ + -0.5575489401817322, + 0.11162684857845306, + 0.822604775428772, + -15.09453010559082 + ], + [ + -0.7909948229789734, + 0.22927938401699066, + -0.5672372579574585, + -17.376876831054688 + ], + [ + -0.25192520022392273, + -0.9669387340545654, + -0.03953820466995239, + -6.430947780609131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 739, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_342267036", + "mask_path": "../../mask/hdr_left_00739.png" + }, + { + "file_path": "../../rgb/hdr_left_00740.png", + "transform_matrix": [ + [ + -0.5575664639472961, + 0.11776750534772873, + 0.821736216545105, + -15.114916801452637 + ], + [ + -0.787614643573761, + 0.23768743872642517, + -0.568478524684906, + -17.428152084350586 + ], + [ + -0.2622646689414978, + -0.9641760587692261, + -0.03977113589644432, + -6.443999767303467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 740, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_442266941", + "mask_path": "../../mask/hdr_left_00740.png" + }, + { + "file_path": "../../rgb/hdr_left_00743.png", + "transform_matrix": [ + [ + -0.5757421851158142, + 0.11056844145059586, + 0.810120701789856, + -15.174813270568848 + ], + [ + -0.768844485282898, + 0.2639218270778656, + -0.5824288129806519, + -17.568323135375977 + ], + [ + -0.2782067358493805, + -0.9581857919692993, + -0.06694096326828003, + -6.501346588134766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 743, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_742267608", + "mask_path": "../../mask/hdr_left_00743.png" + }, + { + "file_path": "../../rgb/hdr_left_00744.png", + "transform_matrix": [ + [ + -0.5831910967826843, + 0.10731466114521027, + 0.8052152395248413, + -15.198636054992676 + ], + [ + -0.7601726055145264, + 0.2773791551589966, + -0.5875357389450073, + -17.62310218811035 + ], + [ + -0.28640109300613403, + -0.9547483921051025, + -0.0801873579621315, + -6.510636806488037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 744, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_842267513", + "mask_path": "../../mask/hdr_left_00744.png" + }, + { + "file_path": "../../rgb/hdr_left_00746.png", + "transform_matrix": [ + [ + -0.5925976037979126, + 0.10586690157651901, + 0.798511266708374, + -15.23523998260498 + ], + [ + -0.7500154376029968, + 0.2890302538871765, + -0.594927191734314, + -17.704280853271484 + ], + [ + -0.2937770187854767, + -0.9514482617378235, + -0.0918768122792244, + -6.551363468170166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 746, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_42267799", + "mask_path": "../../mask/hdr_left_00746.png" + }, + { + "file_path": "../../rgb/hdr_left_00747.png", + "transform_matrix": [ + [ + -0.5928748250007629, + 0.12115941196680069, + 0.7961279153823853, + -15.265851974487305 + ], + [ + -0.7445128560066223, + 0.2943219542503357, + -0.5992287993431091, + -17.754823684692383 + ], + [ + -0.3069201707839966, + -0.9479953050613403, + -0.08429135382175446, + -6.5733466148376465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 747, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_142267942", + "mask_path": "../../mask/hdr_left_00747.png" + }, + { + "file_path": "../../rgb/hdr_left_00748.png", + "transform_matrix": [ + [ + -0.5954089760780334, + 0.13340654969215393, + 0.7922693490982056, + -15.29090690612793 + ], + [ + -0.7369353175163269, + 0.3021097183227539, + -0.6046949625015259, + -17.800025939941406 + ], + [ + -0.3200225234031677, + -0.9438921809196472, + -0.08156683295965195, + -6.589415073394775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 748, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_242267608", + "mask_path": "../../mask/hdr_left_00748.png" + }, + { + "file_path": "../../rgb/hdr_left_00749.png", + "transform_matrix": [ + [ + -0.5990006923675537, + 0.1394113451242447, + 0.7885192632675171, + -15.31599235534668 + ], + [ + -0.7301093935966492, + 0.30931198596954346, + -0.6093162894248962, + -17.84044075012207 + ], + [ + -0.32884401082992554, + -0.9406862854957581, + -0.08349254727363586, + -6.616701602935791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 749, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_342267751", + "mask_path": "../../mask/hdr_left_00749.png" + }, + { + "file_path": "../../rgb/hdr_left_00750.png", + "transform_matrix": [ + [ + -0.6030961871147156, + 0.13845354318618774, + 0.7855607271194458, + -15.339622497558594 + ], + [ + -0.7262735962867737, + 0.31193017959594727, + -0.6125569939613342, + -17.89525032043457 + ], + [ + -0.32985079288482666, + -0.9399629235267639, + -0.0875687450170517, + -6.648919582366943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 750, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_442269086", + "mask_path": "../../mask/hdr_left_00750.png" + }, + { + "file_path": "../../rgb/hdr_left_00751.png", + "transform_matrix": [ + [ + -0.6012222766876221, + 0.12079541385173798, + 0.7898988127708435, + -15.370753288269043 + ], + [ + -0.7183283567428589, + 0.35133230686187744, + -0.6004747748374939, + -17.960981369018555 + ], + [ + -0.3500515818595886, + -0.9284256100654602, + -0.12445802986621857, + -6.668347358703613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 751, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_542268037", + "mask_path": "../../mask/hdr_left_00751.png" + }, + { + "file_path": "../../rgb/hdr_left_00754.png", + "transform_matrix": [ + [ + -0.6018669605255127, + 0.10808616131544113, + 0.7912481427192688, + -15.431584358215332 + ], + [ + -0.7180579304695129, + 0.36036890745162964, + -0.5954216718673706, + -18.08252716064453 + ], + [ + -0.34949803352355957, + -0.9265267252922058, + -0.1392819881439209, + -6.711401462554932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 754, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_842268705", + "mask_path": "../../mask/hdr_left_00754.png" + }, + { + "file_path": "../../rgb/hdr_left_00755.png", + "transform_matrix": [ + [ + -0.6090381145477295, + 0.09673681110143661, + 0.7872195839881897, + -15.469797134399414 + ], + [ + -0.7240793108940125, + 0.3372631072998047, + -0.6016334891319275, + -18.13888931274414 + ], + [ + -0.3237001895904541, + -0.9364270567893982, + -0.1353609263896942, + -6.717593193054199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 755, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_942267656", + "mask_path": "../../mask/hdr_left_00755.png" + }, + { + "file_path": "../../rgb/hdr_left_00758.png", + "transform_matrix": [ + [ + -0.6228554844856262, + 0.08056310564279556, + 0.7781777381896973, + -15.53380298614502 + ], + [ + -0.7350414991378784, + 0.2803395092487335, + -0.6173521280288696, + -18.301050186157227 + ], + [ + -0.26788970828056335, + -0.9565141797065735, + -0.11539376527070999, + -6.752187728881836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 758, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638875_242268562", + "mask_path": "../../mask/hdr_left_00758.png" + }, + { + "file_path": "../../rgb/hdr_left_00765.png", + "transform_matrix": [ + [ + -0.576060950756073, + 0.0775325670838356, + 0.8137213587760925, + -15.598599433898926 + ], + [ + -0.7910629510879517, + 0.19781485199928284, + -0.5788685083389282, + -18.60433578491211 + ], + [ + -0.20584730803966522, + -0.9771683812141418, + -0.05262027308344841, + -6.830070972442627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 765, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638875_942267656", + "mask_path": "../../mask/hdr_left_00765.png" + }, + { + "file_path": "../../rgb/hdr_left_00766.png", + "transform_matrix": [ + [ + -0.5720459222793579, + 0.07647714018821716, + 0.8166484236717224, + -15.620044708251953 + ], + [ + -0.7933483123779297, + 0.2011806219816208, + -0.5745648741722107, + -18.658885955810547 + ], + [ + -0.20823490619659424, + -0.9765642285346985, + -0.054411545395851135, + -6.849696636199951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 766, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638876_42268037", + "mask_path": "../../mask/hdr_left_00766.png" + }, + { + "file_path": "../../rgb/hdr_left_00773.png", + "transform_matrix": [ + [ + -0.5952778458595276, + 0.0789775475859642, + 0.7996291518211365, + -15.752426147460938 + ], + [ + -0.7793834805488586, + 0.1853283792734146, + -0.5985105037689209, + -18.960697174072266 + ], + [ + -0.19546283781528473, + -0.9794979095458984, + -0.048768069595098495, + -6.934956073760986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 773, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638876_742268323", + "mask_path": "../../mask/hdr_left_00773.png" + }, + { + "file_path": "../../rgb/hdr_left_00774.png", + "transform_matrix": [ + [ + -0.5975525379180908, + 0.07650299370288849, + 0.798171877861023, + -15.777256965637207 + ], + [ + -0.7734291553497314, + 0.20759235322475433, + -0.598926305770874, + -19.019439697265625 + ], + [ + -0.21151401102542877, + -0.9752193689346313, + -0.0648776963353157, + -6.953423976898193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 774, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638876_842267513", + "mask_path": "../../mask/hdr_left_00774.png" + }, + { + "file_path": "../../rgb/hdr_left_00778.png", + "transform_matrix": [ + [ + -0.6007847785949707, + 0.08212991058826447, + 0.79518061876297, + -15.876742362976074 + ], + [ + -0.7633697986602783, + 0.23636606335639954, + -0.6011636257171631, + -19.173917770385742 + ], + [ + -0.2373272329568863, + -0.9681869149208069, + -0.07930964231491089, + -7.044661045074463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 778, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_242269515", + "mask_path": "../../mask/hdr_left_00778.png" + }, + { + "file_path": "../../rgb/hdr_left_00779.png", + "transform_matrix": [ + [ + -0.605920135974884, + 0.08026815205812454, + 0.7914655804634094, + -15.912440299987793 + ], + [ + -0.7596550583839417, + 0.23700082302093506, + -0.6056028604507446, + -19.21918296813965 + ], + [ + -0.23618857562541962, + -0.9681878685951233, + -0.08262746781110764, + -7.03945255279541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 779, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_342268466", + "mask_path": "../../mask/hdr_left_00779.png" + }, + { + "file_path": "../../rgb/hdr_left_00781.png", + "transform_matrix": [ + [ + -0.6167736649513245, + 0.08478093147277832, + 0.7825614213943481, + -15.958102226257324 + ], + [ + -0.7473604679107666, + 0.24898041784763336, + -0.6160041093826294, + -19.28976821899414 + ], + [ + -0.24706785380840302, + -0.9647906422615051, + -0.09020265191793442, + -7.0935959815979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 781, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_542267322", + "mask_path": "../../mask/hdr_left_00781.png" + }, + { + "file_path": "../../rgb/hdr_left_00782.png", + "transform_matrix": [ + [ + -0.6122016310691833, + 0.09220337867736816, + 0.7853074669837952, + -15.982131958007812 + ], + [ + -0.7409781813621521, + 0.2797413766384125, + -0.6104884743690491, + -19.34198760986328 + ], + [ + -0.27597203850746155, + -0.9556376934051514, + -0.10293741524219513, + -7.120391845703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 782, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_642267465", + "mask_path": "../../mask/hdr_left_00782.png" + }, + { + "file_path": "../../rgb/hdr_left_00783.png", + "transform_matrix": [ + [ + -0.6076008677482605, + 0.10376955568790436, + 0.7874345183372498, + -15.99898910522461 + ], + [ + -0.7372170686721802, + 0.2952040135860443, + -0.6077545285224915, + -19.38393211364746 + ], + [ + -0.29552021622657776, + -0.9497823715209961, + -0.10286550968885422, + -7.138335704803467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 783, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_742266893", + "mask_path": "../../mask/hdr_left_00783.png" + }, + { + "file_path": "../../rgb/hdr_left_00785.png", + "transform_matrix": [ + [ + -0.6047486662864685, + 0.12705914676189423, + 0.786215603351593, + -16.04155158996582 + ], + [ + -0.7328375577926636, + 0.29772841930389404, + -0.611806333065033, + -19.458946228027344 + ], + [ + -0.31181424856185913, + -0.9461573958396912, + -0.08693712949752808, + -7.190494060516357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 785, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_942267179", + "mask_path": "../../mask/hdr_left_00785.png" + }, + { + "file_path": "../../rgb/hdr_left_00786.png", + "transform_matrix": [ + [ + -0.605156421661377, + 0.1434282511472702, + 0.7830798029899597, + -16.064350128173828 + ], + [ + -0.7283422946929932, + 0.29737260937690735, + -0.6173223853111267, + -19.499963760375977 + ], + [ + -0.32140791416168213, + -0.9439269304275513, + -0.07549206912517548, + -7.209078311920166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 786, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638878_42267084", + "mask_path": "../../mask/hdr_left_00786.png" + }, + { + "file_path": "../../rgb/hdr_left_00788.png", + "transform_matrix": [ + [ + -0.6112512946128845, + 0.15573595464229584, + 0.775962769985199, + -16.104211807250977 + ], + [ + -0.7190881967544556, + 0.3002466559410095, + -0.626708984375, + -19.57884979248047 + ], + [ + -0.33058130741119385, + -0.941062331199646, + -0.0715382918715477, + -7.2486724853515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 788, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638878_242267131", + "mask_path": "../../mask/hdr_left_00788.png" + }, + { + "file_path": "../../rgb/hdr_left_00789.png", + "transform_matrix": [ + [ + -0.6038235425949097, + 0.14325225353240967, + 0.7841401696205139, + -16.131059646606445 + ], + [ + -0.7196144461631775, + 0.32515639066696167, + -0.6135376691818237, + -19.638879776000977 + ], + [ + -0.34285885095596313, + -0.9347471594810486, + -0.09325069934129715, + -7.265832424163818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 789, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638878_342268228", + "mask_path": "../../mask/hdr_left_00789.png" + }, + { + "file_path": "../../rgb/hdr_left_00792.png", + "transform_matrix": [ + [ + -0.5535368323326111, + 0.16330507397651672, + 0.8166568279266357, + -16.154884338378906 + ], + [ + -0.7483546733856201, + 0.33277103304862976, + -0.573784589767456, + -19.766935348510742 + ], + [ + -0.36546164751052856, + -0.9287598729133606, + -0.06199093163013458, + -7.3291425704956055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 792, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638878_642266988", + "mask_path": "../../mask/hdr_left_00792.png" + }, + { + "file_path": "../../rgb/hdr_left_00796.png", + "transform_matrix": [ + [ + -0.5020398497581482, + 0.17369501292705536, + 0.8472225666046143, + -16.167503356933594 + ], + [ + -0.7749955058097839, + 0.3444348871707916, + -0.5298551917076111, + -19.928972244262695 + ], + [ + -0.3838462233543396, + -0.922602117061615, + -0.03830717131495476, + -7.353090763092041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 796, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_42268037", + "mask_path": "../../mask/hdr_left_00796.png" + }, + { + "file_path": "../../rgb/hdr_left_00798.png", + "transform_matrix": [ + [ + -0.5026739835739136, + 0.18186607956886292, + 0.8451294302940369, + -16.17342185974121 + ], + [ + -0.7711545825004578, + 0.34748998284339905, + -0.5334520936012268, + -19.98604393005371 + ], + [ + -0.39069080352783203, + -0.9198780655860901, + -0.03442729264497757, + -7.38439416885376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 798, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_242267847", + "mask_path": "../../mask/hdr_left_00798.png" + }, + { + "file_path": "../../rgb/hdr_left_00800.png", + "transform_matrix": [ + [ + -0.5069215297698975, + 0.1818932294845581, + 0.8425825834274292, + -16.191560745239258 + ], + [ + -0.7796366810798645, + 0.3202072083950043, + -0.5381765365600586, + -20.066129684448242 + ], + [ + -0.36769163608551025, + -0.9297216534614563, + -0.020509283989667892, + -7.431282043457031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 800, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_442267417", + "mask_path": "../../mask/hdr_left_00800.png" + }, + { + "file_path": "../../rgb/hdr_left_00802.png", + "transform_matrix": [ + [ + -0.5214171409606934, + 0.1464523822069168, + 0.8406401872634888, + -16.229110717773438 + ], + [ + -0.7916474342346191, + 0.284649133682251, + -0.5406191349029541, + -20.151033401489258 + ], + [ + -0.31846243143081665, + -0.9473787546157837, + -0.032482270151376724, + -7.399819374084473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 802, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_642267942", + "mask_path": "../../mask/hdr_left_00802.png" + }, + { + "file_path": "../../rgb/hdr_left_00803.png", + "transform_matrix": [ + [ + -0.5272654891014099, + 0.13776710629463196, + 0.8384576439857483, + -16.24652862548828 + ], + [ + -0.7967063784599304, + 0.2628727853298187, + -0.5442028045654297, + -20.216524124145508 + ], + [ + -0.29538094997406006, + -0.9549440741539001, + -0.028843829408288002, + -7.427859783172607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 803, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_742268323", + "mask_path": "../../mask/hdr_left_00803.png" + }, + { + "file_path": "../../rgb/hdr_left_00804.png", + "transform_matrix": [ + [ + -0.5331314206123352, + 0.13923755288124084, + 0.8344962000846863, + -16.259370803833008 + ], + [ + -0.7971646189689636, + 0.24770140647888184, + -0.5506110191345215, + -20.267988204956055 + ], + [ + -0.28337159752845764, + -0.9587788581848145, + -0.021062146872282028, + -7.4617462158203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 804, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_842267274", + "mask_path": "../../mask/hdr_left_00804.png" + }, + { + "file_path": "../../rgb/hdr_left_00806.png", + "transform_matrix": [ + [ + -0.540438711643219, + 0.15872688591480255, + 0.8262757658958435, + -16.27943992614746 + ], + [ + -0.7951770424842834, + 0.22460737824440002, + -0.5632450580596924, + -20.339712142944336 + ], + [ + -0.2749897241592407, + -0.9614350199699402, + 0.004829441197216511, + -7.500805377960205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 806, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638880_42267084", + "mask_path": "../../mask/hdr_left_00806.png" + }, + { + "file_path": "../../rgb/hdr_left_00808.png", + "transform_matrix": [ + [ + -0.5836691856384277, + 0.16218896210193634, + 0.7956287264823914, + -16.333324432373047 + ], + [ + -0.7666643857955933, + 0.21272218227386475, + -0.6057845950126648, + -20.409414291381836 + ], + [ + -0.2674994468688965, + -0.9635580778121948, + 0.00018512997485231608, + -7.529673099517822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 808, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638880_242267847", + "mask_path": "../../mask/hdr_left_00808.png" + }, + { + "file_path": "../../rgb/hdr_left_00811.png", + "transform_matrix": [ + [ + -0.7001020908355713, + 0.13449153304100037, + 0.7012625336647034, + -16.43030548095703 + ], + [ + -0.6779395937919617, + 0.18313555419445038, + -0.7119404673576355, + -20.50086212158203 + ], + [ + -0.22417603433132172, + -0.9738446474075317, + -0.03703644871711731, + -7.537441730499268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 811, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638880_542267799", + "mask_path": "../../mask/hdr_left_00811.png" + }, + { + "file_path": "../../rgb/hdr_left_00812.png", + "transform_matrix": [ + [ + -0.7277725338935852, + 0.12562154233455658, + 0.6742153763771057, + -16.458349227905273 + ], + [ + -0.6528956890106201, + 0.1740286648273468, + -0.7371847033500671, + -20.542469024658203 + ], + [ + -0.20993906259536743, + -0.97669517993927, + -0.04463551193475723, + -7.537455081939697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 812, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638880_642267704", + "mask_path": "../../mask/hdr_left_00812.png" + }, + { + "file_path": "../../rgb/hdr_left_00820.png", + "transform_matrix": [ + [ + -0.8519068956375122, + 0.1340738832950592, + 0.5062399506568909, + -16.665191650390625 + ], + [ + -0.49395814538002014, + 0.1153794527053833, + -0.8617962598800659, + -20.739459991455078 + ], + [ + -0.1739540547132492, + -0.9842316508293152, + -0.03206564486026764, + -7.596688747406006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 820, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638881_442268610", + "mask_path": "../../mask/hdr_left_00820.png" + }, + { + "file_path": "../../rgb/hdr_left_00843.png", + "transform_matrix": [ + [ + -0.9017683863639832, + 0.16032886505126953, + -0.4013832211494446, + -17.078195571899414 + ], + [ + 0.4083552658557892, + 0.011727209202945232, + -0.9127477407455444, + -20.545242309570312 + ], + [ + -0.14163272082805634, + -0.9869940280914307, + -0.07604636251926422, + -7.708364963531494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 843, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638883_742267847", + "mask_path": "../../mask/hdr_left_00843.png" + }, + { + "file_path": "../../rgb/hdr_left_00844.png", + "transform_matrix": [ + [ + -0.8993101716041565, + 0.1669897437095642, + -0.4041728973388672, + -17.129831314086914 + ], + [ + 0.4115685224533081, + 0.010772140696644783, + -0.9113151431083679, + -20.54210090637207 + ], + [ + -0.14782647788524628, + -0.9858998656272888, + -0.07841521501541138, + -7.723378658294678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 844, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638883_842267274", + "mask_path": "../../mask/hdr_left_00844.png" + }, + { + "file_path": "../../rgb/hdr_left_00846.png", + "transform_matrix": [ + [ + -0.8966901302337646, + 0.1740805208683014, + -0.4069923460483551, + -17.197391510009766 + ], + [ + 0.41464120149612427, + 0.008407490327954292, + -0.9099461436271667, + -20.53343391418457 + ], + [ + -0.1549820750951767, + -0.9846956133842468, + -0.07971985638141632, + -7.756607532501221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 846, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638884_42268514", + "mask_path": "../../mask/hdr_left_00846.png" + }, + { + "file_path": "../../rgb/hdr_left_00852.png", + "transform_matrix": [ + [ + -0.8106873631477356, + 0.20134761929512024, + -0.5497681498527527, + -17.417314529418945 + ], + [ + 0.5598646998405457, + -0.008105447515845299, + -0.8285443782806396, + -20.42708969116211 + ], + [ + -0.17128156125545502, + -0.9794862866401672, + -0.10615644603967667, + -7.821042537689209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 852, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638884_642267942", + "mask_path": "../../mask/hdr_left_00852.png" + }, + { + "file_path": "../../rgb/hdr_left_00854.png", + "transform_matrix": [ + [ + -0.7746875882148743, + 0.20936022698879242, + -0.596680223941803, + -17.459264755249023 + ], + [ + 0.6097500920295715, + -0.0026578132528811693, + -0.7925891876220703, + -20.380931854248047 + ], + [ + -0.16752251982688904, + -0.9778350591659546, + -0.1255984604358673, + -7.854525566101074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 854, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638884_842268466", + "mask_path": "../../mask/hdr_left_00854.png" + }, + { + "file_path": "../../rgb/hdr_left_00856.png", + "transform_matrix": [ + [ + -0.735453724861145, + 0.20947223901748657, + -0.6443827748298645, + -17.525724411010742 + ], + [ + 0.6572097539901733, + -0.010876153595745564, + -0.753629207611084, + -20.287452697753906 + ], + [ + -0.16487281024456024, + -0.9777542352676392, + -0.12966829538345337, + -7.869791507720947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 856, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638885_42268276", + "mask_path": "../../mask/hdr_left_00856.png" + }, + { + "file_path": "../../rgb/hdr_left_00862.png", + "transform_matrix": [ + [ + -0.5780807137489319, + 0.22730819880962372, + -0.7836794853210449, + -17.63686180114746 + ], + [ + 0.7932833433151245, + -0.0683843195438385, + -0.6050000786781311, + -20.12137222290039 + ], + [ + -0.19111284613609314, + -0.9714188575744629, + -0.14078812301158905, + -7.939961910247803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 862, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638885_642268419", + "mask_path": "../../mask/hdr_left_00862.png" + }, + { + "file_path": "../../rgb/hdr_left_00864.png", + "transform_matrix": [ + [ + -0.5071333050727844, + 0.23294955492019653, + -0.8297892808914185, + -17.65262794494629 + ], + [ + 0.8437972664833069, + -0.06192126125097275, + -0.5330777168273926, + -20.070112228393555 + ], + [ + -0.1755618155002594, + -0.9705155491828918, + -0.16515985131263733, + -7.957560062408447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 864, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638885_842267274", + "mask_path": "../../mask/hdr_left_00864.png" + }, + { + "file_path": "../../rgb/hdr_left_00871.png", + "transform_matrix": [ + [ + -0.16545045375823975, + 0.16711312532424927, + -0.9719564914703369, + -17.619810104370117 + ], + [ + 0.9761919379234314, + -0.11242242157459259, + -0.18550068140029907, + -19.90509605407715 + ], + [ + -0.14026932418346405, + -0.9795072674751282, + -0.14453411102294922, + -7.935990333557129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 871, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638886_542268514", + "mask_path": "../../mask/hdr_left_00871.png" + }, + { + "file_path": "../../rgb/hdr_left_00875.png", + "transform_matrix": [ + [ + -0.014191249385476112, + 0.13808202743530273, + -0.9903191924095154, + -17.610153198242188 + ], + [ + 0.9931766986846924, + -0.11270789802074432, + -0.029947277158498764, + -19.87498664855957 + ], + [ + -0.1157519519329071, + -0.9839869737625122, + -0.13554038107395172, + -7.981504440307617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 875, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638886_942269086", + "mask_path": "../../mask/hdr_left_00875.png" + }, + { + "file_path": "../../rgb/hdr_left_00878.png", + "transform_matrix": [ + [ + 0.003488193964585662, + 0.16622665524482727, + -0.9860814809799194, + -17.569011688232422 + ], + [ + 0.9927254319190979, + -0.11925134807825089, + -0.016590872779488564, + -19.83080291748047 + ], + [ + -0.12034939229488373, + -0.9788503050804138, + -0.1654333621263504, + -7.993130207061768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 878, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638887_242268085", + "mask_path": "../../mask/hdr_left_00878.png" + }, + { + "file_path": "../../rgb/hdr_left_00880.png", + "transform_matrix": [ + [ + 0.013586468063294888, + 0.16414566338062286, + -0.9863425493240356, + -17.537296295166016 + ], + [ + 0.993114709854126, + -0.11700227856636047, + -0.005791590083390474, + -19.74717140197754 + ], + [ + -0.11635498702526093, + -0.9794726967811584, + -0.16460512578487396, + -7.968752384185791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 880, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638887_442267656", + "mask_path": "../../mask/hdr_left_00880.png" + }, + { + "file_path": "../../rgb/hdr_left_00882.png", + "transform_matrix": [ + [ + 0.02049979567527771, + 0.12449447065591812, + -0.9920085668563843, + -17.533058166503906 + ], + [ + 0.9898063540458679, + -0.14239604771137238, + 0.0025839591398835182, + -19.634578704833984 + ], + [ + -0.14093640446662903, + -0.9819493889808655, + -0.12614448368549347, + -8.01854133605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 882, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638887_642267227", + "mask_path": "../../mask/hdr_left_00882.png" + }, + { + "file_path": "../../rgb/hdr_left_00885.png", + "transform_matrix": [ + [ + 0.041151370853185654, + 0.09144827723503113, + -0.9949592351913452, + -17.578304290771484 + ], + [ + 0.9804367423057556, + -0.19553489983081818, + 0.022578751668334007, + -19.549053192138672 + ], + [ + -0.19248442351818085, + -0.9764237999916077, + -0.09770578145980835, + -8.075348854064941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 885, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638887_942267656", + "mask_path": "../../mask/hdr_left_00885.png" + }, + { + "file_path": "../../rgb/hdr_left_00886.png", + "transform_matrix": [ + [ + 0.04327896237373352, + 0.08774115145206451, + -0.9952027201652527, + -17.614219665527344 + ], + [ + 0.9835129976272583, + -0.1788093000650406, + 0.027006037533283234, + -19.465490341186523 + ], + [ + -0.1755819469690323, + -0.9799636602401733, + -0.09403324127197266, + -8.069005012512207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 886, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638888_42266845", + "mask_path": "../../mask/hdr_left_00886.png" + }, + { + "file_path": "../../rgb/hdr_left_00894.png", + "transform_matrix": [ + [ + 0.05709896981716156, + 0.03908146172761917, + -0.9976032972335815, + -17.68941307067871 + ], + [ + 0.9827885031700134, + -0.17804092168807983, + 0.0492761991918087, + -19.149993896484375 + ], + [ + -0.17568840086460114, + -0.9832467436790466, + -0.04857476055622101, + -8.128328323364258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 894, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638888_842267036", + "mask_path": "../../mask/hdr_left_00894.png" + }, + { + "file_path": "../../rgb/hdr_left_00896.png", + "transform_matrix": [ + [ + 0.0401272289454937, + 0.037232473492622375, + -0.9985007047653198, + -17.699745178222656 + ], + [ + 0.9845635890960693, + -0.171858012676239, + 0.03315882384777069, + -19.103065490722656 + ], + [ + -0.17036573588848114, + -0.9844179749488831, + -0.0435539148747921, + -8.15571403503418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 896, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638889_42267799", + "mask_path": "../../mask/hdr_left_00896.png" + }, + { + "file_path": "../../rgb/hdr_left_00898.png", + "transform_matrix": [ + [ + 0.025546258315443993, + 0.02565903589129448, + -0.9993442296981812, + -17.703596115112305 + ], + [ + 0.9852684140205383, + -0.1697419434785843, + 0.020828187465667725, + -19.018564224243164 + ], + [ + -0.1690962016582489, + -0.9851545095443726, + -0.02961730770766735, + -8.16541576385498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 898, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638889_242267370", + "mask_path": "../../mask/hdr_left_00898.png" + }, + { + "file_path": "../../rgb/hdr_left_00902.png", + "transform_matrix": [ + [ + 0.06732618063688278, + 0.034519389271736145, + -0.9971336126327515, + -17.69799041748047 + ], + [ + 0.9805936217308044, + -0.18672579526901245, + 0.05974520370364189, + -18.906999588012695 + ], + [ + -0.18412819504737854, + -0.9818054437637329, + -0.04642101749777794, + -8.196218490600586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 902, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638889_642268180", + "mask_path": "../../mask/hdr_left_00902.png" + }, + { + "file_path": "../../rgb/hdr_left_00912.png", + "transform_matrix": [ + [ + 0.130328968167305, + 0.03127593174576759, + -0.9909773468971252, + -17.740436553955078 + ], + [ + 0.972790539264679, + -0.1971391886472702, + 0.12171526998281479, + -18.485637664794922 + ], + [ + -0.19155371189117432, + -0.9798765182495117, + -0.05611787736415863, + -8.286517143249512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 912, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638890_642267704", + "mask_path": "../../mask/hdr_left_00912.png" + }, + { + "file_path": "../../rgb/hdr_left_00915.png", + "transform_matrix": [ + [ + 0.15644554793834686, + 0.03368467837572098, + -0.9871119260787964, + -17.723485946655273 + ], + [ + 0.9718751907348633, + -0.18336203694343567, + 0.14777356386184692, + -18.36185073852539 + ], + [ + -0.17602112889289856, + -0.9824681878089905, + -0.06142347678542137, + -8.317866325378418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 915, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638890_942268371", + "mask_path": "../../mask/hdr_left_00915.png" + }, + { + "file_path": "../../rgb/hdr_left_00916.png", + "transform_matrix": [ + [ + 0.162605881690979, + 0.02530771866440773, + -0.9863664507865906, + -17.722867965698242 + ], + [ + 0.9704295992851257, + -0.1848466843366623, + 0.15523593127727509, + -18.302059173583984 + ], + [ + -0.17839789390563965, + -0.9824414849281311, + -0.05461650714278221, + -8.321488380432129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 916, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_42268276", + "mask_path": "../../mask/hdr_left_00916.png" + }, + { + "file_path": "../../rgb/hdr_left_00918.png", + "transform_matrix": [ + [ + 0.17648926377296448, + 0.03576117753982544, + -0.983652651309967, + -17.71623420715332 + ], + [ + 0.9688794016838074, + -0.1825263351202011, + 0.16720277070999146, + -18.243648529052734 + ], + [ + -0.173563152551651, + -0.9825503826141357, + -0.06686220318078995, + -8.326560974121094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 918, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_242268323", + "mask_path": "../../mask/hdr_left_00918.png" + }, + { + "file_path": "../../rgb/hdr_left_00920.png", + "transform_matrix": [ + [ + 0.19170087575912476, + 0.03474951907992363, + -0.9808380007743835, + -17.716218948364258 + ], + [ + 0.9685548543930054, + -0.16818854212760925, + 0.18334150314331055, + -18.13749122619629 + ], + [ + -0.15859468281269073, + -0.985142171382904, + -0.06589870154857635, + -8.348159790039062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 920, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_442267656", + "mask_path": "../../mask/hdr_left_00920.png" + }, + { + "file_path": "../../rgb/hdr_left_00921.png", + "transform_matrix": [ + [ + 0.19783402979373932, + 0.031484685838222504, + -0.9797297716140747, + -17.720428466796875 + ], + [ + 0.9681959748268127, + -0.16244469583034515, + 0.19028471410274506, + -18.080825805664062 + ], + [ + -0.15316082537174225, + -0.9862152338027954, + -0.06262043118476868, + -8.356283187866211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 921, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_542267799", + "mask_path": "../../mask/hdr_left_00921.png" + }, + { + "file_path": "../../rgb/hdr_left_00923.png", + "transform_matrix": [ + [ + 0.2097187489271164, + 0.03029150888323784, + -0.9772923588752747, + -17.721866607666016 + ], + [ + 0.9665794372558594, + -0.1571568101644516, + 0.20254868268966675, + -18.005569458007812 + ], + [ + -0.14745262265205383, + -0.9871090054512024, + -0.062237873673439026, + -8.382842063903809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 923, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_742267847", + "mask_path": "../../mask/hdr_left_00923.png" + }, + { + "file_path": "../../rgb/hdr_left_00924.png", + "transform_matrix": [ + [ + 0.21401971578598022, + 0.030689017847180367, + -0.9763471484184265, + -17.708555221557617 + ], + [ + 0.9669982194900513, + -0.14810393750667572, + 0.20731514692306519, + -17.952730178833008 + ], + [ + -0.13823853433132172, + -0.9884955286979675, + -0.061373382806777954, + -8.392616271972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 924, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_842267751", + "mask_path": "../../mask/hdr_left_00924.png" + }, + { + "file_path": "../../rgb/hdr_left_00925.png", + "transform_matrix": [ + [ + 0.21923471987247467, + 0.01870044134557247, + -0.9754930138587952, + -17.707366943359375 + ], + [ + 0.9649454951286316, + -0.15200519561767578, + 0.2139502614736557, + -17.886892318725586 + ], + [ + -0.14427900314331055, + -0.9882028698921204, + -0.051369715481996536, + -8.394004821777344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 925, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_942267417", + "mask_path": "../../mask/hdr_left_00925.png" + }, + { + "file_path": "../../rgb/hdr_left_00929.png", + "transform_matrix": [ + [ + 0.24876148998737335, + 0.01062032300978899, + -0.9685064554214478, + -17.713294982910156 + ], + [ + 0.9589062929153442, + -0.14356178045272827, + 0.2447214275598526, + -17.7023868560791 + ], + [ + -0.13644151389598846, + -0.9895844459533691, + -0.045896537601947784, + -8.420333862304688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 929, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638892_342267990", + "mask_path": "../../mask/hdr_left_00929.png" + }, + { + "file_path": "../../rgb/hdr_left_00937.png", + "transform_matrix": [ + [ + 0.12138870358467102, + 0.010041018016636372, + -0.9925543069839478, + -17.778291702270508 + ], + [ + 0.9813098311424255, + -0.1516362428665161, + 0.11847950518131256, + -17.353858947753906 + ], + [ + -0.14931751787662506, + -0.9883854389190674, + -0.02826026827096939, + -8.48882007598877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 937, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638893_142267942", + "mask_path": "../../mask/hdr_left_00937.png" + }, + { + "file_path": "../../rgb/hdr_left_00938.png", + "transform_matrix": [ + [ + 0.09974877536296844, + 0.022209670394659042, + -0.9947646856307983, + -17.796199798583984 + ], + [ + 0.9833670258522034, + -0.15471094846725464, + 0.09515171498060226, + -17.288185119628906 + ], + [ + -0.15178772807121277, + -0.9877101182937622, + -0.03727247938513756, + -8.486750602722168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 938, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638893_242268323", + "mask_path": "../../mask/hdr_left_00938.png" + }, + { + "file_path": "../../rgb/hdr_left_00941.png", + "transform_matrix": [ + [ + 0.047722090035676956, + 0.031160656362771988, + -0.9983745217323303, + -17.807727813720703 + ], + [ + 0.9858293533325195, + -0.1623939722776413, + 0.04205388203263283, + -17.136817932128906 + ], + [ + -0.16081959009170532, + -0.9862338900566101, + -0.038468874990940094, + -8.515352249145508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 941, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638893_542266130", + "mask_path": "../../mask/hdr_left_00941.png" + }, + { + "file_path": "../../rgb/hdr_left_00945.png", + "transform_matrix": [ + [ + 0.06721498817205429, + 0.03590979427099228, + -0.997092068195343, + -17.80120086669922 + ], + [ + 0.9900482296943665, + -0.12623898684978485, + 0.06219371408224106, + -16.947368621826172 + ], + [ + -0.12363851815462112, + -0.9913497567176819, + -0.044037576764822006, + -8.515185356140137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 945, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638893_942267894", + "mask_path": "../../mask/hdr_left_00945.png" + }, + { + "file_path": "../../rgb/hdr_left_00946.png", + "transform_matrix": [ + [ + 0.06974320858716965, + 0.0333874486386776, + -0.9970060586929321, + -17.80970001220703 + ], + [ + 0.991519570350647, + -0.11218332499265671, + 0.06560265272855759, + -16.878135681152344 + ], + [ + -0.10965714603662491, + -0.9931265115737915, + -0.04092833027243614, + -8.516486167907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 946, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_42267322", + "mask_path": "../../mask/hdr_left_00946.png" + }, + { + "file_path": "../../rgb/hdr_left_00947.png", + "transform_matrix": [ + [ + 0.06917770206928253, + 0.03221917897462845, + -0.9970839619636536, + -17.821317672729492 + ], + [ + 0.9926634430885315, + -0.10157427936792374, + 0.06558877229690552, + -16.828821182250977 + ], + [ + -0.09916485846042633, + -0.9943061470985413, + -0.03900947421789169, + -8.527338981628418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 947, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_142267704", + "mask_path": "../../mask/hdr_left_00947.png" + }, + { + "file_path": "../../rgb/hdr_left_00949.png", + "transform_matrix": [ + [ + 0.07398297637701035, + 0.012784576043486595, + -0.9971775412559509, + -17.838586807250977 + ], + [ + 0.9923031330108643, + -0.10051076114177704, + 0.07233269512653351, + -16.692523956298828 + ], + [ + -0.09930232912302017, + -0.9948539137840271, + -0.020122257992625237, + -8.543522834777832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 949, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_342267274", + "mask_path": "../../mask/hdr_left_00949.png" + }, + { + "file_path": "../../rgb/hdr_left_00950.png", + "transform_matrix": [ + [ + 0.08586182445287704, + 0.007154704071581364, + -0.9962814450263977, + -17.847347259521484 + ], + [ + 0.9909197688102722, + -0.10446306318044662, + 0.08464954048395157, + -16.633277893066406 + ], + [ + -0.10346896201372147, + -0.9945030808448792, + -0.01605912297964096, + -8.545621871948242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 950, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_442267656", + "mask_path": "../../mask/hdr_left_00950.png" + }, + { + "file_path": "../../rgb/hdr_left_00952.png", + "transform_matrix": [ + [ + 0.10094758123159409, + 0.014809559099376202, + -0.9947815537452698, + -17.862775802612305 + ], + [ + 0.9913842082023621, + -0.08538390696048737, + 0.09933169186115265, + -16.522050857543945 + ], + [ + -0.0834672749042511, + -0.996238112449646, + -0.0233012568205595, + -8.554619789123535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 952, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_642267465", + "mask_path": "../../mask/hdr_left_00952.png" + }, + { + "file_path": "../../rgb/hdr_left_00953.png", + "transform_matrix": [ + [ + 0.09316519647836685, + 0.022934967651963234, + -0.9953864216804504, + -17.888141632080078 + ], + [ + 0.9930410981178284, + -0.07447516173124313, + 0.09122966229915619, + -16.43640899658203 + ], + [ + -0.07203920930624008, + -0.9969592690467834, + -0.02971385046839714, + -8.5559720993042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 953, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_742267608", + "mask_path": "../../mask/hdr_left_00953.png" + }, + { + "file_path": "../../rgb/hdr_left_00954.png", + "transform_matrix": [ + [ + 0.07697302848100662, + 0.03045213781297207, + -0.9965680241584778, + -17.905941009521484 + ], + [ + 0.9948724508285522, + -0.06811360269784927, + 0.07476070523262024, + -16.378644943237305 + ], + [ + -0.06560322642326355, + -0.9972127676010132, + -0.03553890436887741, + -8.559540748596191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 954, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_842267513", + "mask_path": "../../mask/hdr_left_00954.png" + }, + { + "file_path": "../../rgb/hdr_left_00956.png", + "transform_matrix": [ + [ + 0.04270828887820244, + 0.028954623267054558, + -0.9986679553985596, + -17.933528900146484 + ], + [ + 0.9974565505981445, + -0.058327674865722656, + 0.04096533730626106, + -16.265079498291016 + ], + [ + -0.05706383287906647, + -0.9978775382041931, + -0.03137205168604851, + -8.586952209472656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 956, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_42267560", + "mask_path": "../../mask/hdr_left_00956.png" + }, + { + "file_path": "../../rgb/hdr_left_00957.png", + "transform_matrix": [ + [ + 0.03811148181557655, + 0.02108994498848915, + -0.9990509152412415, + -17.945077896118164 + ], + [ + 0.9968114495277405, + -0.07094129174947739, + 0.03652847558259964, + -16.186199188232422 + ], + [ + -0.07010357081890106, + -0.9972575306892395, + -0.023726368322968483, + -8.582736015319824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 957, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_142267465", + "mask_path": "../../mask/hdr_left_00957.png" + }, + { + "file_path": "../../rgb/hdr_left_00960.png", + "transform_matrix": [ + [ + 0.04878860339522362, + 0.017418352887034416, + -0.9986571669578552, + -17.975147247314453 + ], + [ + 0.9959360957145691, + -0.07662995904684067, + 0.047319088131189346, + -16.06024169921875 + ], + [ + -0.07570283859968185, + -0.9969074726104736, + -0.021086232736706734, + -8.591043472290039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 960, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_442268133", + "mask_path": "../../mask/hdr_left_00960.png" + }, + { + "file_path": "../../rgb/hdr_left_00961.png", + "transform_matrix": [ + [ + 0.05030401423573494, + 0.02090466022491455, + -0.9985151886940002, + -18.004335403442383 + ], + [ + 0.996202290058136, + -0.07219088822603226, + 0.04867611080408096, + -15.984476089477539 + ], + [ + -0.07106614112854004, + -0.9971717596054077, + -0.02445675991475582, + -8.5946044921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 961, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_542268037", + "mask_path": "../../mask/hdr_left_00961.png" + }, + { + "file_path": "../../rgb/hdr_left_00962.png", + "transform_matrix": [ + [ + 0.04799429699778557, + 0.029542529955506325, + -0.9984106421470642, + -18.02579116821289 + ], + [ + 0.996210515499115, + -0.07400152087211609, + 0.045698851346969604, + -15.929876327514648 + ], + [ + -0.07253383845090866, + -0.9968204498291016, + -0.032982222735881805, + -8.603446006774902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 962, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_642268180", + "mask_path": "../../mask/hdr_left_00962.png" + }, + { + "file_path": "../../rgb/hdr_left_00964.png", + "transform_matrix": [ + [ + 0.04363327473402023, + 0.0568472295999527, + -0.9974289536476135, + -18.026376724243164 + ], + [ + 0.9965214729309082, + -0.07342886179685593, + 0.03940858319401741, + -15.850983619689941 + ], + [ + -0.07099979370832443, + -0.9956789612770081, + -0.05985342711210251, + -8.624812126159668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 964, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_842267513", + "mask_path": "../../mask/hdr_left_00964.png" + }, + { + "file_path": "../../rgb/hdr_left_00965.png", + "transform_matrix": [ + [ + 0.04097689315676689, + 0.052859093993902206, + -0.9977608323097229, + -18.036930084228516 + ], + [ + 0.9951027035713196, + -0.09206046909093857, + 0.03599056974053383, + -15.800911903381348 + ], + [ + -0.08995190262794495, + -0.9943495392799377, + -0.05637258663773537, + -8.629124641418457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 965, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_942267179", + "mask_path": "../../mask/hdr_left_00965.png" + }, + { + "file_path": "../../rgb/hdr_left_00967.png", + "transform_matrix": [ + [ + 0.04120974242687225, + 0.06824987381696701, + -0.9968167543411255, + -18.03626823425293 + ], + [ + 0.9937718510627747, + -0.10617964714765549, + 0.033813972026109695, + -15.738615989685059 + ], + [ + -0.10353384912014008, + -0.992002010345459, + -0.07220043241977692, + -8.639335632324219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 967, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638896_142267227", + "mask_path": "../../mask/hdr_left_00967.png" + }, + { + "file_path": "../../rgb/hdr_left_00969.png", + "transform_matrix": [ + [ + 0.053164560347795486, + 0.06157219409942627, + -0.9966856837272644, + -18.02628517150879 + ], + [ + 0.993812084197998, + -0.10073965042829514, + 0.046787895262241364, + -15.65014362335205 + ], + [ + -0.09752493351697922, + -0.9930057525634766, + -0.0665469691157341, + -8.649133682250977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 969, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638896_342267513", + "mask_path": "../../mask/hdr_left_00969.png" + }, + { + "file_path": "../../rgb/hdr_left_00970.png", + "transform_matrix": [ + [ + 0.05282936990261078, + 0.059065334498882294, + -0.9968551993370056, + -18.034679412841797 + ], + [ + 0.9947049021720886, + -0.09123530983924866, + 0.04730955883860588, + -15.58546257019043 + ], + [ + -0.08815403282642365, + -0.9940762519836426, + -0.0635724812746048, + -8.636128425598145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 970, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638896_442268133", + "mask_path": "../../mask/hdr_left_00970.png" + }, + { + "file_path": "../../rgb/hdr_left_00973.png", + "transform_matrix": [ + [ + 0.041829951107501984, + 0.045671362429857254, + -0.9980803728103638, + -18.066469192504883 + ], + [ + 0.994943380355835, + -0.0931999608874321, + 0.037433695048093796, + -15.447592735290527 + ], + [ + -0.09131139516830444, + -0.9945994019508362, + -0.049338966608047485, + -8.65944766998291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 973, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638896_742268085", + "mask_path": "../../mask/hdr_left_00973.png" + }, + { + "file_path": "../../rgb/hdr_left_00978.png", + "transform_matrix": [ + [ + 0.058837298303842545, + 0.04476630315184593, + -0.9972633123397827, + -18.121845245361328 + ], + [ + 0.9936091303825378, + -0.09902375936508179, + 0.05417662113904953, + -15.238836288452148 + ], + [ + -0.09632746875286102, + -0.9940776824951172, + -0.050306499004364014, + -8.69790267944336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 978, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638897_242268085", + "mask_path": "../../mask/hdr_left_00978.png" + }, + { + "file_path": "../../rgb/hdr_left_00979.png", + "transform_matrix": [ + [ + 0.05301777645945549, + 0.04458018019795418, + -0.9975979924201965, + -18.14610481262207 + ], + [ + 0.9950006008148193, + -0.08702651411294937, + 0.048990748822689056, + -15.186859130859375 + ], + [ + -0.08463346213102341, + -0.9952080845832825, + -0.04897124692797661, + -8.693215370178223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 979, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638897_342267274", + "mask_path": "../../mask/hdr_left_00979.png" + }, + { + "file_path": "../../rgb/hdr_left_00981.png", + "transform_matrix": [ + [ + 0.03988539054989815, + 0.05890253931283951, + -0.9974665641784668, + -18.161052703857422 + ], + [ + 0.9965489506721497, + -0.0750732496380806, + 0.03541547432541847, + -15.11839771270752 + ], + [ + -0.07279700040817261, + -0.9954369068145752, + -0.061693571507930756, + -8.699590682983398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 981, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638897_542267560", + "mask_path": "../../mask/hdr_left_00981.png" + }, + { + "file_path": "../../rgb/hdr_left_00987.png", + "transform_matrix": [ + [ + 0.063451386988163, + 0.05544780194759369, + -0.9964434504508972, + -18.189598083496094 + ], + [ + 0.9927219748497009, + -0.10591144859790802, + 0.057320889085531235, + -14.863978385925293 + ], + [ + -0.1023564413189888, + -0.9928284883499146, + -0.06176447123289108, + -8.740318298339844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 987, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_142267227", + "mask_path": "../../mask/hdr_left_00987.png" + }, + { + "file_path": "../../rgb/hdr_left_00988.png", + "transform_matrix": [ + [ + 0.058509599417448044, + 0.05661910027265549, + -0.996679961681366, + -18.20018196105957 + ], + [ + 0.9942383170127869, + -0.09312921017408371, + 0.05307580158114433, + -14.810057640075684 + ], + [ + -0.08981490880250931, + -0.9940428733825684, + -0.06174182519316673, + -8.741190910339355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 988, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_242267370", + "mask_path": "../../mask/hdr_left_00988.png" + }, + { + "file_path": "../../rgb/hdr_right_00641.png", + "transform_matrix": [ + [ + 0.2820710241794586, + 0.13604865968227386, + -0.9496983289718628, + -13.16787052154541 + ], + [ + 0.9337580800056458, + 0.18837228417396545, + 0.304321825504303, + -13.364246368408203 + ], + [ + 0.22029942274093628, + -0.9726287722587585, + -0.07390216737985611, + -5.251469135284424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 641, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638864_842267513", + "mask_path": "../../mask/hdr_right_00641.png" + }, + { + "file_path": "../../rgb/hdr_right_00644.png", + "transform_matrix": [ + [ + 0.2090088427066803, + 0.12548355758190155, + -0.9698294401168823, + -13.193177223205566 + ], + [ + 0.9566988348960876, + 0.1792149841785431, + 0.2293671816587448, + -13.499870300292969 + ], + [ + 0.20258978009223938, + -0.9757745265960693, + -0.08259247988462448, + -5.269558906555176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 644, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_142267704", + "mask_path": "../../mask/hdr_right_00644.png" + }, + { + "file_path": "../../rgb/hdr_right_00645.png", + "transform_matrix": [ + [ + 0.1867431253194809, + 0.11422423273324966, + -0.9757457971572876, + -13.198260307312012 + ], + [ + 0.960332989692688, + 0.18814709782600403, + 0.2058185189962387, + -13.5531587600708 + ], + [ + 0.2070932239294052, + -0.9754760265350342, + -0.07455811649560928, + -5.289125919342041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 645, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_242268323", + "mask_path": "../../mask/hdr_right_00645.png" + }, + { + "file_path": "../../rgb/hdr_right_00647.png", + "transform_matrix": [ + [ + 0.17083558440208435, + 0.11222401261329651, + -0.9788876175880432, + -13.209811210632324 + ], + [ + 0.9635542631149292, + 0.1885436624288559, + 0.18977507948875427, + -13.629469871520996 + ], + [ + 0.20586036145687103, + -0.9756316542625427, + -0.07592394948005676, + -5.3126220703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 647, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_442267656", + "mask_path": "../../mask/hdr_right_00647.png" + }, + { + "file_path": "../../rgb/hdr_right_00649.png", + "transform_matrix": [ + [ + 0.18131043016910553, + 0.11114772409200668, + -0.977124810218811, + -13.252471923828125 + ], + [ + 0.9628161787986755, + 0.1822865605354309, + 0.19939053058624268, + -13.713767051696777 + ], + [ + 0.20027850568294525, + -0.9769431352615356, + -0.07396437227725983, + -5.347415924072266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 649, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_642266988", + "mask_path": "../../mask/hdr_right_00649.png" + }, + { + "file_path": "../../rgb/hdr_right_00650.png", + "transform_matrix": [ + [ + 0.19127392768859863, + 0.10482862591743469, + -0.9759227633476257, + -13.278031349182129 + ], + [ + 0.9615752100944519, + 0.17948970198631287, + 0.20774181187152863, + -13.762967109680176 + ], + [ + 0.19694538414478302, + -0.978158712387085, + -0.06646889448165894, + -5.3377275466918945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 650, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_742267847", + "mask_path": "../../mask/hdr_right_00650.png" + }, + { + "file_path": "../../rgb/hdr_right_00652.png", + "transform_matrix": [ + [ + 0.21264614164829254, + 0.09889113157987595, + -0.972112238407135, + -13.31242561340332 + ], + [ + 0.9588407278060913, + 0.17046210169792175, + 0.22708389163017273, + -13.869850158691406 + ], + [ + 0.1881648600101471, + -0.9803892970085144, + -0.05857273191213608, + -5.3736162185668945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 652, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638865_942267894", + "mask_path": "../../mask/hdr_right_00652.png" + }, + { + "file_path": "../../rgb/hdr_right_00653.png", + "transform_matrix": [ + [ + 0.21694248914718628, + 0.0931982770562172, + -0.9717254042625427, + -13.33767318725586 + ], + [ + 0.9548361897468567, + 0.1867808997631073, + 0.2310861051082611, + -13.950421333312988 + ], + [ + 0.20303653180599213, + -0.9779708385467529, + -0.04846836254000664, + -5.395700454711914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 653, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_42267799", + "mask_path": "../../mask/hdr_right_00653.png" + }, + { + "file_path": "../../rgb/hdr_right_00654.png", + "transform_matrix": [ + [ + 0.22000020742416382, + 0.09306228160858154, + -0.9710506796836853, + -13.360250473022461 + ], + [ + 0.9515071511268616, + 0.19894437491893768, + 0.23463861644268036, + -14.013442993164062 + ], + [ + 0.21502108871936798, + -0.9755822420120239, + -0.044781628996133804, + -5.418233394622803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 654, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_142267704", + "mask_path": "../../mask/hdr_right_00654.png" + }, + { + "file_path": "../../rgb/hdr_right_00655.png", + "transform_matrix": [ + [ + 0.22481049597263336, + 0.09174089878797531, + -0.9700741767883301, + -13.381586074829102 + ], + [ + 0.9508739709854126, + 0.19680146872997284, + 0.23897267878055573, + -14.069584846496582 + ], + [ + 0.21283556520938873, + -0.9761417508125305, + -0.04299100115895271, + -5.448188304901123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 655, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_242268562", + "mask_path": "../../mask/hdr_right_00655.png" + }, + { + "file_path": "../../rgb/hdr_right_00656.png", + "transform_matrix": [ + [ + 0.2298380434513092, + 0.08798082917928696, + -0.9692440032958984, + -13.424659729003906 + ], + [ + 0.9500429630279541, + 0.19580788910388947, + 0.24305890500545502, + -14.13395881652832 + ], + [ + 0.21117012202739716, + -0.9766875505447388, + -0.03858146443963051, + -5.469300270080566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 656, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_342268705", + "mask_path": "../../mask/hdr_right_00656.png" + }, + { + "file_path": "../../rgb/hdr_right_00657.png", + "transform_matrix": [ + [ + 0.24017345905303955, + 0.08722289651632309, + -0.9668034315109253, + -13.46897029876709 + ], + [ + 0.9478367567062378, + 0.19395112991333008, + 0.25295960903167725, + -14.201728820800781 + ], + [ + 0.20957648754119873, + -0.9771259427070618, + -0.0360911525785923, + -5.460125923156738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 657, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_442267656", + "mask_path": "../../mask/hdr_right_00657.png" + }, + { + "file_path": "../../rgb/hdr_right_00658.png", + "transform_matrix": [ + [ + 0.24998988211154938, + 0.08673597872257233, + -0.9643556475639343, + -13.491458892822266 + ], + [ + 0.9461351037025452, + 0.18976089358329773, + 0.26233410835266113, + -14.250383377075195 + ], + [ + 0.20575080811977386, + -0.9779916405677795, + -0.034625642001628876, + -5.463448524475098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 658, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_542267799", + "mask_path": "../../mask/hdr_right_00658.png" + }, + { + "file_path": "../../rgb/hdr_right_00660.png", + "transform_matrix": [ + [ + 0.2605244815349579, + 0.07721185684204102, + -0.9623748064041138, + -13.533477783203125 + ], + [ + 0.9414359927177429, + 0.2006986439228058, + 0.2709582448005676, + -14.384856224060059 + ], + [ + 0.21406851708889008, + -0.9766055345535278, + -0.02040311135351658, + -5.50418758392334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 660, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_742267847", + "mask_path": "../../mask/hdr_right_00660.png" + }, + { + "file_path": "../../rgb/hdr_right_00661.png", + "transform_matrix": [ + [ + 0.2605303227901459, + 0.07994970679283142, + -0.9621497392654419, + -13.5516996383667 + ], + [ + 0.9392911791801453, + 0.20948781073093414, + 0.27174806594848633, + -14.444180488586426 + ], + [ + 0.22328482568264008, + -0.9745373129844666, + -0.020518122240900993, + -5.523964881896973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 661, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_842267513", + "mask_path": "../../mask/hdr_right_00661.png" + }, + { + "file_path": "../../rgb/hdr_right_00662.png", + "transform_matrix": [ + [ + 0.2635304033756256, + 0.08257999271154404, + -0.9611099362373352, + -13.567375183105469 + ], + [ + 0.939397931098938, + 0.20451049506664276, + 0.27514898777008057, + -14.494837760925293 + ], + [ + 0.21927887201309204, + -0.9753747582435608, + -0.023680737242102623, + -5.544257164001465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 662, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638866_942266941", + "mask_path": "../../mask/hdr_right_00662.png" + }, + { + "file_path": "../../rgb/hdr_right_00663.png", + "transform_matrix": [ + [ + 0.266005277633667, + 0.08300741016864777, + -0.9603911638259888, + -13.592070579528809 + ], + [ + 0.9388749599456787, + 0.2035451978445053, + 0.2776384651660919, + -14.550074577331543 + ], + [ + 0.21852901577949524, + -0.9755403995513916, + -0.02378948964178562, + -5.566099166870117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 663, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_42268276", + "mask_path": "../../mask/hdr_right_00663.png" + }, + { + "file_path": "../../rgb/hdr_right_00664.png", + "transform_matrix": [ + [ + 0.27327990531921387, + 0.08296516537666321, + -0.9583501219749451, + -13.62704849243164 + ], + [ + 0.9370235800743103, + 0.20230154693126678, + 0.28471195697784424, + -14.611680030822754 + ], + [ + 0.2174968719482422, + -0.9758026599884033, + -0.02245537005364895, + -5.5694379806518555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 664, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_142267465", + "mask_path": "../../mask/hdr_right_00664.png" + }, + { + "file_path": "../../rgb/hdr_right_00665.png", + "transform_matrix": [ + [ + 0.2832847833633423, + 0.07871995121240616, + -0.9557996988296509, + -13.658025741577148 + ], + [ + 0.9348449110984802, + 0.19976727664470673, + 0.2935270667076111, + -14.661083221435547 + ], + [ + 0.21404394507408142, + -0.9766761064529419, + -0.016999894753098488, + -5.570685386657715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 665, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_242267847", + "mask_path": "../../mask/hdr_right_00665.png" + }, + { + "file_path": "../../rgb/hdr_right_00667.png", + "transform_matrix": [ + [ + 0.30150046944618225, + 0.07271302491426468, + -0.950689435005188, + -13.714757919311523 + ], + [ + 0.9317058324813843, + 0.18933624029159546, + 0.3099614083766937, + -14.756721496582031 + ], + [ + 0.20253819227218628, + -0.9792163372039795, + -0.01066217478364706, + -5.6039323806762695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 667, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_442268371", + "mask_path": "../../mask/hdr_right_00667.png" + }, + { + "file_path": "../../rgb/hdr_right_00668.png", + "transform_matrix": [ + [ + 0.3053530156612396, + 0.07467725872993469, + -0.9493065476417542, + -13.740774154663086 + ], + [ + 0.9277167320251465, + 0.20145700871944427, + 0.31425604224205017, + -14.816305160522461 + ], + [ + 0.2147122174501419, + -0.9766464829444885, + -0.007763842586427927, + -5.614081859588623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 668, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_542268276", + "mask_path": "../../mask/hdr_right_00668.png" + }, + { + "file_path": "../../rgb/hdr_right_00671.png", + "transform_matrix": [ + [ + 0.30815112590789795, + 0.0880800187587738, + -0.9472512602806091, + -13.799769401550293 + ], + [ + 0.9252355694770813, + 0.2038932740688324, + 0.3199481666088104, + -14.940811157226562 + ], + [ + 0.22131918370723724, + -0.9750228524208069, + -0.018664825707674026, + -5.674797534942627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 671, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_842267990", + "mask_path": "../../mask/hdr_right_00671.png" + }, + { + "file_path": "../../rgb/hdr_right_00672.png", + "transform_matrix": [ + [ + 0.31560394167900085, + 0.09633985161781311, + -0.9439876675605774, + -13.829087257385254 + ], + [ + 0.9221451878547668, + 0.2033928483724594, + 0.32905882596969604, + -14.990927696228027 + ], + [ + 0.2237018346786499, + -0.974345862865448, + -0.024647749960422516, + -5.682976722717285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 672, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638867_942267179", + "mask_path": "../../mask/hdr_right_00672.png" + }, + { + "file_path": "../../rgb/hdr_right_00673.png", + "transform_matrix": [ + [ + 0.3266157805919647, + 0.10056408494710922, + -0.9397920370101929, + -13.853662490844727 + ], + [ + 0.9183951020240784, + 0.20117096602916718, + 0.3407061994075775, + -15.036349296569824 + ], + [ + 0.22332166135311127, + -0.974380373954773, + -0.026651931926608086, + -5.682672500610352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 673, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_42266845", + "mask_path": "../../mask/hdr_right_00673.png" + }, + { + "file_path": "../../rgb/hdr_right_00675.png", + "transform_matrix": [ + [ + 0.33937326073646545, + 0.09212266653776169, + -0.9361299276351929, + -13.897817611694336 + ], + [ + 0.9119880199432373, + 0.21158023178577423, + 0.3514423072338104, + -15.1449556350708 + ], + [ + 0.2304423600435257, + -0.9730093479156494, + -0.012210095301270485, + -5.71466588973999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 675, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_242267608", + "mask_path": "../../mask/hdr_right_00675.png" + }, + { + "file_path": "../../rgb/hdr_right_00676.png", + "transform_matrix": [ + [ + 0.34070152044296265, + 0.09565722197294235, + -0.9352926015853882, + -13.9212646484375 + ], + [ + 0.9088730216026306, + 0.2210369110107422, + 0.3536841869354248, + -15.200782775878906 + ], + [ + 0.24056664109230042, + -0.9705628752708435, + -0.01163265760987997, + -5.737563133239746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 676, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_342267751", + "mask_path": "../../mask/hdr_right_00676.png" + }, + { + "file_path": "../../rgb/hdr_right_00677.png", + "transform_matrix": [ + [ + 0.3439820110797882, + 0.10179625451564789, + -0.9334420561790466, + -13.93947696685791 + ], + [ + 0.9077880382537842, + 0.21803180873394012, + 0.3583057224750519, + -15.24487590789795 + ], + [ + 0.23999419808387756, + -0.9706182479858398, + -0.017410404980182648, + -5.760839939117432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 677, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_442266702", + "mask_path": "../../mask/hdr_right_00677.png" + }, + { + "file_path": "../../rgb/hdr_right_00678.png", + "transform_matrix": [ + [ + 0.34544438123703003, + 0.10431139916181564, + -0.9326239228248596, + -13.960677146911621 + ], + [ + 0.9081321358680725, + 0.21336662769317627, + 0.36023712158203125, + -15.292315483093262 + ], + [ + 0.2365676462650299, + -0.9713875651359558, + -0.0210222490131855, + -5.784083843231201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 678, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_542269468", + "mask_path": "../../mask/hdr_right_00678.png" + }, + { + "file_path": "../../rgb/hdr_right_00679.png", + "transform_matrix": [ + [ + 0.3463535010814667, + 0.10660502314567566, + -0.9320271611213684, + -13.996745109558105 + ], + [ + 0.9076327681541443, + 0.21308301389217377, + 0.3616606295108795, + -15.349458694458008 + ], + [ + 0.2371540069580078, + -0.9712008237838745, + -0.02295616641640663, + -5.8026909828186035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 679, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_642267704", + "mask_path": "../../mask/hdr_right_00679.png" + }, + { + "file_path": "../../rgb/hdr_right_00680.png", + "transform_matrix": [ + [ + 0.3527764081954956, + 0.10624217242002487, + -0.9296566843986511, + -14.031158447265625 + ], + [ + 0.9054933190345764, + 0.21167637407779694, + 0.3677976727485657, + -15.403271675109863 + ], + [ + 0.23586200177669525, + -0.9715480804443359, + -0.02152714505791664, + -5.799223899841309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 680, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_742269039", + "mask_path": "../../mask/hdr_right_00680.png" + }, + { + "file_path": "../../rgb/hdr_right_00682.png", + "transform_matrix": [ + [ + 0.36812564730644226, + 0.1041475310921669, + -0.9239246249198914, + -14.083949089050293 + ], + [ + 0.9019147157669067, + 0.2014392465353012, + 0.38206297159194946, + -15.511235237121582 + ], + [ + 0.2259056270122528, + -0.9739484190940857, + -0.019777217879891396, + -5.83211088180542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 682, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638868_942268133", + "mask_path": "../../mask/hdr_right_00682.png" + }, + { + "file_path": "../../rgb/hdr_right_00683.png", + "transform_matrix": [ + [ + 0.36932823061943054, + 0.10116271674633026, + -0.9237763285636902, + -14.113932609558105 + ], + [ + 0.8979780077934265, + 0.21705389022827148, + 0.38278356194496155, + -15.579912185668945 + ], + [ + 0.23923268914222717, + -0.9709035754203796, + -0.010677752085030079, + -5.850571155548096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 683, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_42267322", + "mask_path": "../../mask/hdr_right_00683.png" + }, + { + "file_path": "../../rgb/hdr_right_00684.png", + "transform_matrix": [ + [ + 0.3672119081020355, + 0.1039697453379631, + -0.9243082404136658, + -14.13180923461914 + ], + [ + 0.8967556953430176, + 0.22426192462444305, + 0.3814917206764221, + -15.624415397644043 + ], + [ + 0.24695073068141937, + -0.9689669013023376, + -0.01088379044085741, + -5.868505477905273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 684, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_142267227", + "mask_path": "../../mask/hdr_right_00684.png" + }, + { + "file_path": "../../rgb/hdr_right_00686.png", + "transform_matrix": [ + [ + 0.36676904559135437, + 0.11240747570991516, + -0.9234961271286011, + -14.180916786193848 + ], + [ + 0.8982905149459839, + 0.21541091799736023, + 0.38297826051712036, + -15.714385986328125 + ], + [ + 0.24198076128959656, + -0.9700323343276978, + -0.021968508139252663, + -5.922356128692627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 686, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_342267036", + "mask_path": "../../mask/hdr_right_00686.png" + }, + { + "file_path": "../../rgb/hdr_right_00687.png", + "transform_matrix": [ + [ + 0.37304437160491943, + 0.14628775417804718, + -0.9162083268165588, + -14.210391998291016 + ], + [ + 0.8908171057701111, + 0.21960124373435974, + 0.397769033908844, + -15.765260696411133 + ], + [ + 0.2593892514705658, + -0.9645596146583557, + -0.048394639045000076, + -5.926905155181885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 687, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_442267656", + "mask_path": "../../mask/hdr_right_00687.png" + }, + { + "file_path": "../../rgb/hdr_right_00690.png", + "transform_matrix": [ + [ + 0.39398491382598877, + 0.13592758774757385, + -0.909010112285614, + -14.284151077270508 + ], + [ + 0.8836937546730042, + 0.21590247750282288, + 0.4152969717979431, + -15.932159423828125 + ], + [ + 0.252707839012146, + -0.9669073820114136, + -0.03505602478981018, + -5.95498514175415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 690, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_742266654", + "mask_path": "../../mask/hdr_right_00690.png" + }, + { + "file_path": "../../rgb/hdr_right_00691.png", + "transform_matrix": [ + [ + 0.3973396122455597, + 0.13448983430862427, + -0.9077631235122681, + -14.308972358703613 + ], + [ + 0.8837084174156189, + 0.21055054664611816, + 0.41800469160079956, + -15.983170509338379 + ], + [ + 0.2473473846912384, + -0.9682875871658325, + -0.03518971428275108, + -5.972114562988281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 691, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638869_842268466", + "mask_path": "../../mask/hdr_right_00691.png" + }, + { + "file_path": "../../rgb/hdr_right_00693.png", + "transform_matrix": [ + [ + 0.4014151692390442, + 0.13491274416446686, + -0.9059053063392639, + -14.360294342041016 + ], + [ + 0.8853189945220947, + 0.19628316164016724, + 0.42152485251426697, + -16.059417724609375 + ], + [ + 0.23468303680419922, + -0.9712216854095459, + -0.04064977541565895, + -6.004205226898193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 693, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638870_42268037", + "mask_path": "../../mask/hdr_right_00693.png" + }, + { + "file_path": "../../rgb/hdr_right_00694.png", + "transform_matrix": [ + [ + 0.40383896231651306, + 0.1391344666481018, + -0.9041879177093506, + -14.404610633850098 + ], + [ + 0.8850053548812866, + 0.19089584052562714, + 0.4246460497379303, + -16.10557746887207 + ], + [ + 0.23168863356113434, + -0.9716997146606445, + -0.04604358971118927, + -6.018673896789551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 694, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638870_142267704", + "mask_path": "../../mask/hdr_right_00694.png" + }, + { + "file_path": "../../rgb/hdr_right_00695.png", + "transform_matrix": [ + [ + 0.40823763608932495, + 0.13718700408935547, + -0.9025086164474487, + -14.441393852233887 + ], + [ + 0.8832584619522095, + 0.1904272437095642, + 0.42847639322280884, + -16.147069931030273 + ], + [ + 0.2306436002254486, + -0.9720684885978699, + -0.04343200474977493, + -6.028415679931641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 695, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638870_242267847", + "mask_path": "../../mask/hdr_right_00695.png" + }, + { + "file_path": "../../rgb/hdr_right_00697.png", + "transform_matrix": [ + [ + 0.41812771558761597, + 0.12777331471443176, + -0.8993570804595947, + -14.484579086303711 + ], + [ + 0.8821560740470886, + 0.17909544706344604, + 0.43557503819465637, + -16.220853805541992 + ], + [ + 0.21672561764717102, + -0.9754992723464966, + -0.03783123567700386, + -6.051045894622803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 697, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638870_442267894", + "mask_path": "../../mask/hdr_right_00697.png" + }, + { + "file_path": "../../rgb/hdr_right_00698.png", + "transform_matrix": [ + [ + 0.42086413502693176, + 0.12032513320446014, + -0.8991080522537231, + -14.516558647155762 + ], + [ + 0.8809382319450378, + 0.18221496045589447, + 0.4367443919181824, + -16.278141021728516 + ], + [ + 0.21638226509094238, + -0.9758686423301697, + -0.029311256483197212, + -6.056093215942383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 698, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638870_542268037", + "mask_path": "../../mask/hdr_right_00698.png" + }, + { + "file_path": "../../rgb/hdr_right_00703.png", + "transform_matrix": [ + [ + 0.36332228779792786, + 0.11007364094257355, + -0.9251382350921631, + -14.620301246643066 + ], + [ + 0.9103472232818604, + 0.16925479471683502, + 0.3776516020298004, + -16.470216751098633 + ], + [ + 0.1981535702943802, + -0.9794062972068787, + -0.03871120512485504, + -6.108191967010498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 703, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_42268276", + "mask_path": "../../mask/hdr_right_00703.png" + }, + { + "file_path": "../../rgb/hdr_right_00705.png", + "transform_matrix": [ + [ + 0.3543687164783478, + 0.10485651344060898, + -0.9292082786560059, + -14.653853416442871 + ], + [ + 0.9156327843666077, + 0.16282550990581512, + 0.3675655424594879, + -16.538883209228516 + ], + [ + 0.18984045088291168, + -0.9810672402381897, + -0.03830980882048607, + -6.122369289398193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 705, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_242267131", + "mask_path": "../../mask/hdr_right_00705.png" + }, + { + "file_path": "../../rgb/hdr_right_00706.png", + "transform_matrix": [ + [ + 0.3593587875366211, + 0.09568916261196136, + -0.9282806515693665, + -14.682000160217285 + ], + [ + 0.9127092957496643, + 0.1712656170129776, + 0.3709851801395416, + -16.594961166381836 + ], + [ + 0.19448179006576538, + -0.9805669784545898, + -0.02579057216644287, + -6.131021976470947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 706, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_342267751", + "mask_path": "../../mask/hdr_right_00706.png" + }, + { + "file_path": "../../rgb/hdr_right_00707.png", + "transform_matrix": [ + [ + 0.36438271403312683, + 0.09310856461524963, + -0.9265829920768738, + -14.703278541564941 + ], + [ + 0.9095749258995056, + 0.17783428728580475, + 0.3755641281604767, + -16.63874053955078 + ], + [ + 0.19974647462368011, + -0.9796457290649414, + -0.01988946460187435, + -6.146719455718994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 707, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_442267417", + "mask_path": "../../mask/hdr_right_00707.png" + }, + { + "file_path": "../../rgb/hdr_right_00709.png", + "transform_matrix": [ + [ + 0.36821210384368896, + 0.09771953523159027, + -0.9245921969413757, + -14.732941627502441 + ], + [ + 0.9088289737701416, + 0.17190560698509216, + 0.38010314106941223, + -16.709291458129883 + ], + [ + 0.1960860937833786, + -0.9802547693252563, + -0.02551261894404888, + -6.181954383850098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 709, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_642267704", + "mask_path": "../../mask/hdr_right_00709.png" + }, + { + "file_path": "../../rgb/hdr_right_00711.png", + "transform_matrix": [ + [ + 0.3560327887535095, + 0.10786254703998566, + -0.9282276034355164, + -14.778264999389648 + ], + [ + 0.9133105278015137, + 0.1700357049703598, + 0.3700698912143707, + -16.795442581176758 + ], + [ + 0.19774849712848663, + -0.9795169830322266, + -0.03797371685504913, + -6.210397243499756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 711, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638871_842267751", + "mask_path": "../../mask/hdr_right_00711.png" + }, + { + "file_path": "../../rgb/hdr_right_00714.png", + "transform_matrix": [ + [ + 0.31388598680496216, + 0.09486442059278488, + -0.9447097182273865, + -14.826289176940918 + ], + [ + 0.9307231903076172, + 0.1659553498029709, + 0.3259035050868988, + -16.942047119140625 + ], + [ + 0.18769626319408417, + -0.9815597534179688, + -0.03620146960020065, + -6.217933654785156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 714, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638872_142267465", + "mask_path": "../../mask/hdr_right_00714.png" + }, + { + "file_path": "../../rgb/hdr_right_00721.png", + "transform_matrix": [ + [ + 0.2238258421421051, + 0.1011446937918663, + -0.9693666696548462, + -14.844534873962402 + ], + [ + 0.9562516212463379, + 0.1694440245628357, + 0.23847757279872894, + -17.23560333251953 + ], + [ + 0.18837414681911469, + -0.9803358912467957, + -0.05879382789134979, + -6.287939071655273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 721, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638872_842268228", + "mask_path": "../../mask/hdr_right_00721.png" + }, + { + "file_path": "../../rgb/hdr_right_00722.png", + "transform_matrix": [ + [ + 0.23041613399982452, + 0.09084741026163101, + -0.9688422083854675, + -14.86051082611084 + ], + [ + 0.9525067210197449, + 0.18265190720558167, + 0.24365819990634918, + -17.30130386352539 + ], + [ + 0.19909657537937164, + -0.9789714217185974, + -0.04444682598114014, + -6.316235542297363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 722, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638872_942267179", + "mask_path": "../../mask/hdr_right_00722.png" + }, + { + "file_path": "../../rgb/hdr_right_00723.png", + "transform_matrix": [ + [ + 0.2352239191532135, + 0.08878038078546524, + -0.967877984046936, + -14.871928215026855 + ], + [ + 0.9475730061531067, + 0.20064127445220947, + 0.24869343638420105, + -17.353609085083008 + ], + [ + 0.21627536416053772, + -0.9756336808204651, + -0.03693026304244995, + -6.34259557723999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 723, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_42267322", + "mask_path": "../../mask/hdr_right_00723.png" + }, + { + "file_path": "../../rgb/hdr_right_00725.png", + "transform_matrix": [ + [ + 0.24166573584079742, + 0.09922285377979279, + -0.9652733206748962, + -14.887378692626953 + ], + [ + 0.9399830102920532, + 0.22301273047924042, + 0.2582581639289856, + -17.417911529541016 + ], + [ + 0.24089334905147552, + -0.9697526097297668, + -0.03937326371669769, + -6.398841381072998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 725, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_242266178", + "mask_path": "../../mask/hdr_right_00725.png" + }, + { + "file_path": "../../rgb/hdr_right_00726.png", + "transform_matrix": [ + [ + 0.24378301203250885, + 0.10097066313028336, + -0.9645593762397766, + -14.906976699829102 + ], + [ + 0.9377742409706116, + 0.22904914617538452, + 0.26099035143852234, + -17.464778900146484 + ], + [ + 0.24728387594223022, + -0.9681639671325684, + -0.03884940594434738, + -6.431212425231934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 726, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_342267036", + "mask_path": "../../mask/hdr_right_00726.png" + }, + { + "file_path": "../../rgb/hdr_right_00727.png", + "transform_matrix": [ + [ + 0.2441149353981018, + 0.10711831599473953, + -0.9638119339942932, + -14.927534103393555 + ], + [ + 0.9350465536117554, + 0.23748910427093506, + 0.2632238268852234, + -17.516416549682617 + ], + [ + 0.2570909261703491, + -0.9654659628868103, + -0.04218596965074539, + -6.443947792053223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 727, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_442266941", + "mask_path": "../../mask/hdr_right_00727.png" + }, + { + "file_path": "../../rgb/hdr_right_00730.png", + "transform_matrix": [ + [ + 0.2651405334472656, + 0.09990249574184418, + -0.9590203166007996, + -14.989173889160156 + ], + [ + 0.922244131565094, + 0.2639625072479248, + 0.28247037529945374, + -17.660066604614258 + ], + [ + 0.28136488795280457, + -0.959345281124115, + -0.02214733324944973, + -6.506277561187744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 730, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_742267608", + "mask_path": "../../mask/hdr_right_00730.png" + }, + { + "file_path": "../../rgb/hdr_right_00731.png", + "transform_matrix": [ + [ + 0.27380597591400146, + 0.0966431051492691, + -0.9569171667098999, + -15.013740539550781 + ], + [ + 0.9158769845962524, + 0.27751868963241577, + 0.2900908291339874, + -17.716176986694336 + ], + [ + 0.29359763860702515, + -0.9558470249176025, + -0.012526935897767544, + -6.517982006072998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 731, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638873_842267513", + "mask_path": "../../mask/hdr_right_00731.png" + }, + { + "file_path": "../../rgb/hdr_right_00733.png", + "transform_matrix": [ + [ + 0.2849307656288147, + 0.09519249945878983, + -0.9538096189498901, + -15.051385879516602 + ], + [ + 0.9088874459266663, + 0.2892979085445404, + 0.3003838062286377, + -17.79920768737793 + ], + [ + 0.30452945828437805, + -0.9524941444396973, + -0.004089390859007835, + -6.560833930969238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 733, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_42267799", + "mask_path": "../../mask/hdr_right_00733.png" + }, + { + "file_path": "../../rgb/hdr_right_00734.png", + "transform_matrix": [ + [ + 0.2860521674156189, + 0.11050280928611755, + -0.9518210291862488, + -15.082459449768066 + ], + [ + 0.9051991701126099, + 0.29466164112091064, + 0.3062499761581421, + -17.85081672668457 + ], + [ + 0.31430667638778687, + -0.9491910338401794, + -0.01573844626545906, + -6.58080530166626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 734, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_142267942", + "mask_path": "../../mask/hdr_right_00734.png" + }, + { + "file_path": "../../rgb/hdr_right_00735.png", + "transform_matrix": [ + [ + 0.2897889316082001, + 0.12276607006788254, + -0.9491842985153198, + -15.108200073242188 + ], + [ + 0.8999655842781067, + 0.30254462361335754, + 0.3138929307460785, + -17.89739227294922 + ], + [ + 0.32570603489875793, + -0.9451958537101746, + -0.0228111669421196, + -6.595854759216309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 735, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_242267608", + "mask_path": "../../mask/hdr_right_00735.png" + }, + { + "file_path": "../../rgb/hdr_right_00736.png", + "transform_matrix": [ + [ + 0.29446324706077576, + 0.12877963483333588, + -0.9469462633132935, + -15.133918762207031 + ], + [ + 0.8951483368873596, + 0.30983009934425354, + 0.32049140334129333, + -17.938980102539062 + ], + [ + 0.3346652090549469, + -0.9420303702354431, + -0.02404329739511013, + -6.623222827911377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 736, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_342267751", + "mask_path": "../../mask/hdr_right_00736.png" + }, + { + "file_path": "../../rgb/hdr_right_00737.png", + "transform_matrix": [ + [ + 0.299319326877594, + 0.1278209388256073, + -0.9455526471138, + -15.158011436462402 + ], + [ + 0.8926566243171692, + 0.31250062584877014, + 0.3248191475868225, + -17.994583129882812 + ], + [ + 0.33700448274612427, + -0.9412784576416016, + -0.020562708377838135, + -6.65623664855957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 737, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_442269086", + "mask_path": "../../mask/hdr_right_00737.png" + }, + { + "file_path": "../../rgb/hdr_right_00738.png", + "transform_matrix": [ + [ + 0.29602280259132385, + 0.11013863235712051, + -0.9488097429275513, + -15.188340187072754 + ], + [ + 0.8811887502670288, + 0.3518478274345398, + 0.3157682716846466, + -18.05808448791504 + ], + [ + 0.36861497163772583, + -0.9295550584793091, + 0.0071020727045834064, + -6.6824774742126465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 738, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_542268037", + "mask_path": "../../mask/hdr_right_00738.png" + }, + { + "file_path": "../../rgb/hdr_right_00741.png", + "transform_matrix": [ + [ + 0.2961288392543793, + 0.09741437435150146, + -0.9501674771308899, + -15.248886108398438 + ], + [ + 0.8792386651039124, + 0.3608422577381134, + 0.3110180199146271, + -18.178598403930664 + ], + [ + 0.37315818667411804, + -0.9275253415107727, + 0.021205317229032516, + -6.728575229644775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 741, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_842268705", + "mask_path": "../../mask/hdr_right_00741.png" + }, + { + "file_path": "../../rgb/hdr_right_00742.png", + "transform_matrix": [ + [ + 0.30420878529548645, + 0.08605414628982544, + -0.9487106204032898, + -15.28768253326416 + ], + [ + 0.8869459629058838, + 0.33775240182876587, + 0.3150399923324585, + -18.236042022705078 + ], + [ + 0.3475397527217865, + -0.9372929334640503, + 0.026421857997775078, + -6.7348785400390625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 742, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638874_942267656", + "mask_path": "../../mask/hdr_right_00742.png" + }, + { + "file_path": "../../rgb/hdr_right_00745.png", + "transform_matrix": [ + [ + 0.32023149728775024, + 0.06987013667821884, + -0.94475919008255, + -15.353068351745605 + ], + [ + 0.9024358987808228, + 0.28089654445648193, + 0.3266596794128418, + -18.40108871459961 + ], + [ + 0.28820332884788513, + -0.9571913480758667, + 0.026898609474301338, + -6.767369747161865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 745, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638875_242268562", + "mask_path": "../../mask/hdr_right_00745.png" + }, + { + "file_path": "../../rgb/hdr_right_00752.png", + "transform_matrix": [ + [ + 0.2641087770462036, + 0.06683555990457535, + -0.9621743559837341, + -15.412247657775879 + ], + [ + 0.941708505153656, + 0.1976858526468277, + 0.27222299575805664, + -18.694644927978516 + ], + [ + 0.20840243995189667, + -0.9779843091964722, + -0.010729042813181877, + -6.834628582000732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 752, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638875_942267656", + "mask_path": "../../mask/hdr_right_00752.png" + }, + { + "file_path": "../../rgb/hdr_right_00753.png", + "transform_matrix": [ + [ + 0.25933268666267395, + 0.0657808780670166, + -0.9635452032089233, + -15.433237075805664 + ], + [ + 0.9423990249633789, + 0.20099976658821106, + 0.267363578081131, + -18.748231887817383 + ], + [ + 0.21125978231430054, + -0.9773801565170288, + -0.009866011328995228, + -6.8545355796813965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 753, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638876_42268037", + "mask_path": "../../mask/hdr_right_00753.png" + }, + { + "file_path": "../../rgb/hdr_right_00760.png", + "transform_matrix": [ + [ + 0.286984920501709, + 0.06827785074710846, + -0.9554986953735352, + -15.568278312683105 + ], + [ + 0.93739253282547, + 0.18544387817382812, + 0.2947980761528015, + -19.055437088012695 + ], + [ + 0.19731956720352173, + -0.9802799224853516, + -0.010783546604216099, + -6.939092636108398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 760, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638876_742268323", + "mask_path": "../../mask/hdr_right_00760.png" + }, + { + "file_path": "../../rgb/hdr_right_00761.png", + "transform_matrix": [ + [ + 0.28961268067359924, + 0.06580132246017456, + -0.9548795223236084, + -15.593329429626465 + ], + [ + 0.9320067167282104, + 0.20774845778942108, + 0.29699158668518066, + -19.11444854736328 + ], + [ + 0.21791715919971466, + -0.9759665727615356, + -0.001160681713372469, + -6.9602837562561035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 761, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638876_842267513", + "mask_path": "../../mask/hdr_right_00761.png" + }, + { + "file_path": "../../rgb/hdr_right_00765.png", + "transform_matrix": [ + [ + 0.2936890125274658, + 0.07143281400203705, + -0.953228235244751, + -15.693305969238281 + ], + [ + 0.9234039783477783, + 0.23660442233085632, + 0.3022307753562927, + -19.26970672607422 + ], + [ + 0.2471272349357605, + -0.968976616859436, + 0.0035267812199890614, + -7.0535569190979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 765, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_242269515", + "mask_path": "../../mask/hdr_right_00765.png" + }, + { + "file_path": "../../rgb/hdr_right_00766.png", + "transform_matrix": [ + [ + 0.29977795481681824, + 0.06957002729177475, + -0.9514690041542053, + -15.729585647583008 + ], + [ + 0.9214287400245667, + 0.23730115592479706, + 0.30766430497169495, + -19.31600570678711 + ], + [ + 0.24718888103961945, + -0.9689418077468872, + 0.007033840753138065, + -7.049066066741943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 766, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_342268466", + "mask_path": "../../mask/hdr_right_00766.png" + }, + { + "file_path": "../../rgb/hdr_right_00768.png", + "transform_matrix": [ + [ + 0.3130321502685547, + 0.07408919930458069, + -0.9468482732772827, + -15.776680946350098 + ], + [ + 0.913457989692688, + 0.24944844841957092, + 0.3215120732784271, + -19.389131546020508 + ], + [ + 0.26001042127609253, + -0.965549647808075, + 0.010408027097582817, + -7.104372024536133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 768, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_542267322", + "mask_path": "../../mask/hdr_right_00768.png" + }, + { + "file_path": "../../rgb/hdr_right_00769.png", + "transform_matrix": [ + [ + 0.30782070755958557, + 0.0815170407295227, + -0.9479459524154663, + -15.800301551818848 + ], + [ + 0.9056727290153503, + 0.2802013158798218, + 0.3181890547275543, + -19.440418243408203 + ], + [ + 0.2915535271167755, + -0.9564738273620605, + 0.012424010783433914, + -7.132747173309326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 769, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_642267465", + "mask_path": "../../mask/hdr_right_00769.png" + }, + { + "file_path": "../../rgb/hdr_right_00770.png", + "transform_matrix": [ + [ + 0.3028063476085663, + 0.0930938795208931, + -0.948494553565979, + -15.816873550415039 + ], + [ + 0.9012527465820312, + 0.2956637740135193, + 0.3167435824871063, + -19.481918334960938 + ], + [ + 0.30992236733436584, + -0.950745165348053, + 0.005627759732306004, + -7.149986743927002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 770, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_742266893", + "mask_path": "../../mask/hdr_right_00770.png" + }, + { + "file_path": "../../rgb/hdr_right_00772.png", + "transform_matrix": [ + [ + 0.30061379075050354, + 0.11641094088554382, + -0.9466149806976318, + -15.859761238098145 + ], + [ + 0.8985262513160706, + 0.2982510030269623, + 0.32202014327049255, + -19.557910919189453 + ], + [ + 0.3198155164718628, + -0.9473620057106018, + -0.014939929358661175, + -7.198319435119629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 772, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638877_942267179", + "mask_path": "../../mask/hdr_right_00772.png" + }, + { + "file_path": "../../rgb/hdr_right_00773.png", + "transform_matrix": [ + [ + 0.3021180033683777, + 0.13280341029167175, + -0.9439746141433716, + -15.883169174194336 + ], + [ + 0.8961816430091858, + 0.2979714870452881, + 0.32874220609664917, + -19.60021209716797 + ], + [ + 0.32493555545806885, + -0.9452916383743286, + -0.028993433341383934, + -7.214229583740234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 773, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638878_42267084", + "mask_path": "../../mask/hdr_right_00773.png" + }, + { + "file_path": "../../rgb/hdr_right_00775.png", + "transform_matrix": [ + [ + 0.3103136718273163, + 0.14513231813907623, + -0.9394903182983398, + -15.924257278442383 + ], + [ + 0.8906943202018738, + 0.30098551511764526, + 0.34069257974624634, + -19.68133544921875 + ], + [ + 0.3322184681892395, + -0.9425202012062073, + -0.035868577659130096, + -7.252692699432373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 775, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638878_242267131", + "mask_path": "../../mask/hdr_right_00775.png" + }, + { + "file_path": "../../rgb/hdr_right_00776.png", + "transform_matrix": [ + [ + 0.300502747297287, + 0.13262689113616943, + -0.9445147514343262, + -15.94970703125 + ], + [ + 0.8867728114128113, + 0.3257773220539093, + 0.3278768062591553, + -19.738632202148438 + ], + [ + 0.3511868119239807, + -0.9360979199409485, + -0.01971295103430748, + -7.273849010467529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 776, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638878_342268228", + "mask_path": "../../mask/hdr_right_00776.png" + }, + { + "file_path": "../../rgb/hdr_right_00779.png", + "transform_matrix": [ + [ + 0.2422020435333252, + 0.1527227908372879, + -0.958130419254303, + -15.968631744384766 + ], + [ + 0.900249183177948, + 0.33286532759666443, + 0.28062811493873596, + -19.85755729675293 + ], + [ + 0.36178672313690186, + -0.9305247664451599, + -0.05686789005994797, + -7.329980850219727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 779, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638878_642266988", + "mask_path": "../../mask/hdr_right_00779.png" + }, + { + "file_path": "../../rgb/hdr_right_00783.png", + "transform_matrix": [ + [ + 0.18339921534061432, + 0.1631809026002884, + -0.9694002866744995, + -15.976800918579102 + ], + [ + 0.910339891910553, + 0.34397992491722107, + 0.23012849688529968, + -20.00968360900879 + ], + [ + 0.3710068166255951, + -0.924688994884491, + -0.0854644626379013, + -7.34844446182251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 783, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_42268037", + "mask_path": "../../mask/hdr_right_00783.png" + }, + { + "file_path": "../../rgb/hdr_right_00785.png", + "transform_matrix": [ + [ + 0.18473489582538605, + 0.1713653951883316, + -0.9677330255508423, + -15.983116149902344 + ], + [ + 0.907966136932373, + 0.3470904529094696, + 0.23478834331035614, + -20.0676212310791 + ], + [ + 0.37612542510032654, + -0.9220424294471741, + -0.0914742648601532, + -7.378713607788086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 785, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_242267847", + "mask_path": "../../mask/hdr_right_00785.png" + }, + { + "file_path": "../../rgb/hdr_right_00787.png", + "transform_matrix": [ + [ + 0.18959654867649078, + 0.17138709127902985, + -0.9667882919311523, + -16.001625061035156 + ], + [ + 0.9174661636352539, + 0.31979525089263916, + 0.2366156280040741, + -20.148401260375977 + ], + [ + 0.34972715377807617, + -0.9318569898605347, + -0.09660976380109787, + -7.423574447631836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 787, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_442267417", + "mask_path": "../../mask/hdr_right_00787.png" + }, + { + "file_path": "../../rgb/hdr_right_00789.png", + "transform_matrix": [ + [ + 0.203774556517601, + 0.13587172329425812, + -0.9695436358451843, + -16.03910255432129 + ], + [ + 0.9294787049293518, + 0.28418293595314026, + 0.2351793348789215, + -20.233423233032227 + ], + [ + 0.307481974363327, + -0.9490936994552612, + -0.06838062405586243, + -7.396296501159668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 789, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_642267942", + "mask_path": "../../mask/hdr_right_00789.png" + }, + { + "file_path": "../../rgb/hdr_right_00790.png", + "transform_matrix": [ + [ + 0.20998956263065338, + 0.12716807425022125, + -0.9693980813026428, + -16.05677032470703 + ], + [ + 0.9353888630867004, + 0.2624060809612274, + 0.23704563081264496, + -20.299489974975586 + ], + [ + 0.28452059626579285, + -0.9565412998199463, + -0.0638490617275238, + -7.42440938949585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 790, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_742268323", + "mask_path": "../../mask/hdr_right_00790.png" + }, + { + "file_path": "../../rgb/hdr_right_00791.png", + "transform_matrix": [ + [ + 0.2168596088886261, + 0.1286347210407257, + -0.9676905870437622, + -16.070215225219727 + ], + [ + 0.9379586577415466, + 0.24728764593601227, + 0.24306853115558624, + -20.352262496948242 + ], + [ + 0.270565003156662, + -0.9603654742240906, + -0.06702735275030136, + -7.4571309089660645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 791, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638879_842267274", + "mask_path": "../../mask/hdr_right_00791.png" + }, + { + "file_path": "../../rgb/hdr_right_00793.png", + "transform_matrix": [ + [ + 0.22659388184547424, + 0.14814652502536774, + -0.9626566767692566, + -16.091686248779297 + ], + [ + 0.9403288960456848, + 0.22431622445583344, + 0.2558591365814209, + -20.426658630371094 + ], + [ + 0.25384414196014404, + -0.9631898999214172, + -0.08847776055335999, + -7.4912004470825195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 793, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638880_42267084", + "mask_path": "../../mask/hdr_right_00793.png" + }, + { + "file_path": "../../rgb/hdr_right_00795.png", + "transform_matrix": [ + [ + 0.2776971459388733, + 0.15159349143505096, + -0.9486326575279236, + -16.150312423706055 + ], + [ + 0.9280038475990295, + 0.21298037469387054, + 0.3056931495666504, + -20.506053924560547 + ], + [ + 0.24838121235370636, + -0.9652247428894043, + -0.08153530210256577, + -7.521279811859131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 795, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638880_242267847", + "mask_path": "../../mask/hdr_right_00795.png" + }, + { + "file_path": "../../rgb/hdr_right_00798.png", + "transform_matrix": [ + [ + 0.41925284266471863, + 0.12395904958248138, + -0.8993672132492065, + -16.262516021728516 + ], + [ + 0.8807293176651001, + 0.1848776787519455, + 0.4360460937023163, + -20.6223087310791 + ], + [ + 0.22032475471496582, + -0.9749124646186829, + -0.03166387230157852, + -7.538173198699951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 798, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638880_542267799", + "mask_path": "../../mask/hdr_right_00798.png" + }, + { + "file_path": "../../rgb/hdr_right_00799.png", + "transform_matrix": [ + [ + 0.4544631242752075, + 0.11514384299516678, + -0.8832922577857971, + -16.295122146606445 + ], + [ + 0.8657726645469666, + 0.1761491745710373, + 0.46841147541999817, + -20.669954299926758 + ], + [ + 0.20952589809894562, + -0.9776059985160828, + -0.019635086879134178, + -7.540238857269287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 799, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638880_642267704", + "mask_path": "../../mask/hdr_right_00799.png" + }, + { + "file_path": "../../rgb/hdr_right_00807.png", + "transform_matrix": [ + [ + 0.6284847855567932, + 0.12423960864543915, + -0.7678355574607849, + -16.53190803527832 + ], + [ + 0.7587048411369324, + 0.11959566175937653, + 0.6403623223304749, + -20.898006439208984 + ], + [ + 0.1713881641626358, + -0.9850185513496399, + -0.01909715309739113, + -7.598173141479492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 807, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638881_442268610", + "mask_path": "../../mask/hdr_right_00807.png" + }, + { + "file_path": "../../rgb/hdr_right_00830.png", + "transform_matrix": [ + [ + 0.9850994944572449, + 0.15796592831611633, + 0.06801361590623856, + -17.128437042236328 + ], + [ + -0.07240255177021027, + 0.022190693765878677, + 0.9971286654472351, + -20.745851516723633 + ], + [ + 0.15600310266017914, + -0.9871951937675476, + 0.03329717367887497, + -7.719961166381836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 830, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638883_742267847", + "mask_path": "../../mask/hdr_right_00830.png" + }, + { + "file_path": "../../rgb/hdr_right_00831.png", + "transform_matrix": [ + [ + 0.9837613701820374, + 0.16466617584228516, + 0.07140601426362991, + -17.18071937561035 + ], + [ + -0.07591474801301956, + 0.021244045346975327, + 0.9968879818916321, + -20.74253273010254 + ], + [ + 0.16263680160045624, + -0.9861205816268921, + 0.03339966759085655, + -7.735240459442139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 831, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638883_842267274", + "mask_path": "../../mask/hdr_right_00831.png" + }, + { + "file_path": "../../rgb/hdr_right_00833.png", + "transform_matrix": [ + [ + 0.9822825789451599, + 0.17179761826992035, + 0.07487715035676956, + -17.248939514160156 + ], + [ + -0.07927748560905457, + 0.018887540325522423, + 0.9966737031936646, + -20.73369598388672 + ], + [ + 0.1698118895292282, + -0.9849511981010437, + 0.032172586768865585, + -7.768484115600586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 833, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638884_42268514", + "mask_path": "../../mask/hdr_right_00833.png" + }, + { + "file_path": "../../rgb/hdr_right_00839.png", + "transform_matrix": [ + [ + 0.9502379894256592, + 0.20084232091903687, + 0.23813901841640472, + -17.50098991394043 + ], + [ + -0.2436106950044632, + 0.002610671566799283, + 0.9698696732521057, + -20.615829467773438 + ], + [ + 0.19416916370391846, + -0.9796200394630432, + 0.051408108323812485, + -7.837741374969482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 839, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638884_642267942", + "mask_path": "../../mask/hdr_right_00839.png" + }, + { + "file_path": "../../rgb/hdr_right_00841.png", + "transform_matrix": [ + [ + 0.9324289560317993, + 0.20948883891105652, + 0.29443296790122986, + -17.553770065307617 + ], + [ + -0.302752822637558, + 0.008070122450590134, + 0.9530349969863892, + -20.564069747924805 + ], + [ + 0.1972740888595581, + -0.9777777791023254, + 0.07094816118478775, + -7.8753228187561035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 841, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638884_842268466", + "mask_path": "../../mask/hdr_right_00841.png" + }, + { + "file_path": "../../rgb/hdr_right_00843.png", + "transform_matrix": [ + [ + 0.9118248820304871, + 0.21026282012462616, + 0.35265421867370605, + -17.63134002685547 + ], + [ + -0.36068254709243774, + -0.00017702003242447972, + 0.9326886534690857, + -20.464303970336914 + ], + [ + 0.19617216289043427, + -0.9776449203491211, + 0.07567672431468964, + -7.891512393951416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 843, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638885_42268276", + "mask_path": "../../mask/hdr_right_00843.png" + }, + { + "file_path": "../../rgb/hdr_right_00849.png", + "transform_matrix": [ + [ + 0.8114763498306274, + 0.23030610382556915, + 0.5370895266532898, + -17.776399612426758 + ], + [ + -0.5394793748855591, + -0.05808287113904953, + 0.8399931192398071, + -20.2726993560791 + ], + [ + 0.2246512472629547, + -0.971383273601532, + 0.07711248844861984, + -7.963028907775879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 849, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638885_642268419", + "mask_path": "../../mask/hdr_right_00849.png" + }, + { + "file_path": "../../rgb/hdr_right_00851.png", + "transform_matrix": [ + [ + 0.7605355978012085, + 0.23679940402507782, + 0.6045756340026855, + -17.80405616760254 + ], + [ + -0.6114804148674011, + -0.051912859082221985, + 0.7895547747612, + -20.208515167236328 + ], + [ + 0.2183513641357422, + -0.9701706767082214, + 0.10531662404537201, + -7.986145496368408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 851, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638885_842267274", + "mask_path": "../../mask/hdr_right_00851.png" + }, + { + "file_path": "../../rgb/hdr_right_00858.png", + "transform_matrix": [ + [ + 0.48765572905540466, + 0.17438527941703796, + 0.8554424047470093, + -17.812280654907227 + ], + [ + -0.8546743392944336, + -0.10454409569501877, + 0.508529543876648, + -19.977224349975586 + ], + [ + 0.17811152338981628, + -0.9791119694709778, + 0.09806108474731445, + -7.961608409881592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 858, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638886_542268514", + "mask_path": "../../mask/hdr_right_00858.png" + }, + { + "file_path": "../../rgb/hdr_right_00862.png", + "transform_matrix": [ + [ + 0.3516477346420288, + 0.14648644626140594, + 0.92460036277771, + -17.811691284179688 + ], + [ + -0.9237126708030701, + -0.10605601221323013, + 0.36811280250549316, + -19.915950775146484 + ], + [ + 0.15198296308517456, + -0.9835109710693359, + 0.09801703691482544, + -8.006148338317871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 862, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638886_942269086", + "mask_path": "../../mask/hdr_right_00862.png" + }, + { + "file_path": "../../rgb/hdr_right_00865.png", + "transform_matrix": [ + [ + 0.33367106318473816, + 0.17470677196979523, + 0.9263591766357422, + -17.770275115966797 + ], + [ + -0.9278658032417297, + -0.1127166748046875, + 0.35547158122062683, + -19.86903190612793 + ], + [ + 0.1665194183588028, + -0.9781475067138672, + 0.12449412047863007, + -8.023711204528809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 865, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638887_242268085", + "mask_path": "../../mask/hdr_right_00865.png" + }, + { + "file_path": "../../rgb/hdr_right_00867.png", + "transform_matrix": [ + [ + 0.3242613971233368, + 0.17269310355186462, + 0.9300708770751953, + -17.738967895507812 + ], + [ + -0.9319092631340027, + -0.11055796593427658, + 0.3454304337501526, + -19.783206939697266 + ], + [ + 0.1624801903963089, + -0.9787512421607971, + 0.12508462369441986, + -7.999304294586182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 867, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638887_442267656", + "mask_path": "../../mask/hdr_right_00867.png" + }, + { + "file_path": "../../rgb/hdr_right_00869.png", + "transform_matrix": [ + [ + 0.31957244873046875, + 0.1331373155117035, + 0.938162088394165, + -17.736169815063477 + ], + [ + -0.9317361116409302, + -0.1360434740781784, + 0.33668985962867737, + -19.668813705444336 + ], + [ + 0.1724568009376526, + -0.9817161560058594, + 0.08057309687137604, + -8.040384292602539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 869, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638887_642267227", + "mask_path": "../../mask/hdr_right_00869.png" + }, + { + "file_path": "../../rgb/hdr_right_00872.png", + "transform_matrix": [ + [ + 0.3010638654232025, + 0.1002511978149414, + 0.9483197927474976, + -17.782773971557617 + ], + [ + -0.9299162030220032, + -0.1894112080335617, + 0.31524476408958435, + -19.578935623168945 + ], + [ + 0.21122606098651886, + -0.9767666459083557, + 0.03620035946369171, + -8.089577674865723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 872, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638887_942267656", + "mask_path": "../../mask/hdr_right_00872.png" + }, + { + "file_path": "../../rgb/hdr_right_00873.png", + "transform_matrix": [ + [ + 0.2991354167461395, + 0.09656006097793579, + 0.9493125081062317, + -17.818817138671875 + ], + [ + -0.9342662692070007, + -0.172704815864563, + 0.3119610548019409, + -19.494558334350586 + ], + [ + 0.19407381117343903, + -0.9802291393280029, + 0.03855067864060402, + -8.083078384399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 873, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638888_42266845", + "mask_path": "../../mask/hdr_right_00873.png" + }, + { + "file_path": "../../rgb/hdr_right_00881.png", + "transform_matrix": [ + [ + 0.28681209683418274, + 0.04801267758011818, + 0.9567829966545105, + -17.895034790039062 + ], + [ + -0.941180944442749, + -0.17213237285614014, + 0.2907729744911194, + -19.174489974975586 + ], + [ + 0.17865408957004547, + -0.9839030504226685, + -0.004181021824479103, + -8.1331205368042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 881, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638888_842267036", + "mask_path": "../../mask/hdr_right_00881.png" + }, + { + "file_path": "../../rgb/hdr_right_00883.png", + "transform_matrix": [ + [ + 0.30306583642959595, + 0.04606233537197113, + 0.9518558382987976, + -17.904958724975586 + ], + [ + -0.9373312592506409, + -0.16580000519752502, + 0.30646467208862305, + -19.13090705871582 + ], + [ + 0.17193415760993958, + -0.9850831031799316, + -0.0070726401172578335, + -8.159669876098633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 883, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638889_42267799", + "mask_path": "../../mask/hdr_right_00883.png" + }, + { + "file_path": "../../rgb/hdr_right_00885.png", + "transform_matrix": [ + [ + 0.3170235753059387, + 0.03440302237868309, + 0.9477935433387756, + -17.908483505249023 + ], + [ + -0.933780312538147, + -0.16357363760471344, + 0.31827372312545776, + -19.0489444732666 + ], + [ + 0.16598361730575562, + -0.9859310984611511, + -0.019731834530830383, + -8.166570663452148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 885, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638889_242267370", + "mask_path": "../../mask/hdr_right_00885.png" + }, + { + "file_path": "../../rgb/hdr_right_00889.png", + "transform_matrix": [ + [ + 0.27702414989471436, + 0.04351262003183365, + 0.9598771929740906, + -17.903879165649414 + ], + [ + -0.942716658115387, + -0.18092074990272522, + 0.2802729606628418, + -18.929288864135742 + ], + [ + 0.1858571171760559, + -0.982534646987915, + -0.009099346585571766, + -8.200275421142578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 889, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638889_642268180", + "mask_path": "../../mask/hdr_right_00889.png" + }, + { + "file_path": "../../rgb/hdr_right_00899.png", + "transform_matrix": [ + [ + 0.215691477060318, + 0.04062173143029213, + 0.9756162762641907, + -17.94727325439453 + ], + [ + -0.9565572738647461, + -0.1919158548116684, + 0.21946865320205688, + -18.495014190673828 + ], + [ + 0.19615143537521362, + -0.9805703163146973, + -0.0025376034900546074, + -8.292291641235352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 899, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638890_642267704", + "mask_path": "../../mask/hdr_right_00899.png" + }, + { + "file_path": "../../rgb/hdr_right_00902.png", + "transform_matrix": [ + [ + 0.18983079493045807, + 0.04316512867808342, + 0.9808674454689026, + -17.930444717407227 + ], + [ + -0.964544415473938, + -0.17836914956569672, + 0.1945212185382843, + -18.365861892700195 + ], + [ + 0.1833530217409134, + -0.9830163717269897, + 0.007774734403938055, + -8.32526969909668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 902, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638890_942268371", + "mask_path": "../../mask/hdr_right_00902.png" + }, + { + "file_path": "../../rgb/hdr_right_00903.png", + "transform_matrix": [ + [ + 0.1837596595287323, + 0.034821875393390656, + 0.9823542237281799, + -17.929901123046875 + ], + [ + -0.9657362699508667, + -0.17992709577083588, + 0.18702901899814606, + -18.30449676513672 + ], + [ + 0.183264821767807, + -0.9830633997917175, + 0.0005654045380651951, + -8.327418327331543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 903, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_42268276", + "mask_path": "../../mask/hdr_right_00903.png" + }, + { + "file_path": "../../rgb/hdr_right_00905.png", + "transform_matrix": [ + [ + 0.16981607675552368, + 0.045340728014707565, + 0.9844321608543396, + -17.923185348510742 + ], + [ + -0.9683547616004944, + -0.1777195930480957, + 0.1752280592918396, + -18.243587493896484 + ], + [ + 0.18289786577224731, + -0.9830360412597656, + 0.013726267032325268, + -8.335161209106445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 905, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_242268323", + "mask_path": "../../mask/hdr_right_00905.png" + }, + { + "file_path": "../../rgb/hdr_right_00907.png", + "transform_matrix": [ + [ + 0.15455381572246552, + 0.044402800500392914, + 0.9869860410690308, + -17.923128128051758 + ], + [ + -0.9735111594200134, + -0.16352328658103943, + 0.15980038046836853, + -18.134109497070312 + ], + [ + 0.16849081218242645, + -0.9855396747589111, + 0.017953475937247276, + -8.357089042663574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 907, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_442267656", + "mask_path": "../../mask/hdr_right_00907.png" + }, + { + "file_path": "../../rgb/hdr_right_00908.png", + "transform_matrix": [ + [ + 0.14840039610862732, + 0.04116808995604515, + 0.9880701303482056, + -17.927330017089844 + ], + [ + -0.9755247831344604, + -0.15784169733524323, + 0.1530926674604416, + -18.076005935668945 + ], + [ + 0.16226118803024292, + -0.9866058826446533, + 0.016736730933189392, + -8.364734649658203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 908, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_542267799", + "mask_path": "../../mask/hdr_right_00908.png" + }, + { + "file_path": "../../rgb/hdr_right_00910.png", + "transform_matrix": [ + [ + 0.13639356195926666, + 0.040030498057603836, + 0.9898456335067749, + -17.928688049316406 + ], + [ + -0.9781730771064758, + -0.15266983211040497, + 0.14095929265022278, + -17.998186111450195 + ], + [ + 0.1567622423171997, + -0.9874661564826965, + 0.018333574756979942, + -8.3914155960083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 910, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_742267847", + "mask_path": "../../mask/hdr_right_00910.png" + }, + { + "file_path": "../../rgb/hdr_right_00911.png", + "transform_matrix": [ + [ + 0.13202939927577972, + 0.04044753313064575, + 0.9904202818870544, + -17.915334701538086 + ], + [ + -0.9801647067070007, + -0.1436557173728943, + 0.13652898371219635, + -17.944377899169922 + ], + [ + 0.14780177175998688, + -0.9888007640838623, + 0.02067846991121769, + -8.401337623596191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 911, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_842267751", + "mask_path": "../../mask/hdr_right_00911.png" + }, + { + "file_path": "../../rgb/hdr_right_00912.png", + "transform_matrix": [ + [ + 0.1267985701560974, + 0.0284858550876379, + 0.9915195107460022, + -17.914167404174805 + ], + [ + -0.9805110692977905, + -0.14762692153453827, + 0.12963201105594635, + -17.877119064331055 + ], + [ + 0.15006761252880096, + -0.98863285779953, + 0.009211821481585503, + -8.400471687316895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 912, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638891_942267417", + "mask_path": "../../mask/hdr_right_00912.png" + }, + { + "file_path": "../../rgb/hdr_right_00916.png", + "transform_matrix": [ + [ + 0.09663476049900055, + 0.020536130294203758, + 0.9951080083847046, + -17.919708251953125 + ], + [ + -0.9853065609931946, + -0.13948707282543182, + 0.09856154769659042, + -17.686111450195312 + ], + [ + 0.14082878828048706, + -0.9900109171867371, + 0.006755083333700895, + -8.425958633422852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 916, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638892_342267990", + "mask_path": "../../mask/hdr_right_00916.png" + }, + { + "file_path": "../../rgb/hdr_right_00924.png", + "transform_matrix": [ + [ + 0.22456710040569305, + 0.01934407278895378, + 0.9742667078971863, + -17.98516082763672 + ], + [ + -0.9633195996284485, + -0.14633294939994812, + 0.22494924068450928, + -17.364147186279297 + ], + [ + 0.14691872894763947, + -0.9890462756156921, + -0.01422703918069601, + -8.490392684936523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 924, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638893_142267942", + "mask_path": "../../mask/hdr_right_00924.png" + }, + { + "file_path": "../../rgb/hdr_right_00925.png", + "transform_matrix": [ + [ + 0.24570055305957794, + 0.03139181435108185, + 0.9688373804092407, + -18.002750396728516 + ], + [ + -0.9573038220405579, + -0.14919394254684448, + 0.2476097047328949, + -17.30331039428711 + ], + [ + 0.1523175984621048, + -0.9883095026016235, + -0.006605532485991716, + -8.490076065063477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 925, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638893_242268323", + "mask_path": "../../mask/hdr_right_00925.png" + }, + { + "file_path": "../../rgb/hdr_right_00928.png", + "transform_matrix": [ + [ + 0.2958647608757019, + 0.040038637816905975, + 0.9543904662132263, + -18.013187408447266 + ], + [ + -0.941526472568512, + -0.1564047485589981, + 0.29843834042549133, + -17.162878036499023 + ], + [ + 0.1612202674150467, + -0.9868811368942261, + -0.008577210828661919, + -8.518604278564453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 928, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638893_542266130", + "mask_path": "../../mask/hdr_right_00928.png" + }, + { + "file_path": "../../rgb/hdr_right_00932.png", + "transform_matrix": [ + [ + 0.2771188020706177, + 0.04490187019109726, + 0.9597859382629395, + -18.007076263427734 + ], + [ + -0.9522507786750793, + -0.1203976422548294, + 0.28057578206062317, + -16.96942710876465 + ], + [ + 0.12815432250499725, + -0.9917097687721252, + 0.009393392130732536, + -8.520880699157715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 932, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638893_942267894", + "mask_path": "../../mask/hdr_right_00932.png" + }, + { + "file_path": "../../rgb/hdr_right_00933.png", + "transform_matrix": [ + [ + 0.27470508217811584, + 0.04239519312977791, + 0.9605934619903564, + -18.015647888183594 + ], + [ + -0.954753041267395, + -0.10636259615421295, + 0.2777291536331177, + -16.8995361328125 + ], + [ + 0.11394558846950531, + -0.9934231638908386, + 0.011258597485721111, + -8.5220365524292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 933, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_42267322", + "mask_path": "../../mask/hdr_right_00933.png" + }, + { + "file_path": "../../rgb/hdr_right_00934.png", + "transform_matrix": [ + [ + 0.2752596139907837, + 0.041224025189876556, + 0.9604857563972473, + -18.02726173400879 + ], + [ + -0.9557905197143555, + -0.09574668109416962, + 0.27802348136901855, + -16.850252151489258 + ], + [ + 0.1034245640039444, + -0.9945517182350159, + 0.013046342879533768, + -8.532867431640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 934, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_142267704", + "mask_path": "../../mask/hdr_right_00934.png" + }, + { + "file_path": "../../rgb/hdr_right_00936.png", + "transform_matrix": [ + [ + 0.27071407437324524, + 0.0218222513794899, + 0.9624124765396118, + -18.04473876953125 + ], + [ + -0.9577494859695435, + -0.09474345296621323, + 0.27155065536499023, + -16.71256446838379 + ], + [ + 0.0971081331372261, + -0.9952625632286072, + -0.00474813487380743, + -8.545190811157227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 936, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_342267274", + "mask_path": "../../mask/hdr_right_00936.png" + }, + { + "file_path": "../../rgb/hdr_right_00937.png", + "transform_matrix": [ + [ + 0.2592247426509857, + 0.01626141555607319, + 0.9656802415847778, + -18.053739547729492 + ], + [ + -0.9606635570526123, + -0.09881018847227097, + 0.25954198837280273, + -16.650760650634766 + ], + [ + 0.09963956475257874, + -0.9949734807014465, + -0.009992292150855064, + -8.546314239501953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 937, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_442267656", + "mask_path": "../../mask/hdr_right_00937.png" + }, + { + "file_path": "../../rgb/hdr_right_00939.png", + "transform_matrix": [ + [ + 0.24455636739730835, + 0.023999985307455063, + 0.969338059425354, + -18.069379806518555 + ], + [ + -0.9660500884056091, + -0.07985521107912064, + 0.24570396542549133, + -16.536531448364258 + ], + [ + 0.08330359309911728, + -0.9965174794197083, + 0.0036560846492648125, + -8.557491302490234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 939, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_642267465", + "mask_path": "../../mask/hdr_right_00939.png" + }, + { + "file_path": "../../rgb/hdr_right_00940.png", + "transform_matrix": [ + [ + 0.25210344791412354, + 0.03208006173372269, + 0.9671684503555298, + -18.094587326049805 + ], + [ + -0.9648091793060303, + -0.06886686384677887, + 0.2537727355957031, + -16.45258903503418 + ], + [ + 0.07474689185619354, + -0.9971100687980652, + 0.013589562848210335, + -8.560553550720215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 940, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_742267608", + "mask_path": "../../mask/hdr_right_00940.png" + }, + { + "file_path": "../../rgb/hdr_right_00941.png", + "transform_matrix": [ + [ + 0.2677505314350128, + 0.03950279578566551, + 0.9626781940460205, + -18.1120548248291 + ], + [ + -0.9608919620513916, + -0.062352485954761505, + 0.26981231570243835, + -16.39824676513672 + ], + [ + 0.07068372517824173, + -0.9972721338272095, + 0.021263010799884796, + -8.565536499023438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 941, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638894_842267513", + "mask_path": "../../mask/hdr_right_00941.png" + }, + { + "file_path": "../../rgb/hdr_right_00943.png", + "transform_matrix": [ + [ + 0.30067092180252075, + 0.037803005427122116, + 0.9529785513877869, + -18.13887596130371 + ], + [ + -0.9517601728439331, + -0.052260302007198334, + 0.30235961079597473, + -16.29166030883789 + ], + [ + 0.061233039945364, + -0.9979177117347717, + 0.020266244187951088, + -8.59239673614502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 943, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_42267560", + "mask_path": "../../mask/hdr_right_00943.png" + }, + { + "file_path": "../../rgb/hdr_right_00944.png", + "transform_matrix": [ + [ + 0.3050980269908905, + 0.029912499710917473, + 0.9518511295318604, + -18.150348663330078 + ], + [ + -0.9496793746948242, + -0.06483924388885498, + 0.30643951892852783, + -16.21367645263672 + ], + [ + 0.07088367640972137, + -0.9974472522735596, + 0.008624954149127007, + -8.586162567138672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 944, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_142267465", + "mask_path": "../../mask/hdr_right_00944.png" + }, + { + "file_path": "../../rgb/hdr_right_00947.png", + "transform_matrix": [ + [ + 0.2949158549308777, + 0.02630641497671604, + 0.9551610946655273, + -18.180715560913086 + ], + [ + -0.952555775642395, + -0.07062587141990662, + 0.2960565984249115, + -16.085491180419922 + ], + [ + 0.07524726539850235, + -0.9971559047698975, + 0.0042296405881643295, + -8.593735694885254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 947, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_442268133", + "mask_path": "../../mask/hdr_right_00947.png" + }, + { + "file_path": "../../rgb/hdr_right_00948.png", + "transform_matrix": [ + [ + 0.29345378279685974, + 0.029801050201058388, + 0.9555087089538574, + -18.209922790527344 + ], + [ + -0.9532551765441895, + -0.0661970004439354, + 0.2948262691497803, + -16.00945281982422 + ], + [ + 0.07203793525695801, + -0.997361421585083, + 0.008982245810329914, + -8.598146438598633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 948, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_542268037", + "mask_path": "../../mask/hdr_right_00948.png" + }, + { + "file_path": "../../rgb/hdr_right_00949.png", + "transform_matrix": [ + [ + 0.29561614990234375, + 0.03842266649007797, + 0.9545338749885559, + -18.23126983642578 + ], + [ + -0.9522527456283569, + -0.06798190623521805, + 0.297646164894104, + -15.955463409423828 + ], + [ + 0.07632739096879959, + -0.996946394443512, + 0.016491539776325226, + -8.608677864074707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 949, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_642268180", + "mask_path": "../../mask/hdr_right_00949.png" + }, + { + "file_path": "../../rgb/hdr_right_00951.png", + "transform_matrix": [ + [ + 0.2994656562805176, + 0.06568931043148041, + 0.9518430829048157, + -18.231473922729492 + ], + [ + -0.9503971338272095, + -0.0673532709479332, + 0.30365896224975586, + -15.877864837646484 + ], + [ + 0.08405688405036926, + -0.995564341545105, + 0.04226095229387283, + -8.635581970214844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 951, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_842267513", + "mask_path": "../../mask/hdr_right_00951.png" + }, + { + "file_path": "../../rgb/hdr_right_00952.png", + "transform_matrix": [ + [ + 0.3020634353160858, + 0.061687171459198, + 0.9512898325920105, + -18.242006301879883 + ], + [ + -0.9479554891586304, + -0.08596357703208923, + 0.306579053401947, + -15.828461647033691 + ], + [ + 0.10068827867507935, + -0.9943867921829224, + 0.03251024708151817, + -8.638519287109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 952, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638895_942267179", + "mask_path": "../../mask/hdr_right_00952.png" + }, + { + "file_path": "../../rgb/hdr_right_00954.png", + "transform_matrix": [ + [ + 0.3015703856945038, + 0.077070452272892, + 0.9503238201141357, + -18.24114227294922 + ], + [ + -0.9460058212280273, + -0.10007181763648987, + 0.30831587314605713, + -15.76657772064209 + ], + [ + 0.11886268854141235, + -0.991990864276886, + 0.04273040220141411, + -8.651484489440918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 954, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638896_142267227", + "mask_path": "../../mask/hdr_right_00954.png" + }, + { + "file_path": "../../rgb/hdr_right_00956.png", + "transform_matrix": [ + [ + 0.2902674674987793, + 0.07046893239021301, + 0.9543474316596985, + -18.231557846069336 + ], + [ + -0.9504531025886536, + -0.0947432741522789, + 0.29607880115509033, + -15.67545223236084 + ], + [ + 0.1112823560833931, + -0.9930044412612915, + 0.03947652503848076, + -8.66033935546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 956, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638896_342267513", + "mask_path": "../../mask/hdr_right_00956.png" + }, + { + "file_path": "../../rgb/hdr_right_00957.png", + "transform_matrix": [ + [ + 0.29063254594802856, + 0.06796151399612427, + 0.9544181823730469, + -18.23997688293457 + ], + [ + -0.9514407515525818, + -0.08523821830749512, + 0.2957954704761505, + -15.610685348510742 + ], + [ + 0.10145560652017593, + -0.9940401315689087, + 0.03988836333155632, + -8.647055625915527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 957, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638896_442268133", + "mask_path": "../../mask/hdr_right_00957.png" + }, + { + "file_path": "../../rgb/hdr_right_00960.png", + "transform_matrix": [ + [ + 0.30134817957878113, + 0.054508086293935776, + 0.9519549608230591, + -18.271648406982422 + ], + [ + -0.9483016729354858, + -0.08711642026901245, + 0.3051798939704895, + -15.47484302520752 + ], + [ + 0.09956568479537964, + -0.9947057366371155, + 0.0254377331584692, + -8.667359352111816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 960, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638896_742268085", + "mask_path": "../../mask/hdr_right_00960.png" + }, + { + "file_path": "../../rgb/hdr_right_00965.png", + "transform_matrix": [ + [ + 0.28507980704307556, + 0.05370545759797096, + 0.9569979906082153, + -18.327451705932617 + ], + [ + -0.9527779221534729, + -0.09309223294258118, + 0.28904688358306885, + -15.262627601623535 + ], + [ + 0.10461247712373734, + -0.994208037853241, + 0.024630658328533173, + -8.705836296081543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 965, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638897_242268085", + "mask_path": "../../mask/hdr_right_00965.png" + }, + { + "file_path": "../../rgb/hdr_right_00966.png", + "transform_matrix": [ + [ + 0.2906637191772461, + 0.05348478630185127, + 0.9553292989730835, + -18.351577758789062 + ], + [ + -0.9522791504859924, + -0.08104220032691956, + 0.29427289962768555, + -15.211745262145996 + ], + [ + 0.09316110610961914, + -0.9952746033668518, + 0.027376415207982063, + -8.701285362243652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 966, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638897_342267274", + "mask_path": "../../mask/hdr_right_00966.png" + }, + { + "file_path": "../../rgb/hdr_right_00968.png", + "transform_matrix": [ + [ + 0.3030078709125519, + 0.06772071868181229, + 0.9505788683891296, + -18.366024017333984 + ], + [ + -0.9490656852722168, + -0.06896309554576874, + 0.30743855237960815, + -15.146098136901855 + ], + [ + 0.08637481927871704, + -0.9953180551528931, + 0.04337504506111145, + -8.710672378540039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 968, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638897_542267560", + "mask_path": "../../mask/hdr_right_00968.png" + }, + { + "file_path": "../../rgb/hdr_right_00974.png", + "transform_matrix": [ + [ + 0.28049618005752563, + 0.06440897285938263, + 0.9576917886734009, + -18.395187377929688 + ], + [ + -0.953038215637207, + -0.10001223534345627, + 0.28585943579673767, + -14.887104034423828 + ], + [ + 0.11419280618429184, + -0.9928992986679077, + 0.03333117067813873, + -8.750378608703613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 974, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_142267227", + "mask_path": "../../mask/hdr_right_00974.png" + }, + { + "file_path": "../../rgb/hdr_right_00975.png", + "transform_matrix": [ + [ + 0.2852257490158081, + 0.06555045396089554, + 0.9562162756919861, + -18.40564727783203 + ], + [ + -0.9529754519462585, + -0.08718452602624893, + 0.2902357280254364, + -14.834089279174805 + ], + [ + 0.10239233076572418, + -0.99403315782547, + 0.037600696086883545, + -8.751687049865723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 975, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_242267370", + "mask_path": "../../mask/hdr_right_00975.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/76b3a818/mesh.ply b/2024-11-03-13-59-54/splats/76b3a818/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..e1619b16902617cbc0e5b3142fa0b19aea024052 --- /dev/null +++ b/2024-11-03-13-59-54/splats/76b3a818/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e1a79cc162fa21e2271ab1a90f7fea2bc779f4bee4f8de24288b1df27bf6ff6 +size 131987001 diff --git a/2024-11-03-13-59-54/splats/76b3a818/mesh_filled_decimated.ply b/2024-11-03-13-59-54/splats/76b3a818/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..75e49efaabc07873203193f9abfab1c8e96ddb62 --- /dev/null +++ b/2024-11-03-13-59-54/splats/76b3a818/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e116e41c117163d9573e5f7024c5b861f21e8269a9cdd631277aefdae1eee0c8 +size 1566385 diff --git a/2024-11-03-13-59-54/splats/76b3a818/splatfacto/config.yml b/2024-11-03-13-59-54/splats/76b3a818/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..7bb85b087bb674d5e224e323f702fc61287f4d89 --- /dev/null +++ b/2024-11-03-13-59-54/splats/76b3a818/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-03-13-59-54_nerfstudio +- slices +- slice_76b3a818 +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-03-13-59-54_nerfstudio + - slices + - slice_76b3a818 + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-03-13-59-54/splats/76b3a818/splatfacto/dataparser_transforms.json b/2024-11-03-13-59-54/splats/76b3a818/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a4c6e6136043566efd2f603238331d624d346304 --- /dev/null +++ b/2024-11-03-13-59-54/splats/76b3a818/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + -0.9819530248641968, + 0.05103800445795059, + -0.18210981786251068, + -22.476768493652344 + ], + [ + 0.05103800445795059, + 0.9986857175827026, + 0.0046895770356059074, + 12.0272798538208 + ], + [ + 0.18210981786251068, + -0.0046895770356059074, + -0.9832673072814941, + -6.733213424682617 + ] + ], + "scale": 0.23332067240435936 +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/76b3a818/splatfacto/splat.ply b/2024-11-03-13-59-54/splats/76b3a818/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..517e2a284673d40d798e3a01458bd470094cca14 --- /dev/null +++ b/2024-11-03-13-59-54/splats/76b3a818/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c428bd84bd3f990f3892bdd991b9f2655cd74c354a61a566da6e0bd14dd6e26e +size 208578769 diff --git a/2024-11-03-13-59-54/splats/76b3a818/transforms.json b/2024-11-03-13-59-54/splats/76b3a818/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..b8554fc4f9d47791ce5fa0226eb2c081fda84012 --- /dev/null +++ b/2024-11-03-13-59-54/splats/76b3a818/transforms.json @@ -0,0 +1,22686 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_00965.png", + "transform_matrix": [ + [ + -0.9880771040916443, + 0.07162469625473022, + 0.13628432154655457, + -18.32616424560547 + ], + [ + -0.14152827858924866, + -0.07409114390611649, + -0.9871577620506287, + -14.64310359954834 + ], + [ + -0.06060739979147911, + -0.9946761131286621, + 0.08334469795227051, + -8.760805130004883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 965, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_442267656", + "mask_path": "../../mask/hdr_front_00965.png" + }, + { + "file_path": "../../rgb/hdr_front_00966.png", + "transform_matrix": [ + [ + -0.989810049533844, + 0.05097738280892372, + 0.13295599818229675, + -18.340242385864258 + ], + [ + -0.13768263161182404, + -0.10443811118602753, + -0.9849548935890198, + -14.585797309875488 + ], + [ + -0.036324746906757355, + -0.9932240843772888, + 0.11039259284734726, + -8.768621444702148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 966, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_542267560", + "mask_path": "../../mask/hdr_front_00966.png" + }, + { + "file_path": "../../rgb/hdr_front_00969.png", + "transform_matrix": [ + [ + -0.990362823009491, + 0.06926279515028, + 0.11993388831615448, + -18.35487174987793 + ], + [ + -0.12760749459266663, + -0.1197553426027298, + -0.9845684170722961, + -14.474549293518066 + ], + [ + -0.05383122339844704, + -0.9903844594955444, + 0.1274396926164627, + -8.793999671936035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 969, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_842266798", + "mask_path": "../../mask/hdr_front_00969.png" + }, + { + "file_path": "../../rgb/hdr_front_00970.png", + "transform_matrix": [ + [ + -0.9895317554473877, + 0.0709235668182373, + 0.1256854087114334, + -18.383512496948242 + ], + [ + -0.13359367847442627, + -0.12075702846050262, + -0.9836516380310059, + -14.417537689208984 + ], + [ + -0.054586686193943024, + -0.9901452660560608, + 0.12896783649921417, + -8.812861442565918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 970, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_942267417", + "mask_path": "../../mask/hdr_front_00970.png" + }, + { + "file_path": "../../rgb/hdr_front_00971.png", + "transform_matrix": [ + [ + -0.9878132939338684, + 0.062033236026763916, + 0.14274701476097107, + -18.4312801361084 + ], + [ + -0.14894945919513702, + -0.11069686710834503, + -0.9826292991638184, + -14.344257354736328 + ], + [ + -0.04515402764081955, + -0.9919163584709167, + 0.11858765035867691, + -8.804574966430664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 971, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_42267322", + "mask_path": "../../mask/hdr_front_00971.png" + }, + { + "file_path": "../../rgb/hdr_front_00974.png", + "transform_matrix": [ + [ + -0.978020966053009, + 0.0771329402923584, + 0.19371500611305237, + -18.482389450073242 + ], + [ + -0.20055261254310608, + -0.09383710473775864, + -0.975178599357605, + -14.228702545166016 + ], + [ + -0.057040736079216, + -0.9925951957702637, + 0.10724387317895889, + -8.841512680053711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 974, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_342267990", + "mask_path": "../../mask/hdr_front_00974.png" + }, + { + "file_path": "../../rgb/hdr_front_00975.png", + "transform_matrix": [ + [ + -0.9781513810157776, + 0.06404110044240952, + 0.19778449833393097, + -18.508159637451172 + ], + [ + -0.20467603206634521, + -0.12990625202655792, + -0.9701711535453796, + -14.189346313476562 + ], + [ + -0.03643738105893135, + -0.9894559383392334, + 0.14017565548419952, + -8.855369567871094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 975, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_442267656", + "mask_path": "../../mask/hdr_front_00975.png" + }, + { + "file_path": "../../rgb/hdr_front_00977.png", + "transform_matrix": [ + [ + -0.9786369800567627, + 0.08785609900951385, + 0.18587899208068848, + -18.507232666015625 + ], + [ + -0.19716204702854156, + -0.1447465568780899, + -0.9696265459060669, + -14.139434814453125 + ], + [ + -0.058282263576984406, + -0.9855605959892273, + 0.1589762270450592, + -8.866130828857422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 977, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_642267704", + "mask_path": "../../mask/hdr_front_00977.png" + }, + { + "file_path": "../../rgb/hdr_front_00979.png", + "transform_matrix": [ + [ + -0.9806972146034241, + 0.09901459515094757, + 0.16860933601856232, + -18.507204055786133 + ], + [ + -0.18126824498176575, + -0.13706670701503754, + -0.9738349318504333, + -14.048232078552246 + ], + [ + -0.0733131393790245, + -0.9856007695198059, + 0.15236912667751312, + -8.890401840209961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 979, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_842268228", + "mask_path": "../../mask/hdr_front_00979.png" + }, + { + "file_path": "../../rgb/hdr_front_00980.png", + "transform_matrix": [ + [ + -0.980478823184967, + 0.09948224574327469, + 0.16960115730762482, + -18.52915382385254 + ], + [ + -0.18137164413928986, + -0.12449053674936295, + -0.975503146648407, + -13.980928421020508 + ], + [ + -0.07593150436878204, + -0.9872210621833801, + 0.14010357856750488, + -8.879143714904785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 980, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_942267417", + "mask_path": "../../mask/hdr_front_00980.png" + }, + { + "file_path": "../../rgb/hdr_front_00983.png", + "transform_matrix": [ + [ + -0.9766702055931091, + 0.10925956815481186, + 0.18487197160720825, + -18.537574768066406 + ], + [ + -0.19538043439388275, + -0.09484885632991791, + -0.9761301875114441, + -13.821149826049805 + ], + [ + -0.0891166627407074, + -0.9894776940345764, + 0.11398322880268097, + -8.893427848815918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 983, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_242267847", + "mask_path": "../../mask/hdr_front_00983.png" + }, + { + "file_path": "../../rgb/hdr_front_00984.png", + "transform_matrix": [ + [ + -0.9797982573509216, + 0.08587142080068588, + 0.18061360716819763, + -18.552953720092773 + ], + [ + -0.19083240628242493, + -0.13131850957870483, + -0.9727992415428162, + -13.758256912231445 + ], + [ + -0.05981775373220444, + -0.9876140356063843, + 0.1450526863336563, + -8.91245174407959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 984, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_342268228", + "mask_path": "../../mask/hdr_front_00984.png" + }, + { + "file_path": "../../rgb/hdr_front_00986.png", + "transform_matrix": [ + [ + -0.982185959815979, + 0.09604175388813019, + 0.16151417791843414, + -18.550575256347656 + ], + [ + -0.17453347146511078, + -0.14774450659751892, + -0.9735037684440613, + -13.695066452026367 + ], + [ + -0.06963416188955307, + -0.9843513369560242, + 0.16187505424022675, + -8.928519248962402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 986, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_542267799", + "mask_path": "../../mask/hdr_front_00986.png" + }, + { + "file_path": "../../rgb/hdr_front_00987.png", + "transform_matrix": [ + [ + -0.9832569360733032, + 0.10154066979885101, + 0.15131179988384247, + -18.550376892089844 + ], + [ + -0.16523827612400055, + -0.14675015211105347, + -0.9752746820449829, + -13.643648147583008 + ], + [ + -0.07682501524686813, + -0.9839481115341187, + 0.1610715091228485, + -8.939130783081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 987, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_642267942", + "mask_path": "../../mask/hdr_front_00987.png" + }, + { + "file_path": "../../rgb/hdr_front_00988.png", + "transform_matrix": [ + [ + -0.9852073788642883, + 0.10145267099142075, + 0.13810770213603973, + -18.554529190063477 + ], + [ + -0.15203264355659485, + -0.14558959007263184, + -0.9775938391685486, + -13.594419479370117 + ], + [ + -0.07907246053218842, + -0.9841296076774597, + 0.15886004269123077, + -8.954638481140137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 988, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_742267847", + "mask_path": "../../mask/hdr_front_00988.png" + }, + { + "file_path": "../../rgb/hdr_front_00989.png", + "transform_matrix": [ + [ + -0.9864101409912109, + 0.0982530489563942, + 0.13168668746948242, + -18.57919692993164 + ], + [ + -0.14451761543750763, + -0.13754740357398987, + -0.9798955917358398, + -13.525364875793457 + ], + [ + -0.07816457003355026, + -0.9856100082397461, + 0.1498774290084839, + -8.961209297180176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 989, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_842268228", + "mask_path": "../../mask/hdr_front_00989.png" + }, + { + "file_path": "../../rgb/hdr_front_00992.png", + "transform_matrix": [ + [ + -0.9864868521690369, + 0.10817242413759232, + 0.12305492162704468, + -18.602527618408203 + ], + [ + -0.13573811948299408, + -0.11897808313369751, + -0.9835748076438904, + -13.379961967468262 + ], + [ + -0.09175483137369156, + -0.9869868159294128, + 0.1320534348487854, + -8.993629455566406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 992, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638901_142267704", + "mask_path": "../../mask/hdr_front_00992.png" + }, + { + "file_path": "../../rgb/hdr_front_00993.png", + "transform_matrix": [ + [ + -0.9896795749664307, + 0.08722780644893646, + 0.11369151622056961, + -18.617942810058594 + ], + [ + -0.12586642801761627, + -0.14989495277404785, + -0.9806575179100037, + -13.328125953674316 + ], + [ + -0.06849882006645203, + -0.9848466515541077, + 0.15932700037956238, + -9.004257202148438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 993, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638901_242267608", + "mask_path": "../../mask/hdr_front_00993.png" + }, + { + "file_path": "../../rgb/hdr_front_00995.png", + "transform_matrix": [ + [ + -0.9903582334518433, + 0.09825529158115387, + 0.09765486419200897, + -18.618301391601562 + ], + [ + -0.11263328790664673, + -0.16072016954421997, + -0.9805523157119751, + -13.265612602233887 + ], + [ + -0.08064932376146317, + -0.9820972681045532, + 0.17023734748363495, + -9.00555419921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 995, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638901_442267894", + "mask_path": "../../mask/hdr_front_00995.png" + }, + { + "file_path": "../../rgb/hdr_front_00997.png", + "transform_matrix": [ + [ + -0.990802526473999, + 0.0987463891506195, + 0.09251800179481506, + -18.629133224487305 + ], + [ + -0.10659777373075485, + -0.14843395352363586, + -0.9831603765487671, + -13.152664184570312 + ], + [ + -0.08335071057081223, + -0.9839799404144287, + 0.15759487450122833, + -9.02413272857666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 997, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638901_642268180", + "mask_path": "../../mask/hdr_front_00997.png" + }, + { + "file_path": "../../rgb/hdr_front_01001.png", + "transform_matrix": [ + [ + -0.9889248609542847, + 0.09145056456327438, + 0.1168939545750618, + -18.674312591552734 + ], + [ + -0.12782087922096252, + -0.1245211511850357, + -0.9839494228363037, + -12.964295387268066 + ], + [ + -0.07542695105075836, + -0.987993597984314, + 0.13483136892318726, + -9.060979843139648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1001, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638902_42268991", + "mask_path": "../../mask/hdr_front_01001.png" + }, + { + "file_path": "../../rgb/hdr_front_01005.png", + "transform_matrix": [ + [ + -0.9880520105361938, + 0.07406624406576157, + 0.13515669107437134, + -18.731975555419922 + ], + [ + -0.14544138312339783, + -0.15795820951461792, + -0.9766760468482971, + -12.812135696411133 + ], + [ + -0.05098960921168327, + -0.9846641421318054, + 0.1668432056903839, + -9.087888717651367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1005, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638902_442268133", + "mask_path": "../../mask/hdr_front_01005.png" + }, + { + "file_path": "../../rgb/hdr_front_01006.png", + "transform_matrix": [ + [ + -0.9861553907394409, + 0.07499831169843674, + 0.14789427816867828, + -18.758249282836914 + ], + [ + -0.15781505405902863, + -0.15065515041351318, + -0.975908637046814, + -12.756388664245605 + ], + [ + -0.05091046541929245, + -0.9857374429702759, + 0.1604052633047104, + -9.089594841003418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1006, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638902_542267560", + "mask_path": "../../mask/hdr_front_01006.png" + }, + { + "file_path": "../../rgb/hdr_front_01010.png", + "transform_matrix": [ + [ + -0.9791589379310608, + 0.07223832607269287, + 0.18981406092643738, + -18.799217224121094 + ], + [ + -0.1984482705593109, + -0.14151732623577118, + -0.9698408842086792, + -12.569172859191895 + ], + [ + -0.043197691440582275, + -0.9872965812683105, + 0.15290354192256927, + -9.118776321411133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1010, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638902_942266464", + "mask_path": "../../mask/hdr_front_01010.png" + }, + { + "file_path": "../../rgb/hdr_front_01014.png", + "transform_matrix": [ + [ + -0.981944739818573, + 0.06838533282279968, + 0.1763744354248047, + -18.8591365814209 + ], + [ + -0.18461553752422333, + -0.1431213766336441, + -0.9723339676856995, + -12.380667686462402 + ], + [ + -0.041250426322221756, + -0.9873397350311279, + 0.15316228568553925, + -9.147412300109863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1014, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638903_342267036", + "mask_path": "../../mask/hdr_front_01014.png" + }, + { + "file_path": "../../rgb/hdr_front_01015.png", + "transform_matrix": [ + [ + -0.9822604656219482, + 0.06966491788625717, + 0.17410120368003845, + -18.88164710998535 + ], + [ + -0.1824677735567093, + -0.1409796178340912, + -0.9730519652366638, + -12.33091926574707 + ], + [ + -0.04324287176132202, + -0.9875584244728088, + 0.15119028091430664, + -9.159065246582031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1015, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638903_442266941", + "mask_path": "../../mask/hdr_front_01015.png" + }, + { + "file_path": "../../rgb/hdr_front_01017.png", + "transform_matrix": [ + [ + -0.9827883839607239, + 0.07573947310447693, + 0.16849495470523834, + -18.900583267211914 + ], + [ + -0.17735449969768524, + -0.13160085678100586, + -0.9753085374832153, + -12.25660228729248 + ], + [ + -0.05169526860117912, + -0.988405168056488, + 0.1427685171365738, + -9.18227481842041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1017, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638903_642266750", + "mask_path": "../../mask/hdr_front_01017.png" + }, + { + "file_path": "../../rgb/hdr_front_01019.png", + "transform_matrix": [ + [ + -0.9850459098815918, + 0.07004625350236893, + 0.15741053223609924, + -18.909021377563477 + ], + [ + -0.16645511984825134, + -0.1511143296957016, + -0.9744009375572205, + -12.143691062927246 + ], + [ + -0.04446615278720856, + -0.9860314726829529, + 0.16051411628723145, + -9.203851699829102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1019, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638903_842267036", + "mask_path": "../../mask/hdr_front_01019.png" + }, + { + "file_path": "../../rgb/hdr_front_01021.png", + "transform_matrix": [ + [ + -0.98597651720047, + 0.07922788709402084, + 0.14687831699848175, + -18.9191951751709 + ], + [ + -0.15801474452018738, + -0.16010794043540955, + -0.9743699431419373, + -12.08699893951416 + ], + [ + -0.053680889308452606, + -0.983914852142334, + 0.1703818440437317, + -9.213380813598633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1021, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638904_42267084", + "mask_path": "../../mask/hdr_front_01021.png" + }, + { + "file_path": "../../rgb/hdr_front_01023.png", + "transform_matrix": [ + [ + -0.9866313338279724, + 0.08045753091573715, + 0.14172223210334778, + -18.9398193359375 + ], + [ + -0.15245407819747925, + -0.14837460219860077, + -0.977109432220459, + -11.986533164978027 + ], + [ + -0.05758782476186752, + -0.9856528639793396, + 0.15865708887577057, + -9.222966194152832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1023, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638904_242266654", + "mask_path": "../../mask/hdr_front_01023.png" + }, + { + "file_path": "../../rgb/hdr_front_01028.png", + "transform_matrix": [ + [ + -0.9894172549247742, + 0.07293616980314255, + 0.1254340559244156, + -18.957361221313477 + ], + [ + -0.1344645768404007, + -0.136064350605011, + -0.9815323948860168, + -11.777292251586914 + ], + [ + -0.054522112011909485, + -0.9880115389823914, + 0.14443174004554749, + -9.248797416687012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1028, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638904_742268085", + "mask_path": "../../mask/hdr_front_01028.png" + }, + { + "file_path": "../../rgb/hdr_front_01031.png", + "transform_matrix": [ + [ + -0.9909752011299133, + 0.0731736421585083, + 0.11231109499931335, + -18.966339111328125 + ], + [ + -0.12142837792634964, + -0.135172039270401, + -0.983353316783905, + -11.703003883361816 + ], + [ + -0.05677421763539314, + -0.9881165027618408, + 0.1428374946117401, + -9.254119873046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1031, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638905_42268991", + "mask_path": "../../mask/hdr_front_01031.png" + }, + { + "file_path": "../../rgb/hdr_front_01043.png", + "transform_matrix": [ + [ + -0.9499088525772095, + 0.0888376533985138, + 0.29963475465774536, + -19.117685317993164 + ], + [ + -0.30868420004844666, + -0.11681085079908371, + -0.9439647197723389, + -11.653361320495605 + ], + [ + -0.048859015107154846, + -0.9891729354858398, + 0.1383824199438095, + -9.25388240814209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1043, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638906_242268085", + "mask_path": "../../mask/hdr_front_01043.png" + }, + { + "file_path": "../../rgb/hdr_front_01046.png", + "transform_matrix": [ + [ + -0.9098888039588928, + 0.1033543273806572, + 0.4017714560031891, + -19.158300399780273 + ], + [ + -0.4125766158103943, + -0.12414252012968063, + -0.9024240970611572, + -11.704944610595703 + ], + [ + -0.04339250177145004, + -0.9868670701980591, + 0.1555974781513214, + -9.289717674255371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1046, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638906_542267322", + "mask_path": "../../mask/hdr_front_01046.png" + }, + { + "file_path": "../../rgb/hdr_front_01052.png", + "transform_matrix": [ + [ + -0.8096741437911987, + 0.11143484711647034, + 0.5762031078338623, + -19.22992515563965 + ], + [ + -0.5868425965309143, + -0.14267894625663757, + -0.797031044960022, + -11.78824234008789 + ], + [ + -0.006604980677366257, + -0.9834760427474976, + 0.1809181571006775, + -9.282917022705078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1052, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638907_142268419", + "mask_path": "../../mask/hdr_front_01052.png" + }, + { + "file_path": "../../rgb/hdr_front_01056.png", + "transform_matrix": [ + [ + -0.7163230776786804, + 0.1196698248386383, + 0.6874303221702576, + -19.280229568481445 + ], + [ + -0.697696328163147, + -0.13703030347824097, + -0.7031660079956055, + -11.878240585327148 + ], + [ + 0.010051027871668339, + -0.9833117127418518, + 0.18165117502212524, + -9.277677536010742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1056, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638907_542264223", + "mask_path": "../../mask/hdr_front_01056.png" + }, + { + "file_path": "../../rgb/hdr_front_01067.png", + "transform_matrix": [ + [ + -0.42415934801101685, + 0.1655600219964981, + 0.8903250694274902, + -19.416748046875 + ], + [ + -0.904862105846405, + -0.11682700365781784, + -0.40936046838760376, + -11.998246192932129 + ], + [ + 0.03624029830098152, + -0.9792556166648865, + 0.19936224818229675, + -9.309503555297852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1067, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638908_642267942", + "mask_path": "../../mask/hdr_front_01067.png" + }, + { + "file_path": "../../rgb/hdr_front_01069.png", + "transform_matrix": [ + [ + -0.35093793272972107, + 0.19973541796207428, + 0.9148488640785217, + -19.457050323486328 + ], + [ + -0.935878574848175, + -0.10737279057502747, + -0.33556273579597473, + -12.020094871520996 + ], + [ + 0.031206101179122925, + -0.973949134349823, + 0.22460925579071045, + -9.3551607131958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1069, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638908_842267274", + "mask_path": "../../mask/hdr_front_01069.png" + }, + { + "file_path": "../../rgb/hdr_front_01071.png", + "transform_matrix": [ + [ + -0.28682175278663635, + 0.21618464589118958, + 0.9332726001739502, + -19.518924713134766 + ], + [ + -0.956373929977417, + -0.12107573449611664, + -0.26587530970573425, + -12.062317848205566 + ], + [ + 0.0555185042321682, + -0.9688162207603455, + 0.2414804995059967, + -9.377551078796387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1071, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_42268037", + "mask_path": "../../mask/hdr_front_01071.png" + }, + { + "file_path": "../../rgb/hdr_front_01073.png", + "transform_matrix": [ + [ + -0.27662456035614014, + 0.24722515046596527, + 0.9286326766014099, + -19.568626403808594 + ], + [ + -0.958656370639801, + -0.13812467455863953, + -0.24879592657089233, + -12.087241172790527 + ], + [ + 0.06675846129655838, + -0.9590627551078796, + 0.2752126455307007, + -9.391716003417969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1073, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_242267370", + "mask_path": "../../mask/hdr_front_01073.png" + }, + { + "file_path": "../../rgb/hdr_front_01075.png", + "transform_matrix": [ + [ + -0.26580777764320374, + 0.28122517466545105, + 0.9220947027206421, + -19.66858673095703 + ], + [ + -0.9634813666343689, + -0.10964647680521011, + -0.2442975789308548, + -12.077202796936035 + ], + [ + 0.03240181505680084, + -0.9533573389053345, + 0.30010008811950684, + -9.445358276367188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1075, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_442266941", + "mask_path": "../../mask/hdr_front_01075.png" + }, + { + "file_path": "../../rgb/hdr_front_01077.png", + "transform_matrix": [ + [ + -0.2471768856048584, + 0.3171292841434479, + 0.9156051278114319, + -19.7177734375 + ], + [ + -0.9689034819602966, + -0.09199880808591843, + -0.22970058023929596, + -12.068599700927734 + ], + [ + 0.011389799416065216, + -0.9439095258712769, + 0.3300076127052307, + -9.491183280944824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1077, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_642266750", + "mask_path": "../../mask/hdr_front_01077.png" + }, + { + "file_path": "../../rgb/hdr_front_01078.png", + "transform_matrix": [ + [ + -0.23640260100364685, + 0.3254202604293823, + 0.9155410528182983, + -19.772663116455078 + ], + [ + -0.9716143608093262, + -0.08780556917190552, + -0.21967169642448425, + -12.05413818359375 + ], + [ + 0.008903991430997849, + -0.9414838552474976, + 0.3369404375553131, + -9.527064323425293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1078, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_742267370", + "mask_path": "../../mask/hdr_front_01078.png" + }, + { + "file_path": "../../rgb/hdr_front_01079.png", + "transform_matrix": [ + [ + -0.23317882418632507, + 0.33842822909355164, + 0.9116435647010803, + -19.82326316833496 + ], + [ + -0.9722204208374023, + -0.10077337175607681, + -0.21126310527324677, + -12.04454231262207 + ], + [ + 0.020371997728943825, + -0.9355806708335876, + 0.3525250554084778, + -9.550256729125977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1079, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_842267036", + "mask_path": "../../mask/hdr_front_01079.png" + }, + { + "file_path": "../../rgb/hdr_front_01081.png", + "transform_matrix": [ + [ + -0.23495876789093018, + 0.34949183464050293, + 0.9070004820823669, + -19.897289276123047 + ], + [ + -0.9718347787857056, + -0.1019449308514595, + -0.21247199177742004, + -12.031538963317871 + ], + [ + 0.018206870183348656, + -0.9313767552375793, + 0.3636012077331543, + -9.594955444335938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1081, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_42266845", + "mask_path": "../../mask/hdr_front_01081.png" + }, + { + "file_path": "../../rgb/hdr_front_01082.png", + "transform_matrix": [ + [ + -0.22920715808868408, + 0.3837876617908478, + 0.8945229053497314, + -19.96371078491211 + ], + [ + -0.9731111526489258, + -0.0688435435295105, + -0.21980741620063782, + -12.012497901916504 + ], + [ + -0.022777246311306953, + -0.9208515286445618, + 0.38924747705459595, + -9.631641387939453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1082, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_142267942", + "mask_path": "../../mask/hdr_front_01082.png" + }, + { + "file_path": "../../rgb/hdr_front_01085.png", + "transform_matrix": [ + [ + -0.26548701524734497, + 0.4148206114768982, + 0.8703106045722961, + -20.10481834411621 + ], + [ + -0.9629455208778381, + -0.06965000927448273, + -0.2605474889278412, + -11.955469131469727 + ], + [ + -0.0474633127450943, + -0.9072335958480835, + 0.41794076561927795, + -9.715173721313477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1085, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_442267179", + "mask_path": "../../mask/hdr_front_01085.png" + }, + { + "file_path": "../../rgb/hdr_front_01086.png", + "transform_matrix": [ + [ + -0.29319310188293457, + 0.42289113998413086, + 0.8574385643005371, + -20.148818969726562 + ], + [ + -0.9558114409446716, + -0.10948538780212402, + -0.2728322446346283, + -11.93747329711914 + ], + [ + -0.02150134928524494, + -0.8995421528816223, + 0.43630456924438477, + -9.746195793151855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1086, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_542268276", + "mask_path": "../../mask/hdr_front_01086.png" + }, + { + "file_path": "../../rgb/hdr_front_01088.png", + "transform_matrix": [ + [ + -0.35174232721328735, + 0.39777877926826477, + 0.8473780155181885, + -20.257169723510742 + ], + [ + -0.9360267519950867, + -0.16053073108196259, + -0.31318315863609314, + -11.921259880065918 + ], + [ + 0.011452598497271538, + -0.9033282995223999, + 0.42879703640937805, + -9.75809097290039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1088, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_742268562", + "mask_path": "../../mask/hdr_front_01088.png" + }, + { + "file_path": "../../rgb/hdr_front_01089.png", + "transform_matrix": [ + [ + -0.37723901867866516, + 0.3702085018157959, + 0.8489030599594116, + -20.32695770263672 + ], + [ + -0.925998330116272, + -0.1653902530670166, + -0.33937183022499084, + -11.901165008544922 + ], + [ + 0.014761924743652344, + -0.914107084274292, + 0.4052041471004486, + -9.786465644836426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1089, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_842267036", + "mask_path": "../../mask/hdr_front_01089.png" + }, + { + "file_path": "../../rgb/hdr_front_01091.png", + "transform_matrix": [ + [ + -0.4348236322402954, + 0.36790961027145386, + 0.8219311833381653, + -20.35885238647461 + ], + [ + -0.9004771709442139, + -0.16920675337314606, + -0.40063685178756714, + -11.87466049194336 + ], + [ + -0.008321834728121758, + -0.9143367409706116, + 0.40486931800842285, + -9.82256031036377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1091, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638911_42268753", + "mask_path": "../../mask/hdr_front_01091.png" + }, + { + "file_path": "../../rgb/hdr_front_01093.png", + "transform_matrix": [ + [ + -0.5238373279571533, + 0.3658318519592285, + 0.7692602872848511, + -20.39371681213379 + ], + [ + -0.8493990898132324, + -0.15632221102714539, + -0.5040678977966309, + -11.826668739318848 + ], + [ + -0.06415162235498428, + -0.917458713054657, + 0.39262473583221436, + -9.876140594482422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1093, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638911_242269039", + "mask_path": "../../mask/hdr_front_01093.png" + }, + { + "file_path": "../../rgb/hdr_front_01095.png", + "transform_matrix": [ + [ + -0.6243080496788025, + 0.3677433133125305, + 0.689205527305603, + -20.351757049560547 + ], + [ + -0.7698878645896912, + -0.14019158482551575, + -0.6225904822349548, + -11.744028091430664 + ], + [ + -0.1323326826095581, + -0.919299304485321, + 0.37064385414123535, + -9.88660717010498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1095, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638911_442268610", + "mask_path": "../../mask/hdr_front_01095.png" + }, + { + "file_path": "../../rgb/hdr_front_01098.png", + "transform_matrix": [ + [ + -0.7482129335403442, + 0.36491987109184265, + 0.5540856719017029, + -20.303621292114258 + ], + [ + -0.6313497424125671, + -0.13495606184005737, + -0.7636651396751404, + -11.644153594970703 + ], + [ + -0.2038993388414383, + -0.9212059378623962, + 0.33136796951293945, + -9.883888244628906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1098, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638911_742267608", + "mask_path": "../../mask/hdr_front_01098.png" + }, + { + "file_path": "../../rgb/hdr_front_01100.png", + "transform_matrix": [ + [ + -0.8094631433486938, + 0.3407880365848541, + 0.4781556725502014, + -20.28188133239746 + ], + [ + -0.5484094619750977, + -0.14782169461250305, + -0.8230406045913696, + -11.571344375610352 + ], + [ + -0.209800586104393, + -0.9284461736679077, + 0.3065476715564728, + -9.881314277648926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1100, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638911_942267179", + "mask_path": "../../mask/hdr_front_01100.png" + }, + { + "file_path": "../../rgb/hdr_front_01104.png", + "transform_matrix": [ + [ + -0.8282354474067688, + 0.3239673972129822, + 0.4572432339191437, + -20.257183074951172 + ], + [ + -0.5208424925804138, + -0.1439814567565918, + -0.8414228558540344, + -11.516475677490234 + ], + [ + -0.2067590057849884, + -0.9350479245185852, + 0.28798654675483704, + -9.868814468383789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1104, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638912_342268466", + "mask_path": "../../mask/hdr_front_01104.png" + }, + { + "file_path": "../../rgb/hdr_front_01107.png", + "transform_matrix": [ + [ + -0.8245877623558044, + 0.31076085567474365, + 0.4727395474910736, + -20.288402557373047 + ], + [ + -0.5305395126342773, + -0.13464125990867615, + -0.8368988633155823, + -11.450837135314941 + ], + [ + -0.19642511010169983, + -0.9409036040306091, + 0.2758944630622864, + -9.895355224609375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1107, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638912_642268180", + "mask_path": "../../mask/hdr_front_01107.png" + }, + { + "file_path": "../../rgb/hdr_front_01109.png", + "transform_matrix": [ + [ + -0.8377201557159424, + 0.2674848437309265, + 0.47610601782798767, + -20.344518661499023 + ], + [ + -0.5256578326225281, + -0.15866032242774963, + -0.8357695937156677, + -11.370655059814453 + ], + [ + -0.1480165272951126, + -0.9504098296165466, + 0.273518443107605, + -9.916399002075195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1109, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638912_842267990", + "mask_path": "../../mask/hdr_front_01109.png" + }, + { + "file_path": "../../rgb/hdr_front_01111.png", + "transform_matrix": [ + [ + -0.8498134613037109, + 0.2565566897392273, + 0.46042993664741516, + -20.37192153930664 + ], + [ + -0.5078198313713074, + -0.16452215611934662, + -0.8456072807312012, + -11.314872741699219 + ], + [ + -0.14119525253772736, + -0.9524238109588623, + 0.2700977325439453, + -9.933629989624023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1111, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_42267560", + "mask_path": "../../mask/hdr_front_01111.png" + }, + { + "file_path": "../../rgb/hdr_front_01112.png", + "transform_matrix": [ + [ + -0.8516539335250854, + 0.25142180919647217, + 0.4598614275455475, + -20.42387580871582 + ], + [ + -0.5058063268661499, + -0.16446566581726074, + -0.846824049949646, + -11.266127586364746 + ], + [ + -0.13727861642837524, + -0.9538019299507141, + 0.2672385573387146, + -9.962923049926758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1112, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_142267704", + "mask_path": "../../mask/hdr_front_01112.png" + }, + { + "file_path": "../../rgb/hdr_front_01113.png", + "transform_matrix": [ + [ + -0.8536340594291687, + 0.24123120307922363, + 0.461645245552063, + -20.458433151245117 + ], + [ + -0.50480717420578, + -0.1647220253944397, + -0.8473703265190125, + -11.228264808654785 + ], + [ + -0.1283690333366394, + -0.9563860297203064, + 0.26238754391670227, + -9.97116470336914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1113, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_242268085", + "mask_path": "../../mask/hdr_front_01113.png" + }, + { + "file_path": "../../rgb/hdr_front_01115.png", + "transform_matrix": [ + [ + -0.8527346849441528, + 0.22890973091125488, + 0.46951451897621155, + -20.497997283935547 + ], + [ + -0.5080565214157104, + -0.1546817570924759, + -0.8473206162452698, + -11.166699409484863 + ], + [ + -0.12133459746837616, + -0.9610796570777893, + 0.24820157885551453, + -9.995930671691895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1115, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_442267894", + "mask_path": "../../mask/hdr_front_01115.png" + }, + { + "file_path": "../../rgb/hdr_front_01116.png", + "transform_matrix": [ + [ + -0.8516916036605835, + 0.22059346735477448, + 0.47535240650177, + -20.521860122680664 + ], + [ + -0.5110189318656921, + -0.1486295610666275, + -0.846622109413147, + -11.113313674926758 + ], + [ + -0.11610787361860275, + -0.9639750123023987, + 0.2393139749765396, + -10.019122123718262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1116, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_542267560", + "mask_path": "../../mask/hdr_front_01116.png" + }, + { + "file_path": "../../rgb/hdr_front_01117.png", + "transform_matrix": [ + [ + -0.8521633148193359, + 0.21839503943920135, + 0.47552210092544556, + -20.548629760742188 + ], + [ + -0.5112764835357666, + -0.1540117859840393, + -0.8455038666725159, + -11.064505577087402 + ], + [ + -0.11141783744096756, + -0.9636306762695312, + 0.2429034560918808, + -10.03150463104248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1117, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_642267704", + "mask_path": "../../mask/hdr_front_01117.png" + }, + { + "file_path": "../../rgb/hdr_front_01119.png", + "transform_matrix": [ + [ + -0.853806734085083, + 0.23875494301319122, + 0.4626123905181885, + -20.55967903137207 + ], + [ + -0.5026309490203857, + -0.146672785282135, + -0.8519678115844727, + -10.991765975952148 + ], + [ + -0.13555888831615448, + -0.959939181804657, + 0.2452358454465866, + -10.043479919433594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1119, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_842268466", + "mask_path": "../../mask/hdr_front_01119.png" + }, + { + "file_path": "../../rgb/hdr_front_01121.png", + "transform_matrix": [ + [ + -0.8556589484214783, + 0.2562435269355774, + 0.44965195655822754, + -20.57988166809082 + ], + [ + -0.49347591400146484, + -0.14210397005081177, + -0.8580722212791443, + -10.894372940063477 + ], + [ + -0.15597809851169586, + -0.9561097025871277, + 0.2480425387620926, + -10.085004806518555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1121, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_42267322", + "mask_path": "../../mask/hdr_front_01121.png" + }, + { + "file_path": "../../rgb/hdr_front_01122.png", + "transform_matrix": [ + [ + -0.854053795337677, + 0.2589343190193176, + 0.45115983486175537, + -20.604150772094727 + ], + [ + -0.4956788718700409, + -0.1420302391052246, + -0.8568138480186462, + -10.842572212219238 + ], + [ + -0.15778014063835144, + -0.9553954005241394, + 0.24964971840381622, + -10.095090866088867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1122, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_142266988", + "mask_path": "../../mask/hdr_front_01122.png" + }, + { + "file_path": "../../rgb/hdr_front_01125.png", + "transform_matrix": [ + [ + -0.8452953100204468, + 0.261190265417099, + 0.46610671281814575, + -20.68670082092285 + ], + [ + -0.5094529390335083, + -0.1310698390007019, + -0.8504578471183777, + -10.708312034606934 + ], + [ + -0.16103874146938324, + -0.9563474059104919, + 0.24385689198970795, + -10.148079872131348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1125, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_442267179", + "mask_path": "../../mask/hdr_front_01125.png" + }, + { + "file_path": "../../rgb/hdr_front_01126.png", + "transform_matrix": [ + [ + -0.8473126888275146, + 0.25989675521850586, + 0.46315738558769226, + -20.722431182861328 + ], + [ + -0.508154034614563, + -0.143193781375885, + -0.8492791056632996, + -10.650900840759277 + ], + [ + -0.15440361201763153, + -0.9549603462219238, + 0.25339749455451965, + -10.162236213684082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1126, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_542266845", + "mask_path": "../../mask/hdr_front_01126.png" + }, + { + "file_path": "../../rgb/hdr_front_01129.png", + "transform_matrix": [ + [ + -0.8522204160690308, + 0.28484979271888733, + 0.4388406276702881, + -20.794118881225586 + ], + [ + -0.4915453791618347, + -0.148676797747612, + -0.8580666184425354, + -10.499053955078125 + ], + [ + -0.17917470633983612, + -0.9469718933105469, + 0.2667219936847687, + -10.243281364440918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1129, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_842267036", + "mask_path": "../../mask/hdr_front_01129.png" + }, + { + "file_path": "../../rgb/hdr_front_01130.png", + "transform_matrix": [ + [ + -0.8558781743049622, + 0.2809535264968872, + 0.4342092275619507, + -20.83755874633789 + ], + [ + -0.48661816120147705, + -0.15315291285514832, + -0.8600854873657227, + -10.443218231201172 + ], + [ + -0.17514362931251526, + -0.9474225044250488, + 0.2677973210811615, + -10.255844116210938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1130, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_942266941", + "mask_path": "../../mask/hdr_front_01130.png" + }, + { + "file_path": "../../rgb/hdr_front_01133.png", + "transform_matrix": [ + [ + -0.8656026124954224, + 0.26547935605049133, + 0.42456185817718506, + -20.92191505432129 + ], + [ + -0.4696749746799469, + -0.13650675117969513, + -0.8722220659255981, + -10.322779655456543 + ], + [ + -0.17360135912895203, + -0.9544038772583008, + 0.24284960329532623, + -10.296006202697754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1133, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638915_242267370", + "mask_path": "../../mask/hdr_front_01133.png" + }, + { + "file_path": "../../rgb/hdr_front_01134.png", + "transform_matrix": [ + [ + -0.872266948223114, + 0.2610670030117035, + 0.4135146141052246, + -20.951135635375977 + ], + [ + -0.4611550569534302, + -0.15770980715751648, + -0.8731916546821594, + -10.289069175720215 + ], + [ + -0.16274620592594147, + -0.9523506164550781, + 0.257957398891449, + -10.314836502075195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1134, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638915_342267274", + "mask_path": "../../mask/hdr_front_01134.png" + }, + { + "file_path": "../../rgb/hdr_front_01136.png", + "transform_matrix": [ + [ + -0.8837333917617798, + 0.2786400616168976, + 0.37599852681159973, + -20.95343780517578 + ], + [ + -0.42954444885253906, + -0.16403938829898834, + -0.8880217671394348, + -10.215719223022461 + ], + [ + -0.18575985729694366, + -0.9462826251983643, + 0.2646554112434387, + -10.339037895202637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1136, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638915_542267799", + "mask_path": "../../mask/hdr_front_01136.png" + }, + { + "file_path": "../../rgb/hdr_front_01142.png", + "transform_matrix": [ + [ + -0.8817752003669739, + 0.28649669885635376, + 0.37468963861465454, + -21.055652618408203 + ], + [ + -0.42253750562667847, + -0.1267867237329483, + -0.8974336981773376, + -9.960824012756348 + ], + [ + -0.2096061110496521, + -0.9496551156044006, + 0.2328529804944992, + -10.408402442932129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1142, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638916_142267465", + "mask_path": "../../mask/hdr_front_01142.png" + }, + { + "file_path": "../../rgb/hdr_front_01143.png", + "transform_matrix": [ + [ + -0.8874686360359192, + 0.2715696096420288, + 0.3723565340042114, + -21.08014678955078 + ], + [ + -0.4225706160068512, + -0.1570279896259308, + -0.892623245716095, + -9.916097640991211 + ], + [ + -0.18393895030021667, + -0.949522078037262, + 0.2541147470474243, + -10.428893089294434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1143, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638916_242267608", + "mask_path": "../../mask/hdr_front_01143.png" + }, + { + "file_path": "../../rgb/hdr_front_01145.png", + "transform_matrix": [ + [ + -0.8893861770629883, + 0.28731799125671387, + 0.35558485984802246, + -21.07929801940918 + ], + [ + -0.4109136760234833, + -0.16153858602046967, + -0.8972486853599548, + -9.85857105255127 + ], + [ + -0.20035499334335327, + -0.9441153407096863, + 0.2617330551147461, + -10.432332992553711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1145, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638916_442269325", + "mask_path": "../../mask/hdr_front_01145.png" + }, + { + "file_path": "../../rgb/hdr_front_01148.png", + "transform_matrix": [ + [ + -0.9038108587265015, + 0.262678861618042, + 0.3378247320652008, + -21.118663787841797 + ], + [ + -0.3813360929489136, + -0.13615091145038605, + -0.9143553972244263, + -9.726555824279785 + ], + [ + -0.19418668746948242, + -0.9552292227745056, + 0.22322364151477814, + -10.449831008911133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1148, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638916_742268323", + "mask_path": "../../mask/hdr_front_01148.png" + }, + { + "file_path": "../../rgb/hdr_front_01155.png", + "transform_matrix": [ + [ + -0.91893070936203, + 0.24688604474067688, + 0.307593435049057, + -21.230125427246094 + ], + [ + -0.34667646884918213, + -0.13365617394447327, + -0.928413450717926, + -9.497030258178711 + ], + [ + -0.18810054659843445, + -0.9597829580307007, + 0.2084103524684906, + -10.524703025817871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1155, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638917_442265033", + "mask_path": "../../mask/hdr_front_01155.png" + }, + { + "file_path": "../../rgb/hdr_front_01158.png", + "transform_matrix": [ + [ + -0.9087973237037659, + 0.2533877491950989, + 0.3314847946166992, + -21.248823165893555 + ], + [ + -0.36837008595466614, + -0.11418239027261734, + -0.9226406812667847, + -9.347627639770508 + ], + [ + -0.1959361433982849, + -0.9606024026870728, + 0.19710911810398102, + -10.559767723083496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1158, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638917_742267131", + "mask_path": "../../mask/hdr_front_01158.png" + }, + { + "file_path": "../../rgb/hdr_front_01159.png", + "transform_matrix": [ + [ + -0.9108709692955017, + 0.24177159368991852, + 0.3344556987285614, + -21.266937255859375 + ], + [ + -0.37298333644866943, + -0.13542698323726654, + -0.9179013967514038, + -9.292817115783691 + ], + [ + -0.17662815749645233, + -0.9608361721038818, + 0.21353329718112946, + -10.568702697753906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1159, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638917_842269182", + "mask_path": "../../mask/hdr_front_01159.png" + }, + { + "file_path": "../../rgb/hdr_front_01161.png", + "transform_matrix": [ + [ + -0.9161036610603333, + 0.2483689785003662, + 0.31474924087524414, + -21.26140594482422 + ], + [ + -0.35881030559539795, + -0.15755972266197205, + -0.9200164079666138, + -9.227078437805176 + ], + [ + -0.1789117157459259, + -0.9557655453681946, + 0.23345836997032166, + -10.589700698852539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1161, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638918_42268037", + "mask_path": "../../mask/hdr_front_01161.png" + }, + { + "file_path": "../../rgb/hdr_front_01163.png", + "transform_matrix": [ + [ + -0.9278445839881897, + 0.24964408576488495, + 0.27709633111953735, + -21.274404525756836 + ], + [ + -0.3214826285839081, + -0.15866021811962128, + -0.9335286617279053, + -9.1209077835083 + ], + [ + -0.18908573687076569, + -0.9552512168884277, + 0.22746826708316803, + -10.597312927246094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1163, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638918_242267370", + "mask_path": "../../mask/hdr_front_01163.png" + }, + { + "file_path": "../../rgb/hdr_front_01170.png", + "transform_matrix": [ + [ + -0.9730855226516724, + 0.21297262609004974, + 0.088018998503685, + -21.28657341003418 + ], + [ + -0.12631641328334808, + -0.17348888516426086, + -0.9767014980316162, + -8.88663387298584 + ], + [ + -0.192740336060524, + -0.9615322947502136, + 0.19572146236896515, + -10.652824401855469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1170, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638918_942267417", + "mask_path": "../../mask/hdr_front_01170.png" + }, + { + "file_path": "../../rgb/hdr_front_01173.png", + "transform_matrix": [ + [ + -0.9675094485282898, + 0.23112048208713531, + 0.10251155495643616, + -21.28835105895996 + ], + [ + -0.1363782435655594, + -0.13564325869083405, + -0.9813265800476074, + -8.737337112426758 + ], + [ + -0.21289965510368347, + -0.9634232521057129, + 0.16275595128536224, + -10.655220031738281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1173, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638919_242267370", + "mask_path": "../../mask/hdr_front_01173.png" + }, + { + "file_path": "../../rgb/hdr_front_01174.png", + "transform_matrix": [ + [ + -0.9697149395942688, + 0.22043967247009277, + 0.10516299307346344, + -21.29268455505371 + ], + [ + -0.1387164443731308, + -0.1426963359117508, + -0.9799976348876953, + -8.662582397460938 + ], + [ + -0.20102398097515106, + -0.9649062156677246, + 0.16895338892936707, + -10.68262004852295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1174, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638919_342268466", + "mask_path": "../../mask/hdr_front_01174.png" + }, + { + "file_path": "../../rgb/hdr_front_01179.png", + "transform_matrix": [ + [ + -0.9728590846061707, + 0.21865490078926086, + 0.07573153078556061, + -21.272863388061523 + ], + [ + -0.1065913662314415, + -0.1329706758260727, + -0.9853715300559998, + -8.437829971313477 + ], + [ + -0.2053862363100052, + -0.9667001366615295, + 0.15266843140125275, + -10.682829856872559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1179, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638919_842266798", + "mask_path": "../../mask/hdr_front_01179.png" + }, + { + "file_path": "../../rgb/hdr_front_01180.png", + "transform_matrix": [ + [ + -0.972572922706604, + 0.22031819820404053, + 0.07457739114761353, + -21.274288177490234 + ], + [ + -0.10437145084142685, + -0.12683656811714172, + -0.9864174127578735, + -8.38689136505127 + ], + [ + -0.20786653459072113, + -0.9671465754508972, + 0.14635276794433594, + -10.695297241210938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1180, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638919_942267656", + "mask_path": "../../mask/hdr_front_01180.png" + }, + { + "file_path": "../../rgb/hdr_front_01181.png", + "transform_matrix": [ + [ + -0.9721997380256653, + 0.22231289744377136, + 0.07351574301719666, + -21.279434204101562 + ], + [ + -0.10178568959236145, + -0.11849400401115417, + -0.9877241253852844, + -8.325094223022461 + ], + [ + -0.210872620344162, + -0.9677480459213257, + 0.13782811164855957, + -10.700483322143555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1181, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_42269229", + "mask_path": "../../mask/hdr_front_01181.png" + }, + { + "file_path": "../../rgb/hdr_front_01182.png", + "transform_matrix": [ + [ + -0.9750540852546692, + 0.2119131237268448, + 0.0660470500588417, + -21.293182373046875 + ], + [ + -0.09384216368198395, + -0.12390369921922684, + -0.9878470301628113, + -8.263737678527832 + ], + [ + -0.20115424692630768, + -0.9694022536277771, + 0.14069922268390656, + -10.716575622558594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1182, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_142268180", + "mask_path": "../../mask/hdr_front_01182.png" + }, + { + "file_path": "../../rgb/hdr_front_01183.png", + "transform_matrix": [ + [ + -0.9773741960525513, + 0.20582380890846252, + 0.048745833337306976, + -21.29719352722168 + ], + [ + -0.0757812038064003, + -0.1255830079317093, + -0.9891846179962158, + -8.213837623596191 + ], + [ + -0.1974761039018631, + -0.9704976081848145, + 0.13833917677402496, + -10.72115707397461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1183, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_242267370", + "mask_path": "../../mask/hdr_front_01183.png" + }, + { + "file_path": "../../rgb/hdr_front_01185.png", + "transform_matrix": [ + [ + -0.976617693901062, + 0.21483543515205383, + 0.007981627248227596, + -21.27828025817871 + ], + [ + -0.034213628619909286, + -0.11866344511508942, + -0.9923449158668518, + -8.128451347351074 + ], + [ + -0.2122437059879303, + -0.9694146513938904, + 0.12323911488056183, + -10.730298042297363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1185, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_442267417", + "mask_path": "../../mask/hdr_front_01185.png" + }, + { + "file_path": "../../rgb/hdr_front_01186.png", + "transform_matrix": [ + [ + -0.9798237681388855, + 0.19961731135845184, + -0.009918350726366043, + -21.279504776000977 + ], + [ + -0.011777454055845737, + -0.10720675438642502, + -0.9941670298576355, + -8.066028594970703 + ], + [ + -0.19951625168323517, + -0.9739916324615479, + 0.10739471018314362, + -10.73511791229248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1186, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_542267799", + "mask_path": "../../mask/hdr_front_01186.png" + }, + { + "file_path": "../../rgb/hdr_front_01187.png", + "transform_matrix": [ + [ + -0.9799962043762207, + 0.19836778938770294, + -0.016047267243266106, + -21.2775936126709 + ], + [ + -0.0024470947682857513, + -0.0926377922296524, + -0.9956969022750854, + -8.004266738891602 + ], + [ + -0.1990007758140564, + -0.9757399559020996, + 0.09127011895179749, + -10.731773376464844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1187, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_642267704", + "mask_path": "../../mask/hdr_front_01187.png" + }, + { + "file_path": "../../rgb/hdr_front_01190.png", + "transform_matrix": [ + [ + -0.9816264510154724, + 0.1897326558828354, + -0.020274756476283073, + -21.25520896911621 + ], + [ + 0.007910586893558502, + -0.06569810211658478, + -0.9978082180023193, + -7.839227199554443 + ], + [ + -0.19064879417419434, + -0.9796352982521057, + 0.06299009919166565, + -10.736668586730957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1190, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_942267894", + "mask_path": "../../mask/hdr_front_01190.png" + }, + { + "file_path": "../../rgb/hdr_front_01197.png", + "transform_matrix": [ + [ + -0.9724916219711304, + 0.2130114585161209, + -0.09426611661911011, + -21.137815475463867 + ], + [ + 0.08581840991973877, + -0.04858383163809776, + -0.9951255917549133, + -7.542207717895508 + ], + [ + -0.2165529578924179, + -0.9758410453796387, + 0.02896706759929657, + -10.695406913757324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1197, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638921_642267942", + "mask_path": "../../mask/hdr_front_01197.png" + }, + { + "file_path": "../../rgb/hdr_front_01198.png", + "transform_matrix": [ + [ + -0.9761925339698792, + 0.195671945810318, + -0.09359867125749588, + -21.126094818115234 + ], + [ + 0.08454913645982742, + -0.05411921441555023, + -0.9949485659599304, + -7.47898006439209 + ], + [ + -0.1997489631175995, + -0.9791749715805054, + 0.03628687933087349, + -10.70281982421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1198, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638921_742267131", + "mask_path": "../../mask/hdr_front_01198.png" + }, + { + "file_path": "../../rgb/hdr_front_01199.png", + "transform_matrix": [ + [ + -0.9785940051078796, + 0.18097271025180817, + -0.097992442548275, + -21.124670028686523 + ], + [ + 0.08862227946519852, + -0.059176016598939896, + -0.9943059682846069, + -7.427535057067871 + ], + [ + -0.18574103713035583, + -0.9817062616348267, + 0.0418710894882679, + -10.709141731262207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1199, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638921_842267274", + "mask_path": "../../mask/hdr_front_01199.png" + }, + { + "file_path": "../../rgb/hdr_front_01201.png", + "transform_matrix": [ + [ + -0.9795798659324646, + 0.17317022383213043, + -0.10215362906455994, + -21.124855041503906 + ], + [ + 0.09322372823953629, + -0.058960333466529846, + -0.9938979744911194, + -7.367057800292969 + ], + [ + -0.17813651263713837, + -0.9831255078315735, + 0.04161277785897255, + -10.713129043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1201, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638922_42266845", + "mask_path": "../../mask/hdr_front_01201.png" + }, + { + "file_path": "../../rgb/hdr_front_01226.png", + "transform_matrix": [ + [ + -0.8651211261749268, + 0.14199009537696838, + 0.4810448884963989, + -21.532621383666992 + ], + [ + -0.4967697560787201, + -0.11029461026191711, + -0.8608454465866089, + -6.72899055480957 + ], + [ + -0.0691748857498169, + -0.9837042093276978, + 0.16595458984375, + -10.867414474487305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1226, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638924_542267560", + "mask_path": "../../mask/hdr_front_01226.png" + }, + { + "file_path": "../../rgb/hdr_front_01228.png", + "transform_matrix": [ + [ + -0.8465535640716553, + 0.1398935317993164, + 0.5135921239852905, + -21.56992530822754 + ], + [ + -0.5280113220214844, + -0.09840475022792816, + -0.8435168862342834, + -6.678368091583252 + ], + [ + -0.06746263802051544, + -0.9852646589279175, + 0.15717026591300964, + -10.883172035217285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1228, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638924_742267608", + "mask_path": "../../mask/hdr_front_01228.png" + }, + { + "file_path": "../../rgb/hdr_front_01246.png", + "transform_matrix": [ + [ + -0.38399916887283325, + 0.181988924741745, + 0.9052207469940186, + -22.215133666992188 + ], + [ + -0.9232562780380249, + -0.06300246715545654, + -0.37898367643356323, + -6.634909629821777 + ], + [ + -0.011939688585698605, + -0.9812802076339722, + 0.19221527874469757, + -11.022189140319824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1246, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638926_542268276", + "mask_path": "../../mask/hdr_front_01246.png" + }, + { + "file_path": "../../rgb/hdr_front_01248.png", + "transform_matrix": [ + [ + -0.3070318102836609, + 0.20373070240020752, + 0.9296372532844543, + -22.268150329589844 + ], + [ + -0.9514003396034241, + -0.041227955371141434, + -0.30518439412117004, + -6.661623001098633 + ], + [ + -0.023848384618759155, + -0.9781584739685059, + 0.2064877450466156, + -11.044567108154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1248, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638926_742269515", + "mask_path": "../../mask/hdr_front_01248.png" + }, + { + "file_path": "../../rgb/hdr_front_01251.png", + "transform_matrix": [ + [ + -0.15598732233047485, + 0.20167683064937592, + 0.9669510722160339, + -22.339855194091797 + ], + [ + -0.9874817728996277, + -0.05503363534808159, + -0.14782093465328217, + -6.7320756912231445 + ], + [ + 0.023402776569128036, + -0.9779048562049866, + 0.20773671567440033, + -11.068389892578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1251, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638927_42268276", + "mask_path": "../../mask/hdr_front_01251.png" + }, + { + "file_path": "../../rgb/hdr_front_01259.png", + "transform_matrix": [ + [ + 0.1978716105222702, + 0.1940360814332962, + 0.9608314037322998, + -22.436973571777344 + ], + [ + -0.9780914783477783, + -0.025598227977752686, + 0.20659561455249786, + -6.96221399307251 + ], + [ + 0.06468257308006287, + -0.9806603789329529, + 0.18471987545490265, + -11.082197189331055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1259, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638927_842267036", + "mask_path": "../../mask/hdr_front_01259.png" + }, + { + "file_path": "../../rgb/hdr_front_01262.png", + "transform_matrix": [ + [ + 0.2676796615123749, + 0.17204365134239197, + 0.9480234980583191, + -22.509178161621094 + ], + [ + -0.9628180265426636, + 0.010535246692597866, + 0.2699451148509979, + -7.009707450866699 + ], + [ + 0.03645468130707741, + -0.9850330352783203, + 0.16846682131290436, + -11.091544151306152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1262, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638928_142266988", + "mask_path": "../../mask/hdr_front_01262.png" + }, + { + "file_path": "../../rgb/hdr_front_01264.png", + "transform_matrix": [ + [ + 0.312019407749176, + 0.1915195733308792, + 0.9305720329284668, + -22.574874877929688 + ], + [ + -0.9497540593147278, + 0.037389498203992844, + 0.3107560873031616, + -7.0442609786987305 + ], + [ + 0.02472224459052086, + -0.9807764291763306, + 0.19356273114681244, + -11.135184288024902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1264, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638928_342266798", + "mask_path": "../../mask/hdr_front_01264.png" + }, + { + "file_path": "../../rgb/hdr_front_01266.png", + "transform_matrix": [ + [ + 0.3545975089073181, + 0.20012381672859192, + 0.9133515954017639, + -22.638391494750977 + ], + [ + -0.9347055554389954, + 0.05057699605822563, + 0.35180607438087463, + -7.086815357208252 + ], + [ + 0.024210192263126373, + -0.9784643054008484, + 0.20499131083488464, + -11.180492401123047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1266, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638928_542267799", + "mask_path": "../../mask/hdr_front_01266.png" + }, + { + "file_path": "../../rgb/hdr_front_01267.png", + "transform_matrix": [ + [ + 0.3803567886352539, + 0.20665711164474487, + 0.9014552235603333, + -22.690418243408203 + ], + [ + -0.9245727062225342, + 0.06153937429189682, + 0.37600305676460266, + -7.110692977905273 + ], + [ + 0.022228719666600227, + -0.9764763116836548, + 0.21447645127773285, + -11.210005760192871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1267, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638928_642267227", + "mask_path": "../../mask/hdr_front_01267.png" + }, + { + "file_path": "../../rgb/hdr_front_01268.png", + "transform_matrix": [ + [ + 0.40023523569107056, + 0.2134893834590912, + 0.8911981582641602, + -22.74405288696289 + ], + [ + -0.9162081480026245, + 0.07268419116735458, + 0.39405542612075806, + -7.1356987953186035 + ], + [ + 0.019350629299879074, + -0.974237859249115, + 0.2246914803981781, + -11.21484661102295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1268, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638928_742267370", + "mask_path": "../../mask/hdr_front_01268.png" + }, + { + "file_path": "../../rgb/hdr_front_01278.png", + "transform_matrix": [ + [ + 0.842958390712738, + 0.2245349884033203, + 0.48888149857521057, + -22.616535186767578 + ], + [ + -0.5200120806694031, + 0.10718534141778946, + 0.8474071025848389, + -7.470643043518066 + ], + [ + 0.1378716379404068, + -0.9685531854629517, + 0.20711369812488556, + -11.275397300720215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1278, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638929_742266416", + "mask_path": "../../mask/hdr_front_01278.png" + }, + { + "file_path": "../../rgb/hdr_front_01281.png", + "transform_matrix": [ + [ + 0.8495691418647766, + 0.2466219961643219, + 0.46627238392829895, + -22.56549644470215 + ], + [ + -0.5050364136695862, + 0.1252228021621704, + 0.853965699672699, + -7.530158042907715 + ], + [ + 0.1522188037633896, + -0.9609874486923218, + 0.23093852400779724, + -11.283769607543945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1281, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_42268276", + "mask_path": "../../mask/hdr_front_01281.png" + }, + { + "file_path": "../../rgb/hdr_front_01283.png", + "transform_matrix": [ + [ + 0.8446778059005737, + 0.23607926070690155, + 0.48040181398391724, + -22.584497451782227 + ], + [ + -0.5173011422157288, + 0.1294095367193222, + 0.845962643623352, + -7.602445125579834 + ], + [ + 0.137545645236969, + -0.9630782604217529, + 0.2314334511756897, + -11.304024696350098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1283, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_242268323", + "mask_path": "../../mask/hdr_front_01283.png" + }, + { + "file_path": "../../rgb/hdr_front_01284.png", + "transform_matrix": [ + [ + 0.8451685309410095, + 0.2282107174396515, + 0.48333221673965454, + -22.607929229736328 + ], + [ + -0.5181699395179749, + 0.1280146986246109, + 0.8456431031227112, + -7.661035537719727 + ], + [ + 0.13111118972301483, + -0.9651591181755066, + 0.22644592821598053, + -11.306770324707031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1284, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_342267274", + "mask_path": "../../mask/hdr_front_01284.png" + }, + { + "file_path": "../../rgb/hdr_front_01287.png", + "transform_matrix": [ + [ + 0.851929783821106, + 0.23131519556045532, + 0.46979689598083496, + -22.64255142211914 + ], + [ + -0.5053815841674805, + 0.12825079262256622, + 0.8533119559288025, + -7.789760589599609 + ], + [ + 0.1371321678161621, + -0.9643884301185608, + 0.2261631041765213, + -11.344578742980957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1287, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_642269849", + "mask_path": "../../mask/hdr_front_01287.png" + }, + { + "file_path": "../../rgb/hdr_front_01288.png", + "transform_matrix": [ + [ + 0.8512580990791321, + 0.23605354130268097, + 0.46865585446357727, + -22.661731719970703 + ], + [ + -0.5073623657226562, + 0.1422630399465561, + 0.8499086499214172, + -7.837288856506348 + ], + [ + 0.13395154476165771, + -0.9612699747085571, + 0.2408672571182251, + -11.363110542297363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1288, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_742267608", + "mask_path": "../../mask/hdr_front_01288.png" + }, + { + "file_path": "../../rgb/hdr_front_01289.png", + "transform_matrix": [ + [ + 0.8509132266044617, + 0.23158811032772064, + 0.4715014398097992, + -22.682313919067383 + ], + [ + -0.5101698040962219, + 0.15041224658489227, + 0.8468193411827087, + -7.887256145477295 + ], + [ + 0.12519368529319763, + -0.9611155986785889, + 0.24613703787326813, + -11.383764266967773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1289, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_842268705", + "mask_path": "../../mask/hdr_front_01289.png" + }, + { + "file_path": "../../rgb/hdr_front_01290.png", + "transform_matrix": [ + [ + 0.8539401888847351, + 0.20881371200084686, + 0.47663724422454834, + -22.72781753540039 + ], + [ + -0.5107519626617432, + 0.16103112697601318, + 0.8445125222206116, + -7.966089725494385 + ], + [ + 0.09959233552217484, + -0.9646065831184387, + 0.24416299164295197, + -11.40468692779541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1290, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_942267656", + "mask_path": "../../mask/hdr_front_01290.png" + }, + { + "file_path": "../../rgb/hdr_front_01291.png", + "transform_matrix": [ + [ + 0.8582138419151306, + 0.19178950786590576, + 0.4761153757572174, + -22.760889053344727 + ], + [ + -0.5076273083686829, + 0.17970041930675507, + 0.8426281809806824, + -8.02912425994873 + ], + [ + 0.07604912668466568, + -0.9648444056510925, + 0.2515789568424225, + -11.430819511413574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1291, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638931_42268037", + "mask_path": "../../mask/hdr_front_01291.png" + }, + { + "file_path": "../../rgb/hdr_front_01294.png", + "transform_matrix": [ + [ + 0.8619204163551331, + 0.202030748128891, + 0.4650557339191437, + -22.835420608520508 + ], + [ + -0.5000128149986267, + 0.18645912408828735, + 0.8457068800926208, + -8.14090633392334 + ], + [ + 0.08414492756128311, + -0.9614658355712891, + 0.2617309093475342, + -11.47964096069336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1294, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638931_342268228", + "mask_path": "../../mask/hdr_front_01294.png" + }, + { + "file_path": "../../rgb/hdr_front_01297.png", + "transform_matrix": [ + [ + 0.8555001616477966, + 0.19282810389995575, + 0.48055869340896606, + -22.90283966064453 + ], + [ + -0.5140279531478882, + 0.20441032946109772, + 0.833061695098877, + -8.237654685974121 + ], + [ + 0.06240653246641159, + -0.9597050547599792, + 0.2739921510219574, + -11.515843391418457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1297, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638931_642269611", + "mask_path": "../../mask/hdr_front_01297.png" + }, + { + "file_path": "../../rgb/hdr_front_01298.png", + "transform_matrix": [ + [ + 0.8568270802497864, + 0.18767458200454712, + 0.48023495078086853, + -22.92332649230957 + ], + [ + -0.5127770304679871, + 0.21276894211769104, + 0.8317385315895081, + -8.282380104064941 + ], + [ + 0.053917113691568375, + -0.9589096903800964, + 0.2785414457321167, + -11.538422584533691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1298, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638931_742267370", + "mask_path": "../../mask/hdr_front_01298.png" + }, + { + "file_path": "../../rgb/hdr_front_01300.png", + "transform_matrix": [ + [ + 0.854056715965271, + 0.2035752832889557, + 0.4786902070045471, + -22.950529098510742 + ], + [ + -0.5147185921669006, + 0.19773221015930176, + 0.8342462182044983, + -8.3396635055542 + ], + [ + 0.07517944276332855, + -0.9588842391967773, + 0.27365851402282715, + -11.572637557983398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1300, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638931_942267417", + "mask_path": "../../mask/hdr_front_01300.png" + }, + { + "file_path": "../../rgb/hdr_front_01302.png", + "transform_matrix": [ + [ + 0.8514631986618042, + 0.19834698736667633, + 0.4854573905467987, + -23.00409698486328 + ], + [ + -0.5194156169891357, + 0.19146467745304108, + 0.8327956795692444, + -8.403663635253906 + ], + [ + 0.07223456352949142, + -0.961249053478241, + 0.26604965329170227, + -11.594468116760254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1302, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638932_142267465", + "mask_path": "../../mask/hdr_front_01302.png" + }, + { + "file_path": "../../rgb/hdr_front_01324.png", + "transform_matrix": [ + [ + 0.9598252773284912, + 0.11881378293037415, + 0.25420233607292175, + -23.0438289642334 + ], + [ + -0.26910391449928284, + 0.1331324279308319, + 0.9538652300834656, + -9.081541061401367 + ], + [ + 0.07948975265026093, + -0.9839507937431335, + 0.1597571074962616, + -11.710262298583984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1324, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638934_342267513", + "mask_path": "../../mask/hdr_front_01324.png" + }, + { + "file_path": "../../rgb/hdr_front_01327.png", + "transform_matrix": [ + [ + 0.9616595506668091, + 0.1065380647778511, + 0.25270646810531616, + -23.056337356567383 + ], + [ + -0.26607251167297363, + 0.1391596496105194, + 0.9538553357124329, + -9.202020645141602 + ], + [ + 0.06645534932613373, + -0.9845224022865295, + 0.16217105090618134, + -11.7279052734375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1327, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638934_642267227", + "mask_path": "../../mask/hdr_front_01327.png" + }, + { + "file_path": "../../rgb/hdr_front_01334.png", + "transform_matrix": [ + [ + 0.9755566716194153, + 0.08536562323570251, + 0.2024894505739212, + -23.065872192382812 + ], + [ + -0.21368680894374847, + 0.1535903960466385, + 0.964752733707428, + -9.484769821166992 + ], + [ + 0.05125628784298897, + -0.9844403266906738, + 0.16807763278484344, + -11.79507827758789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1334, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638935_342268705", + "mask_path": "../../mask/hdr_front_01334.png" + }, + { + "file_path": "../../rgb/hdr_front_01335.png", + "transform_matrix": [ + [ + 0.9774020314216614, + 0.07887251675128937, + 0.1961236447095871, + -23.07412338256836 + ], + [ + -0.20700885355472565, + 0.16923506557941437, + 0.9635906219482422, + -9.533949851989746 + ], + [ + 0.04280982166528702, + -0.9824146628379822, + 0.1817379891872406, + -11.818153381347656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1335, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638935_442267417", + "mask_path": "../../mask/hdr_front_01335.png" + }, + { + "file_path": "../../rgb/hdr_front_01337.png", + "transform_matrix": [ + [ + 0.9789615273475647, + 0.07962146401405334, + 0.18786893784999847, + -23.07318115234375 + ], + [ + -0.19925916194915771, + 0.17480558156967163, + 0.9642296433448792, + -9.610892295837402 + ], + [ + 0.04393283650279045, + -0.9813783764839172, + 0.18699327111244202, + -11.848258018493652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1337, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638935_642266750", + "mask_path": "../../mask/hdr_front_01337.png" + }, + { + "file_path": "../../rgb/hdr_front_01339.png", + "transform_matrix": [ + [ + 0.9792860746383667, + 0.07019802182912827, + 0.18992380797863007, + -23.09547233581543 + ], + [ + -0.19935595989227295, + 0.1700918972492218, + 0.9650523066520691, + -9.713184356689453 + ], + [ + 0.03544027730822563, + -0.9829246997833252, + 0.18056300282478333, + -11.848700523376465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1339, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638935_842267274", + "mask_path": "../../mask/hdr_front_01339.png" + }, + { + "file_path": "../../rgb/hdr_front_01342.png", + "transform_matrix": [ + [ + 0.97453373670578, + 0.0732179805636406, + 0.21195077896118164, + -23.11783218383789 + ], + [ + -0.22188298404216766, + 0.17814357578754425, + 0.9586620330810547, + -9.88455581665039 + ], + [ + 0.03243362531065941, + -0.9812766909599304, + 0.1898527592420578, + -11.893681526184082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1342, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_142268419", + "mask_path": "../../mask/hdr_front_01342.png" + }, + { + "file_path": "../../rgb/hdr_front_01343.png", + "transform_matrix": [ + [ + 0.9750949740409851, + 0.07475923746824265, + 0.20880822837352753, + -23.123863220214844 + ], + [ + -0.21959315240383148, + 0.19331133365631104, + 0.9562476873397827, + -9.940546035766602 + ], + [ + 0.031123343855142593, + -0.9782851934432983, + 0.20491351187229156, + -11.92460823059082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1343, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_242268085", + "mask_path": "../../mask/hdr_front_01343.png" + }, + { + "file_path": "../../rgb/hdr_front_01344.png", + "transform_matrix": [ + [ + 0.9753581881523132, + 0.08083713054656982, + 0.20528410375118256, + -23.125064849853516 + ], + [ + -0.2172936052083969, + 0.19084276258945465, + 0.9572682976722717, + -9.993242263793945 + ], + [ + 0.0382058322429657, + -0.9782865047454834, + 0.20370545983314514, + -11.942358016967773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1344, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_342267751", + "mask_path": "../../mask/hdr_front_01344.png" + }, + { + "file_path": "../../rgb/hdr_front_01345.png", + "transform_matrix": [ + [ + 0.9755733013153076, + 0.08963625878095627, + 0.20055405795574188, + -23.12670135498047 + ], + [ + -0.21442963182926178, + 0.19027774035930634, + 0.9580262899398804, + -10.052637100219727 + ], + [ + 0.047712910920381546, + -0.9776296615600586, + 0.20485056936740875, + -11.97276782989502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1345, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_442267179", + "mask_path": "../../mask/hdr_front_01345.png" + }, + { + "file_path": "../../rgb/hdr_front_01346.png", + "transform_matrix": [ + [ + 0.9759234189987183, + 0.08305541425943375, + 0.20168106257915497, + -23.144821166992188 + ], + [ + -0.21414978802204132, + 0.18939200043678284, + 0.9582642912864685, + -10.123445510864258 + ], + [ + 0.041392263025045395, + -0.9783825874328613, + 0.20261840522289276, + -11.98670768737793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1346, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_542267560", + "mask_path": "../../mask/hdr_front_01346.png" + }, + { + "file_path": "../../rgb/hdr_front_01347.png", + "transform_matrix": [ + [ + 0.9752962589263916, + 0.0784575417637825, + 0.20649877190589905, + -23.160789489746094 + ], + [ + -0.21789567172527313, + 0.18800564110279083, + 0.9576926827430725, + -10.188267707824707 + ], + [ + 0.03631528094410896, + -0.9790292978286743, + 0.20045673847198486, + -11.98586368560791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1347, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_642267704", + "mask_path": "../../mask/hdr_front_01347.png" + }, + { + "file_path": "../../rgb/hdr_front_01348.png", + "transform_matrix": [ + [ + 0.9736279845237732, + 0.08388080447912216, + 0.21216200292110443, + -23.163742065429688 + ], + [ + -0.22432248294353485, + 0.18252906203269958, + 0.9572683572769165, + -10.248990058898926 + ], + [ + 0.04157070070505142, + -0.9796158671379089, + 0.196531742811203, + -11.989608764648438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1348, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_742266893", + "mask_path": "../../mask/hdr_front_01348.png" + }, + { + "file_path": "../../rgb/hdr_front_01349.png", + "transform_matrix": [ + [ + 0.9732844829559326, + 0.0772039070725441, + 0.21623386442661285, + -23.174713134765625 + ], + [ + -0.22736617922782898, + 0.1929403692483902, + 0.9545044898986816, + -10.333008766174316 + ], + [ + 0.031971223652362823, + -0.9781684279441833, + 0.20533940196037292, + -12.017716407775879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1349, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_842268466", + "mask_path": "../../mask/hdr_front_01349.png" + }, + { + "file_path": "../../rgb/hdr_front_01350.png", + "transform_matrix": [ + [ + 0.9733412861824036, + 0.07855966687202454, + 0.21548819541931152, + -23.180830001831055 + ], + [ + -0.22736799716949463, + 0.2068803310394287, + 0.9515798687934875, + -10.407036781311035 + ], + [ + 0.03017554059624672, + -0.9752071499824524, + 0.2192271202802658, + -12.04977035522461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1350, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_942266941", + "mask_path": "../../mask/hdr_front_01350.png" + }, + { + "file_path": "../../rgb/hdr_front_01351.png", + "transform_matrix": [ + [ + 0.9730215668678284, + 0.0872931256890297, + 0.21356260776519775, + -23.177906036376953 + ], + [ + -0.22740724682807922, + 0.2067098170518875, + 0.9516075849533081, + -10.46161937713623 + ], + [ + 0.03892330825328827, + -0.9745004177093506, + 0.22098419070243835, + -12.068828582763672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1351, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638937_42268276", + "mask_path": "../../mask/hdr_front_01351.png" + }, + { + "file_path": "../../rgb/hdr_front_01352.png", + "transform_matrix": [ + [ + 0.9724015593528748, + 0.09869692474603653, + 0.21140940487384796, + -23.173320770263672 + ], + [ + -0.22771622240543365, + 0.20420029759407043, + 0.9520753622055054, + -10.512393951416016 + ], + [ + 0.05079704523086548, + -0.9739410877227783, + 0.22103959321975708, + -12.08455753326416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1352, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638937_142267227", + "mask_path": "../../mask/hdr_front_01352.png" + }, + { + "file_path": "../../rgb/hdr_front_01353.png", + "transform_matrix": [ + [ + 0.9710674285888672, + 0.10836350917816162, + 0.21280378103256226, + -23.17640495300293 + ], + [ + -0.23125584423542023, + 0.2044166773557663, + 0.951175332069397, + -10.567037582397461 + ], + [ + 0.05957205966114998, + -0.972867488861084, + 0.2235620766878128, + -12.098553657531738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1353, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638937_242267847", + "mask_path": "../../mask/hdr_front_01353.png" + }, + { + "file_path": "../../rgb/hdr_front_01354.png", + "transform_matrix": [ + [ + 0.9696670770645142, + 0.11069008708000183, + 0.2179301530122757, + -23.187007904052734 + ], + [ + -0.23644568026065826, + 0.1987573802471161, + 0.9510987401008606, + -10.622549057006836 + ], + [ + 0.061961978673934937, + -0.9737778306007385, + 0.218900665640831, + -12.096428871154785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1354, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638937_342268228", + "mask_path": "../../mask/hdr_front_01354.png" + }, + { + "file_path": "../../rgb/hdr_front_01357.png", + "transform_matrix": [ + [ + 0.9619986414909363, + 0.09423775225877762, + 0.25627702474594116, + -23.222898483276367 + ], + [ + -0.27021968364715576, + 0.19367630779743195, + 0.9431176781654358, + -10.800862312316895 + ], + [ + 0.03924249857664108, + -0.9765289425849915, + 0.21178123354911804, + -12.120681762695312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1357, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638937_642267465", + "mask_path": "../../mask/hdr_front_01357.png" + }, + { + "file_path": "../../rgb/hdr_front_01361.png", + "transform_matrix": [ + [ + 0.9417860507965088, + 0.11926321685314178, + 0.314348965883255, + -23.260746002197266 + ], + [ + -0.3325558006763458, + 0.19291751086711884, + 0.9231410622596741, + -10.913863182067871 + ], + [ + 0.04945334792137146, + -0.9739400148391724, + 0.22134871780872345, + -12.146166801452637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1361, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638938_42267560", + "mask_path": "../../mask/hdr_front_01361.png" + }, + { + "file_path": "../../rgb/hdr_front_01363.png", + "transform_matrix": [ + [ + 0.9196135401725769, + 0.1342446357011795, + 0.369174063205719, + -23.298954010009766 + ], + [ + -0.3894597887992859, + 0.18883714079856873, + 0.9014774560928345, + -10.961234092712402 + ], + [ + 0.051304738968610764, + -0.9727893471717834, + 0.2259400635957718, + -12.14359188079834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1363, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638938_242267131", + "mask_path": "../../mask/hdr_front_01363.png" + }, + { + "file_path": "../../rgb/hdr_front_01365.png", + "transform_matrix": [ + [ + 0.9001510739326477, + 0.12525273859500885, + 0.4171806871891022, + -23.339523315429688 + ], + [ + -0.4344935417175293, + 0.1906641572713852, + 0.8802627921104431, + -11.029341697692871 + ], + [ + 0.03071390651166439, + -0.9736319184303284, + 0.2260480672121048, + -12.160002708435059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1365, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638938_442267656", + "mask_path": "../../mask/hdr_front_01365.png" + }, + { + "file_path": "../../rgb/hdr_front_01367.png", + "transform_matrix": [ + [ + 0.8960133194923401, + 0.13495267927646637, + 0.4230223000049591, + -23.367477416992188 + ], + [ + -0.44214650988578796, + 0.1835814267396927, + 0.8779547214508057, + -11.072299003601074 + ], + [ + 0.04082329943776131, + -0.9736969470977783, + 0.22416025400161743, + -12.178417205810547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1367, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638938_642267465", + "mask_path": "../../mask/hdr_front_01367.png" + }, + { + "file_path": "../../rgb/hdr_front_01369.png", + "transform_matrix": [ + [ + 0.8952794075012207, + 0.13634251058101654, + 0.42412930727005005, + -23.421415328979492 + ], + [ + -0.44320228695869446, + 0.17589835822582245, + 0.8789945840835571, + -11.138422966003418 + ], + [ + 0.04524066671729088, + -0.9749208092689514, + 0.21790547668933868, + -12.208601951599121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1369, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638938_842267274", + "mask_path": "../../mask/hdr_front_01369.png" + }, + { + "file_path": "../../rgb/hdr_front_01372.png", + "transform_matrix": [ + [ + 0.8772385716438293, + 0.13808183372020721, + 0.45976725220680237, + -23.49062156677246 + ], + [ + -0.4783455431461334, + 0.17068368196487427, + 0.8614247441291809, + -11.263040542602539 + ], + [ + 0.040472351014614105, + -0.9756026864051819, + 0.21578112244606018, + -12.236370086669922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1372, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638939_142268180", + "mask_path": "../../mask/hdr_front_01372.png" + }, + { + "file_path": "../../rgb/hdr_front_01373.png", + "transform_matrix": [ + [ + 0.8744678497314453, + 0.1392868161201477, + 0.4646559953689575, + -23.514497756958008 + ], + [ + -0.4834747910499573, + 0.17231464385986328, + 0.8582306504249573, + -11.320211410522461 + ], + [ + 0.03947317972779274, + -0.9751445651054382, + 0.2180252969264984, + -12.249913215637207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1373, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638939_242267131", + "mask_path": "../../mask/hdr_front_01373.png" + }, + { + "file_path": "../../rgb/hdr_front_01375.png", + "transform_matrix": [ + [ + 0.8722822070121765, + 0.15319348871707916, + 0.4643872082233429, + -23.536832809448242 + ], + [ + -0.485615074634552, + 0.15978297591209412, + 0.8594459891319275, + -11.39647388458252 + ], + [ + 0.05746036767959595, + -0.9751929044723511, + 0.21376889944076538, + -12.282204627990723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1375, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638939_442267179", + "mask_path": "../../mask/hdr_front_01375.png" + }, + { + "file_path": "../../rgb/hdr_front_01380.png", + "transform_matrix": [ + [ + 0.8447883725166321, + 0.1963069587945938, + 0.4977912902832031, + -23.632549285888672 + ], + [ + -0.5305445194244385, + 0.18614475429058075, + 0.826965868473053, + -11.59809398651123 + ], + [ + 0.0696779415011406, + -0.9627116918563843, + 0.26140251755714417, + -12.35791015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1380, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638939_942267894", + "mask_path": "../../mask/hdr_front_01380.png" + }, + { + "file_path": "../../rgb/hdr_front_01381.png", + "transform_matrix": [ + [ + 0.8423070907592773, + 0.20193757116794586, + 0.4997398555278778, + -23.659870147705078 + ], + [ + -0.5357882380485535, + 0.21266192197799683, + 0.8171327710151672, + -11.64455795288086 + ], + [ + 0.05873417481780052, + -0.9560314416885376, + 0.28732240200042725, + -12.39589786529541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1381, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_42267799", + "mask_path": "../../mask/hdr_front_01381.png" + }, + { + "file_path": "../../rgb/hdr_front_01384.png", + "transform_matrix": [ + [ + 0.8372538089752197, + 0.21522842347621918, + 0.5026757121086121, + -23.733732223510742 + ], + [ + -0.5430237054824829, + 0.21920433640480042, + 0.810601532459259, + -11.740864753723145 + ], + [ + 0.06427580863237381, + -0.9516440033912659, + 0.30040377378463745, + -12.474908828735352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1384, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_342267990", + "mask_path": "../../mask/hdr_front_01384.png" + }, + { + "file_path": "../../rgb/hdr_front_01385.png", + "transform_matrix": [ + [ + 0.8363118767738342, + 0.20927239954471588, + 0.5067422389984131, + -23.775129318237305 + ], + [ + -0.5453295111656189, + 0.22218243777751923, + 0.808239221572876, + -11.778363227844238 + ], + [ + 0.0565529502928257, + -0.9522815346717834, + 0.2999362051486969, + -12.47998046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1385, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_442267894", + "mask_path": "../../mask/hdr_front_01385.png" + }, + { + "file_path": "../../rgb/hdr_front_01387.png", + "transform_matrix": [ + [ + 0.829893946647644, + 0.19398361444473267, + 0.5231123566627502, + -23.83806610107422 + ], + [ + -0.5569735765457153, + 0.23342885076999664, + 0.7970517873764038, + -11.846416473388672 + ], + [ + 0.03250548243522644, + -0.952828049659729, + 0.30176490545272827, + -12.533029556274414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1387, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_642268419", + "mask_path": "../../mask/hdr_front_01387.png" + }, + { + "file_path": "../../rgb/hdr_front_01388.png", + "transform_matrix": [ + [ + 0.8298343420028687, + 0.17896485328674316, + 0.5285324454307556, + -23.881065368652344 + ], + [ + -0.5579909682273865, + 0.2583397626876831, + 0.788610577583313, + -11.8963623046875 + ], + [ + 0.004592615645378828, + -0.9493325352668762, + 0.3142399787902832, + -12.540977478027344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1388, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_742269992", + "mask_path": "../../mask/hdr_front_01388.png" + }, + { + "file_path": "../../rgb/hdr_front_01389.png", + "transform_matrix": [ + [ + 0.8285983204841614, + 0.17741011083126068, + 0.530989944934845, + -23.913265228271484 + ], + [ + -0.5598417520523071, + 0.26028135418891907, + 0.7866580486297607, + -11.941142082214355 + ], + [ + 0.0013542784145101905, + -0.9490939378738403, + 0.3149903118610382, + -12.538468360900879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1389, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_842267751", + "mask_path": "../../mask/hdr_front_01389.png" + }, + { + "file_path": "../../rgb/hdr_front_01391.png", + "transform_matrix": [ + [ + 0.8243281841278076, + 0.18621216714382172, + 0.5346102118492126, + -23.964887619018555 + ], + [ + -0.5659867525100708, + 0.2512111961841583, + 0.7852082252502441, + -12.029388427734375 + ], + [ + 0.011915283277630806, + -0.9498515725135803, + 0.3124740719795227, + -12.595672607421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1391, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_42268037", + "mask_path": "../../mask/hdr_front_01391.png" + }, + { + "file_path": "../../rgb/hdr_front_01392.png", + "transform_matrix": [ + [ + 0.8188112378120422, + 0.19802476465702057, + 0.5388267636299133, + -24.000219345092773 + ], + [ + -0.5737418532371521, + 0.2509118914604187, + 0.7796559929847717, + -12.07820987701416 + ], + [ + 0.01919315755367279, + -0.9475386142730713, + 0.31906452775001526, + -12.604164123535156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1392, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_142267227", + "mask_path": "../../mask/hdr_front_01392.png" + }, + { + "file_path": "../../rgb/hdr_front_01395.png", + "transform_matrix": [ + [ + 0.8109704852104187, + 0.18942154943943024, + 0.5535759925842285, + -24.07775115966797 + ], + [ + -0.5850852727890015, + 0.26490071415901184, + 0.7664873600006104, + -12.215875625610352 + ], + [ + -0.0014534583315253258, + -0.9454877972602844, + 0.32565444707870483, + -12.638505935668945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1395, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_442268371", + "mask_path": "../../mask/hdr_front_01395.png" + }, + { + "file_path": "../../rgb/hdr_front_01396.png", + "transform_matrix": [ + [ + 0.8142083287239075, + 0.1816813349723816, + 0.5514135956764221, + -24.102840423583984 + ], + [ + -0.5804424285888672, + 0.27486756443977356, + 0.7665079236030579, + -12.26137924194336 + ], + [ + -0.012305504642426968, + -0.9441608786582947, + 0.32925498485565186, + -12.64171314239502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1396, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_542267799", + "mask_path": "../../mask/hdr_front_01396.png" + }, + { + "file_path": "../../rgb/hdr_front_01398.png", + "transform_matrix": [ + [ + 0.81974196434021, + 0.19027847051620483, + 0.5402011275291443, + -24.132652282714844 + ], + [ + -0.5725724697113037, + 0.24993132054805756, + 0.780829668045044, + -12.348642349243164 + ], + [ + 0.013561882078647614, + -0.9493832588195801, + 0.31382742524147034, + -12.68336296081543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1398, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_742267847", + "mask_path": "../../mask/hdr_front_01398.png" + }, + { + "file_path": "../../rgb/hdr_front_01399.png", + "transform_matrix": [ + [ + 0.8275482058525085, + 0.18745066225528717, + 0.5291750431060791, + -24.15696907043457 + ], + [ + -0.5609006881713867, + 0.2365410178899765, + 0.7933719158172607, + -12.397746086120605 + ], + [ + 0.023546481505036354, + -0.953368067741394, + 0.3008902966976166, + -12.696914672851562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1399, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_842268705", + "mask_path": "../../mask/hdr_front_01399.png" + }, + { + "file_path": "../../rgb/hdr_front_01402.png", + "transform_matrix": [ + [ + 0.8619389533996582, + 0.15088987350463867, + 0.4840386211872101, + -24.19622039794922 + ], + [ + -0.5062221884727478, + 0.20285557210445404, + 0.8382055759429932, + -12.535690307617188 + ], + [ + 0.028286801651120186, + -0.9675133228302002, + 0.25123298168182373, + -12.692262649536133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1402, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638942_142267704", + "mask_path": "../../mask/hdr_front_01402.png" + }, + { + "file_path": "../../rgb/hdr_front_01410.png", + "transform_matrix": [ + [ + 0.9245041608810425, + 0.10298231244087219, + 0.3669971525669098, + -24.234956741333008 + ], + [ + -0.3787651062011719, + 0.14016667008399963, + 0.9148170948028564, + -12.824176788330078 + ], + [ + 0.04276921600103378, + -0.9847579002380371, + 0.1685907542705536, + -12.72012996673584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1410, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638942_942267656", + "mask_path": "../../mask/hdr_front_01410.png" + }, + { + "file_path": "../../rgb/hdr_front_01412.png", + "transform_matrix": [ + [ + 0.926480770111084, + 0.10535813868045807, + 0.36129361391067505, + -24.233295440673828 + ], + [ + -0.3730688989162445, + 0.13077501952648163, + 0.9185409545898438, + -12.913103103637695 + ], + [ + 0.049527570605278015, + -0.9857979416847229, + 0.16046638786792755, + -12.740579605102539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1412, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638943_142268180", + "mask_path": "../../mask/hdr_front_01412.png" + }, + { + "file_path": "../../rgb/hdr_front_01416.png", + "transform_matrix": [ + [ + 0.9433609843254089, + 0.09419332444667816, + 0.31811589002609253, + -24.26669692993164 + ], + [ + -0.3276616036891937, + 0.1141221821308136, + 0.937877357006073, + -13.142667770385742 + ], + [ + 0.05203770101070404, + -0.9889913201332092, + 0.1385219544172287, + -12.757913589477539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1416, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638943_542267560", + "mask_path": "../../mask/hdr_front_01416.png" + }, + { + "file_path": "../../rgb/hdr_front_01424.png", + "transform_matrix": [ + [ + 0.9703299403190613, + 0.09347368776798248, + 0.2229851931333542, + -24.31100845336914 + ], + [ + -0.2340240329504013, + 0.13130679726600647, + 0.9633230566978455, + -13.492199897766113 + ], + [ + 0.06076589599251747, + -0.9869251251220703, + 0.14928601682186127, + -12.832440376281738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1424, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638944_342268466", + "mask_path": "../../mask/hdr_front_01424.png" + }, + { + "file_path": "../../rgb/hdr_front_01425.png", + "transform_matrix": [ + [ + 0.97037273645401, + 0.09413221478462219, + 0.22252164781093597, + -24.31052589416504 + ], + [ + -0.2346723973751068, + 0.1480378359556198, + 0.9607360363006592, + -13.536176681518555 + ], + [ + 0.05749457702040672, + -0.9844917058944702, + 0.16574208438396454, + -12.860370635986328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1425, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638944_442268610", + "mask_path": "../../mask/hdr_front_01425.png" + }, + { + "file_path": "../../rgb/hdr_front_01427.png", + "transform_matrix": [ + [ + 0.9711396098136902, + 0.09799161553382874, + 0.21745245158672333, + -24.29656219482422 + ], + [ + -0.23082615435123444, + 0.1565539389848709, + 0.9603177309036255, + -13.598203659057617 + ], + [ + 0.0600600503385067, + -0.982796311378479, + 0.1746547371149063, + -12.883674621582031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1427, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638944_642269134", + "mask_path": "../../mask/hdr_front_01427.png" + }, + { + "file_path": "../../rgb/hdr_front_01429.png", + "transform_matrix": [ + [ + 0.9708609580993652, + 0.09496182203292847, + 0.22002556920051575, + -24.295398712158203 + ], + [ + -0.23319658637046814, + 0.16283570230007172, + 0.9586990475654602, + -13.682077407836914 + ], + [ + 0.05521180108189583, + -0.9820727705955505, + 0.1802355945110321, + -12.890522956848145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1429, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638944_842269182", + "mask_path": "../../mask/hdr_front_01429.png" + }, + { + "file_path": "../../rgb/hdr_front_01432.png", + "transform_matrix": [ + [ + 0.9652798175811768, + 0.07648541778326035, + 0.24976958334445953, + -24.32918930053711 + ], + [ + -0.2589646279811859, + 0.15487627685070038, + 0.9533889889717102, + -13.817768096923828 + ], + [ + 0.034236982464790344, + -0.9849687218666077, + 0.1693059653043747, + -12.929388999938965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1432, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638945_142267704", + "mask_path": "../../mask/hdr_front_01432.png" + }, + { + "file_path": "../../rgb/hdr_front_01433.png", + "transform_matrix": [ + [ + 0.9657569527626038, + 0.06975468248128891, + 0.2498956322669983, + -24.34337043762207 + ], + [ + -0.2580528259277344, + 0.15848176181316376, + 0.9530437588691711, + -13.87758731842041 + ], + [ + 0.026875363662838936, + -0.984894871711731, + 0.17105525732040405, + -12.922332763671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1433, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638945_242267608", + "mask_path": "../../mask/hdr_front_01433.png" + }, + { + "file_path": "../../rgb/hdr_front_01440.png", + "transform_matrix": [ + [ + 0.9145861864089966, + 0.10355763137340546, + 0.3909064829349518, + -24.472978591918945 + ], + [ + -0.40287405252456665, + 0.14968417584896088, + 0.9029325842857361, + -14.14230728149414 + ], + [ + 0.03499304875731468, + -0.9832956790924072, + 0.17861977219581604, + -12.965399742126465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1440, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638945_942267656", + "mask_path": "../../mask/hdr_front_01440.png" + }, + { + "file_path": "../../rgb/hdr_front_01459.png", + "transform_matrix": [ + [ + 0.44770845770835876, + 0.2117551565170288, + 0.868744432926178, + -24.69124984741211 + ], + [ + -0.8923553228378296, + 0.16783501207828522, + 0.4189669191837311, + -14.135769844055176 + ], + [ + -0.057087354362010956, + -0.962803840637207, + 0.2641020119190216, + -13.052509307861328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1459, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638947_842272281", + "mask_path": "../../mask/hdr_front_01459.png" + }, + { + "file_path": "../../rgb/hdr_front_01464.png", + "transform_matrix": [ + [ + 0.4236498475074768, + 0.2698046863079071, + 0.8647117018699646, + -24.881855010986328 + ], + [ + -0.9057799577713013, + 0.1358066201210022, + 0.4013965427875519, + -14.19486141204834 + ], + [ + -0.009134914726018906, + -0.9532901048660278, + 0.30191805958747864, + -13.120594024658203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1464, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638948_342268228", + "mask_path": "../../mask/hdr_front_01464.png" + }, + { + "file_path": "../../rgb/hdr_front_01469.png", + "transform_matrix": [ + [ + 0.4235750138759613, + 0.2706948220729828, + 0.8644700646400452, + -25.067548751831055 + ], + [ + -0.9057552814483643, + 0.1119760051369667, + 0.4087405800819397, + -14.293224334716797 + ], + [ + 0.013844044879078865, + -0.9561305642127991, + 0.29261350631713867, + -13.197248458862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1469, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638948_842267513", + "mask_path": "../../mask/hdr_front_01469.png" + }, + { + "file_path": "../../rgb/hdr_front_01472.png", + "transform_matrix": [ + [ + 0.4097979962825775, + 0.26519131660461426, + 0.8727766871452332, + -25.198183059692383 + ], + [ + -0.9121763110160828, + 0.11878713965415955, + 0.3922041654586792, + -14.365459442138672 + ], + [ + 0.00033449294278398156, + -0.9568507671356201, + 0.2905799448490143, + -13.266422271728516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1472, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638949_142267942", + "mask_path": "../../mask/hdr_front_01472.png" + }, + { + "file_path": "../../rgb/hdr_left_00990.png", + "transform_matrix": [ + [ + 0.045119643211364746, + 0.05876820534467697, + -0.9972514510154724, + -18.213939666748047 + ], + [ + 0.9961848258972168, + -0.0772935301065445, + 0.04051646217703819, + -14.706677436828613 + ], + [ + -0.0747000202536583, + -0.9952749013900757, + -0.06203143671154976, + -8.74912166595459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 990, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_442267656", + "mask_path": "../../mask/hdr_left_00990.png" + }, + { + "file_path": "../../rgb/hdr_left_00991.png", + "transform_matrix": [ + [ + 0.048629749566316605, + 0.038095321506261826, + -0.9980900883674622, + -18.228126525878906 + ], + [ + 0.9932091236114502, + -0.10758409649133682, + 0.044285617768764496, + -14.649625778198242 + ], + [ + -0.10569155216217041, + -0.9934659004211426, + -0.043068401515483856, + -8.75728988647461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 991, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_542267560", + "mask_path": "../../mask/hdr_left_00991.png" + }, + { + "file_path": "../../rgb/hdr_left_00994.png", + "transform_matrix": [ + [ + 0.061604779213666916, + 0.056354131549596786, + -0.9965084791183472, + -18.24370765686035 + ], + [ + 0.990947961807251, + -0.12276653945446014, + 0.05431835725903511, + -14.539398193359375 + ], + [ + -0.11927680671215057, + -0.9908343553543091, + -0.06340699642896652, + -8.779521942138672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 994, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_842266798", + "mask_path": "../../mask/hdr_left_00994.png" + }, + { + "file_path": "../../rgb/hdr_left_00995.png", + "transform_matrix": [ + [ + 0.0558040626347065, + 0.0580335408449173, + -0.9967537522315979, + -18.271976470947266 + ], + [ + 0.991126298904419, + -0.12384586781263351, + 0.04827836528420448, + -14.481700897216797 + ], + [ + -0.12064205855131149, + -0.9906030297279358, + -0.06442967057228088, + -8.798185348510742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 995, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_942267417", + "mask_path": "../../mask/hdr_left_00995.png" + }, + { + "file_path": "../../rgb/hdr_left_00996.png", + "transform_matrix": [ + [ + 0.038680300116539, + 0.04918985441327095, + -0.9980401992797852, + -18.31858253479004 + ], + [ + 0.9929383993148804, + -0.11398778110742569, + 0.032864514738321304, + -14.406752586364746 + ], + [ + -0.11214777082204819, + -0.992263674736023, + -0.05325157567858696, + -8.791688919067383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 996, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_42267322", + "mask_path": "../../mask/hdr_left_00996.png" + }, + { + "file_path": "../../rgb/hdr_left_00999.png", + "transform_matrix": [ + [ + -0.013161691837012768, + 0.06448669731616974, + -0.9978317618370056, + -18.36665153503418 + ], + [ + 0.9950160980224609, + -0.09780015796422958, + -0.019445069134235382, + -14.285295486450195 + ], + [ + -0.09884205460548401, + -0.9931146502494812, + -0.0628780797123909, + -8.828304290771484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 999, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_342267990", + "mask_path": "../../mask/hdr_left_00999.png" + }, + { + "file_path": "../../rgb/hdr_left_01000.png", + "transform_matrix": [ + [ + -0.017189057543873787, + 0.05139981582760811, + -0.9985302090644836, + -18.392101287841797 + ], + [ + 0.9907035231590271, + -0.13391374051570892, + -0.02394760213792324, + -14.245162010192871 + ], + [ + -0.13494780659675598, + -0.9896591305732727, + -0.04862012341618538, + -8.841669082641602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1000, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_442267656", + "mask_path": "../../mask/hdr_left_01000.png" + }, + { + "file_path": "../../rgb/hdr_left_01002.png", + "transform_matrix": [ + [ + -0.005303749814629555, + 0.07519013434648514, + -0.9971551299095154, + -18.392040252685547 + ], + [ + 0.9887522459030151, + -0.1486528515815735, + -0.01646818034350872, + -14.195995330810547 + ], + [ + -0.14946819841861725, + -0.9860267639160156, + -0.07355599850416183, + -8.848698616027832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1002, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_642267704", + "mask_path": "../../mask/hdr_left_01002.png" + }, + { + "file_path": "../../rgb/hdr_left_01004.png", + "transform_matrix": [ + [ + 0.012094997800886631, + 0.08629699051380157, + -0.9961960315704346, + -18.393152236938477 + ], + [ + 0.9900423288345337, + -0.14076972007751465, + -0.00017412472516298294, + -14.106746673583984 + ], + [ + -0.14024925231933594, + -0.9862741827964783, + -0.0871402695775032, + -8.871950149536133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1004, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_842268228", + "mask_path": "../../mask/hdr_left_01004.png" + }, + { + "file_path": "../../rgb/hdr_left_01005.png", + "transform_matrix": [ + [ + 0.011081746779382229, + 0.08676883578300476, + -0.9961668252944946, + -18.4150447845459 + ], + [ + 0.9917485117912292, + -0.1281982958316803, + -0.00013382566976360977, + -14.039549827575684 + ], + [ + -0.1277184784412384, + -0.987945556640625, + -0.08747351914644241, + -8.861393928527832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1005, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_942267417", + "mask_path": "../../mask/hdr_left_01005.png" + }, + { + "file_path": "../../rgb/hdr_left_01008.png", + "transform_matrix": [ + [ + -0.004589696880429983, + 0.09661629796028137, + -0.9953111410140991, + -18.422637939453125 + ], + [ + 0.9950117468833923, + -0.09874488413333893, + -0.014173629693686962, + -13.878351211547852 + ], + [ + -0.0996512696146965, + -0.9904114007949829, + -0.09568113088607788, + -8.876392364501953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1008, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_242267847", + "mask_path": "../../mask/hdr_left_01008.png" + }, + { + "file_path": "../../rgb/hdr_left_01009.png", + "transform_matrix": [ + [ + 7.744989125058055e-05, + 0.07318315654993057, + -0.9973184466362, + -18.438060760498047 + ], + [ + 0.9907767176628113, + -0.13514679670333862, + -0.009840095415711403, + -13.815701484680176 + ], + [ + -0.13550451397895813, + -0.9881191849708557, + -0.07251863181591034, + -8.895964622497559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1009, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_342268228", + "mask_path": "../../mask/hdr_left_01009.png" + }, + { + "file_path": "../../rgb/hdr_left_01011.png", + "transform_matrix": [ + [ + 0.01933128945529461, + 0.08329512923955917, + -0.9963374733924866, + -18.436933517456055 + ], + [ + 0.9884575605392456, + -0.1513572782278061, + 0.006524698343127966, + -13.754258155822754 + ], + [ + -0.15025943517684937, + -0.9849634170532227, + -0.08525960892438889, + -8.909692764282227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1011, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_542267799", + "mask_path": "../../mask/hdr_left_01011.png" + }, + { + "file_path": "../../rgb/hdr_left_01012.png", + "transform_matrix": [ + [ + 0.029579391703009605, + 0.08876556903123856, + -0.9956132173538208, + -18.43742561340332 + ], + [ + 0.9885200262069702, + -0.15024279057979584, + 0.015973493456840515, + -13.703932762145996 + ], + [ + -0.14816579222679138, + -0.9846562147140503, + -0.09219063818454742, + -8.919629096984863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1012, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_642267942", + "mask_path": "../../mask/hdr_left_01012.png" + }, + { + "file_path": "../../rgb/hdr_left_01013.png", + "transform_matrix": [ + [ + 0.04291798546910286, + 0.08863389492034912, + -0.9951392412185669, + -18.442420959472656 + ], + [ + 0.9884144067764282, + -0.1489112675189972, + 0.029364896938204765, + -13.656240463256836 + ], + [ + -0.14558470249176025, + -0.9848703145980835, + -0.09399797767400742, + -8.935081481933594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1013, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_742267847", + "mask_path": "../../mask/hdr_left_01013.png" + }, + { + "file_path": "../../rgb/hdr_left_01014.png", + "transform_matrix": [ + [ + 0.04943867772817612, + 0.08540996164083481, + -0.9951185584068298, + -18.467477798461914 + ], + [ + 0.9893475770950317, + -0.14077377319335938, + 0.03706950694322586, + -13.588129043579102 + ], + [ + -0.13692046701908112, + -0.9863508343696594, + -0.09145978838205338, + -8.94245719909668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1014, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_842268228", + "mask_path": "../../mask/hdr_left_01014.png" + }, + { + "file_path": "../../rgb/hdr_left_01017.png", + "transform_matrix": [ + [ + 0.05797858163714409, + 0.09531571716070175, + -0.9937572479248047, + -18.491470336914062 + ], + [ + 0.9914456009864807, + -0.1220952644944191, + 0.04613299295306206, + -13.443897247314453 + ], + [ + -0.1169358342885971, + -0.9879310131072998, + -0.10157925635576248, + -8.974892616271973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1017, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638901_142267704", + "mask_path": "../../mask/hdr_left_01017.png" + }, + { + "file_path": "../../rgb/hdr_left_01018.png", + "transform_matrix": [ + [ + 0.06768718361854553, + 0.07431809604167938, + -0.9949347972869873, + -18.507322311401367 + ], + [ + 0.9866742491722107, + -0.15287519991397858, + 0.0557059608399868, + -13.392878532409668 + ], + [ + -0.14796088635921478, + -0.9854471683502197, + -0.08367542922496796, + -8.985748291015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1018, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638901_242267608", + "mask_path": "../../mask/hdr_left_01018.png" + }, + { + "file_path": "../../rgb/hdr_left_01020.png", + "transform_matrix": [ + [ + 0.08362267166376114, + 0.08531385660171509, + -0.9928387403488159, + -18.508865356445312 + ], + [ + 0.9841346740722656, + -0.16352474689483643, + 0.06883800029754639, + -13.331727027893066 + ], + [ + -0.1564808487892151, + -0.9828434586524963, + -0.09763467311859131, + -8.984933853149414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1020, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638901_442267894", + "mask_path": "../../mask/hdr_left_01020.png" + }, + { + "file_path": "../../rgb/hdr_left_01022.png", + "transform_matrix": [ + [ + 0.08875687420368195, + 0.08579207211732864, + -0.9923517107963562, + -18.520057678222656 + ], + [ + 0.9856526255607605, + -0.15116353332996368, + 0.07508910447359085, + -13.219589233398438 + ], + [ + -0.1435653418302536, + -0.9847788214683533, + -0.09797797352075577, + -9.004236221313477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1022, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638901_642268180", + "mask_path": "../../mask/hdr_left_01022.png" + }, + { + "file_path": "../../rgb/hdr_left_01026.png", + "transform_matrix": [ + [ + 0.0644167959690094, + 0.07855478674173355, + -0.9948263764381409, + -18.56351089477539 + ], + [ + 0.9903600215911865, + -0.1275338977575302, + 0.054057084023952484, + -13.02907943725586 + ], + [ + -0.1226276382803917, + -0.9887185096740723, + -0.0860128402709961, + -9.043700218200684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1026, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638902_42268991", + "mask_path": "../../mask/hdr_left_01026.png" + }, + { + "file_path": "../../rgb/hdr_left_01030.png", + "transform_matrix": [ + [ + 0.046233169734478, + 0.0612083375453949, + -0.9970536231994629, + -18.619840621948242 + ], + [ + 0.986272394657135, + -0.16119059920310974, + 0.035837892442941666, + -12.874574661254883 + ], + [ + -0.15852206945419312, + -0.9850234985351562, + -0.06782042980194092, + -9.070582389831543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1030, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638902_442268133", + "mask_path": "../../mask/hdr_left_01030.png" + }, + { + "file_path": "../../rgb/hdr_left_01031.png", + "transform_matrix": [ + [ + 0.03336627408862114, + 0.06218266114592552, + -0.9975069165229797, + -18.645299911499023 + ], + [ + 0.9877850413322449, + -0.15405037999153137, + 0.023437874391674995, + -12.817488670349121 + ], + [ + -0.15220887959003448, + -0.9861043691635132, + -0.066563181579113, + -9.072806358337402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1031, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638902_542267560", + "mask_path": "../../mask/hdr_left_01031.png" + }, + { + "file_path": "../../rgb/hdr_left_01035.png", + "transform_matrix": [ + [ + -0.009137445129454136, + 0.05957219749689102, + -0.9981821775436401, + -18.68367576599121 + ], + [ + 0.9892079830169678, + -0.1454411745071411, + -0.01773533783853054, + -12.625614166259766 + ], + [ + -0.14623333513736725, + -0.9875717759132385, + -0.057600319385528564, + -9.103374481201172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1035, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638902_942266464", + "mask_path": "../../mask/hdr_left_01035.png" + }, + { + "file_path": "../../rgb/hdr_left_01039.png", + "transform_matrix": [ + [ + 0.004569983575493097, + 0.05566452443599701, + -0.9984390735626221, + -18.744375228881836 + ], + [ + 0.9891495704650879, + -0.14686597883701324, + -0.0036605512723326683, + -12.438727378845215 + ], + [ + -0.14684048295021057, + -0.9875888824462891, + -0.05573170259594917, + -9.13218879699707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1039, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638903_342267036", + "mask_path": "../../mask/hdr_left_01039.png" + }, + { + "file_path": "../../rgb/hdr_left_01040.png", + "transform_matrix": [ + [ + 0.006867567077279091, + 0.05693673714995384, + -0.9983541965484619, + -18.76703453063965 + ], + [ + 0.989474892616272, + -0.14469705522060394, + -0.0014457046054303646, + -12.389253616333008 + ], + [ + -0.1445411890745163, + -0.9878365397453308, + -0.057331185787916183, + -9.143793106079102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1040, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638903_442266941", + "mask_path": "../../mask/hdr_left_01040.png" + }, + { + "file_path": "../../rgb/hdr_left_01042.png", + "transform_matrix": [ + [ + 0.012499355711042881, + 0.06299617141485214, + -0.9979355335235596, + -18.786352157592773 + ], + [ + 0.9908033013343811, + -0.13525472581386566, + 0.0038718373980373144, + -12.315629005432129 + ], + [ + -0.13473156094551086, + -0.9888061881065369, + -0.06410740315914154, + -9.166802406311035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1042, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638903_642266750", + "mask_path": "../../mask/hdr_left_01042.png" + }, + { + "file_path": "../../rgb/hdr_left_01044.png", + "transform_matrix": [ + [ + 0.023788025602698326, + 0.05725860223174095, + -0.9980759620666504, + -18.795440673828125 + ], + [ + 0.9878647327423096, + -0.1546214520931244, + 0.014674178324639797, + -12.20378589630127 + ], + [ + -0.15348371863365173, + -0.9863132238388062, + -0.06024190038442612, + -9.187716484069824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1044, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638903_842267036", + "mask_path": "../../mask/hdr_left_01044.png" + }, + { + "file_path": "../../rgb/hdr_left_01046.png", + "transform_matrix": [ + [ + 0.03434878587722778, + 0.06641284376382828, + -0.9972007870674133, + -18.80634117126465 + ], + [ + 0.9862726926803589, + -0.16350288689136505, + 0.023083191365003586, + -12.147968292236328 + ], + [ + -0.16151216626167297, + -0.9843049645423889, + -0.07111730426549911, + -9.195517539978027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1046, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638904_42267084", + "mask_path": "../../mask/hdr_left_01046.png" + }, + { + "file_path": "../../rgb/hdr_left_01048.png", + "transform_matrix": [ + [ + 0.0395427942276001, + 0.06762672960758209, + -0.9969267845153809, + -18.827302932739258 + ], + [ + 0.9880038499832153, + -0.1517009437084198, + 0.028898194432258606, + -12.0482759475708 + ], + [ + -0.14928041398525238, + -0.986110270023346, + -0.07281413674354553, + -9.2056303024292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1048, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638904_242266654", + "mask_path": "../../mask/hdr_left_01048.png" + }, + { + "file_path": "../../rgb/hdr_left_01053.png", + "transform_matrix": [ + [ + 0.05603804066777229, + 0.06004713475704193, + -0.9966212511062622, + -18.845855712890625 + ], + [ + 0.9891427159309387, + -0.13916045427322388, + 0.04723302274942398, + -11.841216087341309 + ], + [ + -0.13585405051708221, + -0.9884476661682129, + -0.06719347089529037, + -9.232903480529785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1053, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638904_742268085", + "mask_path": "../../mask/hdr_left_01053.png" + }, + { + "file_path": "../../rgb/hdr_left_01056.png", + "transform_matrix": [ + [ + 0.06922698765993118, + 0.060246195644140244, + -0.9957801103591919, + -18.855710983276367 + ], + [ + 0.9885767698287964, + -0.13809871673583984, + 0.06037101894617081, + -11.768407821655273 + ], + [ + -0.13387881219387054, + -0.9885844588279724, + -0.06911814212799072, + -9.238121032714844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1056, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638905_42268991", + "mask_path": "../../mask/hdr_left_01056.png" + }, + { + "file_path": "../../rgb/hdr_left_01068.png", + "transform_matrix": [ + [ + -0.12237627059221268, + 0.0767052173614502, + -0.9895152449607849, + -18.996448516845703 + ], + [ + 0.9838089346885681, + -0.12215601652860641, + -0.13113988935947418, + -11.696420669555664 + ], + [ + -0.13093432784080505, + -0.9895424246788025, + -0.060514289885759354, + -9.239048957824707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1068, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638906_242268085", + "mask_path": "../../mask/hdr_left_01068.png" + }, + { + "file_path": "../../rgb/hdr_left_01071.png", + "transform_matrix": [ + [ + -0.23001572489738464, + 0.09188741445541382, + -0.9688392281532288, + -19.033082962036133 + ], + [ + 0.9617367386817932, + -0.13080120086669922, + -0.2407350093126297, + -11.73406982421875 + ], + [ + -0.1488458514213562, + -0.9871412515640259, + -0.05828516557812691, + -9.27408218383789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1071, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638906_542267322", + "mask_path": "../../mask/hdr_left_01071.png" + }, + { + "file_path": "../../rgb/hdr_left_01077.png", + "transform_matrix": [ + [ + -0.4196767807006836, + 0.1015264242887497, + -0.9019776582717896, + -19.101194381713867 + ], + [ + 0.8895666599273682, + -0.15149179100990295, + -0.43095406889915466, + -11.791180610656738 + ], + [ + -0.18039540946483612, + -0.9832307696342468, + -0.02673693560063839, + -9.269050598144531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1077, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638907_142268419", + "mask_path": "../../mask/hdr_left_01077.png" + }, + { + "file_path": "../../rgb/hdr_left_01081.png", + "transform_matrix": [ + [ + -0.5459349751472473, + 0.11114341020584106, + -0.8304228782653809, + -19.15227699279785 + ], + [ + 0.8173436522483826, + -0.1471785306930542, + -0.5570347309112549, + -11.862381935119629 + ], + [ + -0.18413116037845612, + -0.9828457236289978, + -0.010492457076907158, + -9.265461921691895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1081, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638907_542264223", + "mask_path": "../../mask/hdr_left_01081.png" + }, + { + "file_path": "../../rgb/hdr_left_01092.png", + "transform_matrix": [ + [ + -0.7981985807418823, + 0.16115978360176086, + -0.5804363489151001, + -19.302684783935547 + ], + [ + 0.5659763813018799, + -0.129310742020607, + -0.8142170906066895, + -11.937891960144043 + ], + [ + -0.20627567172050476, + -0.9784203767776489, + 0.012003044597804546, + -9.298571586608887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1092, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638908_642267942", + "mask_path": "../../mask/hdr_left_01092.png" + }, + { + "file_path": "../../rgb/hdr_left_01094.png", + "transform_matrix": [ + [ + -0.835445761680603, + 0.19633148610591888, + -0.5133070945739746, + -19.348522186279297 + ], + [ + 0.4990491569042206, + -0.12016624212265015, + -0.8582016229629517, + -11.950716018676758 + ], + [ + -0.23017415404319763, + -0.9731464982032776, + 0.0024133147671818733, + -9.341710090637207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1094, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638908_842267274", + "mask_path": "../../mask/hdr_left_01094.png" + }, + { + "file_path": "../../rgb/hdr_left_01096.png", + "transform_matrix": [ + [ + -0.8651114106178284, + 0.213650181889534, + -0.45380154252052307, + -19.41550064086914 + ], + [ + 0.4341732859611511, + -0.1340436488389969, + -0.8908006548881531, + -11.985343933105469 + ], + [ + -0.25114893913269043, + -0.9676703214645386, + 0.023201502859592438, + -9.365255355834961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1096, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_42268037", + "mask_path": "../../mask/hdr_left_01096.png" + }, + { + "file_path": "../../rgb/hdr_left_01098.png", + "transform_matrix": [ + [ + -0.8622787594795227, + 0.24481618404388428, + -0.44332873821258545, + -19.466581344604492 + ], + [ + 0.41772598028182983, + -0.15109798312187195, + -0.8959209322929382, + -12.008703231811523 + ], + [ + -0.2863219976425171, + -0.9577236175537109, + 0.02802250161767006, + -9.377897262573242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1098, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_242267370", + "mask_path": "../../mask/hdr_left_01098.png" + }, + { + "file_path": "../../rgb/hdr_left_01100.png", + "transform_matrix": [ + [ + -0.8576804995536804, + 0.27894702553749084, + -0.4319405257701874, + -19.56812858581543 + ], + [ + 0.41428160667419434, + -0.12267983704805374, + -0.9018427729606628, + -11.997781753540039 + ], + [ + -0.3045566976070404, + -0.9524381756782532, + -0.010342497378587723, + -9.426041603088379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1100, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_442266941", + "mask_path": "../../mask/hdr_left_01100.png" + }, + { + "file_path": "../../rgb/hdr_left_01102.png", + "transform_matrix": [ + [ + -0.8545374870300293, + 0.31508496403694153, + -0.41290104389190674, + -19.619701385498047 + ], + [ + 0.40097326040267944, + -0.10508540272712708, + -0.9100425839424133, + -11.987448692321777 + ], + [ + -0.33013060688972473, + -0.9432277083396912, + -0.03654123470187187, + -9.467336654663086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1102, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_642266750", + "mask_path": "../../mask/hdr_left_01102.png" + }, + { + "file_path": "../../rgb/hdr_left_01103.png", + "transform_matrix": [ + [ + -0.8563941717147827, + 0.3235172629356384, + -0.4023997187614441, + -19.675691604614258 + ], + [ + 0.3916166126728058, + -0.10091467201709747, + -0.9145779013633728, + -11.971912384033203 + ], + [ + -0.336489737033844, + -0.9408256411552429, + -0.04027198627591133, + -9.502411842346191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1103, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_742267370", + "mask_path": "../../mask/hdr_left_01103.png" + }, + { + "file_path": "../../rgb/hdr_left_01104.png", + "transform_matrix": [ + [ + -0.8530962467193604, + 0.33656132221221924, + -0.39868929982185364, + -19.726913452148438 + ], + [ + 0.38340845704078674, + -0.11387789994478226, + -0.9165313243865967, + -11.961604118347168 + ], + [ + -0.3538708984851837, + -0.9347504377365112, + -0.03189163655042648, + -9.525543212890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1104, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_842267036", + "mask_path": "../../mask/hdr_left_01104.png" + }, + { + "file_path": "../../rgb/hdr_left_01106.png", + "transform_matrix": [ + [ + -0.8481664657592773, + 0.34759417176246643, + -0.3997397720813751, + -19.80111312866211 + ], + [ + 0.3845231533050537, + -0.11504590511322021, + -0.9159182906150818, + -11.948738098144531 + ], + [ + -0.36435630917549133, + -0.9305604696273804, + -0.036079924553632736, + -9.56913948059082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1106, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_42266845", + "mask_path": "../../mask/hdr_left_01106.png" + }, + { + "file_path": "../../rgb/hdr_left_01107.png", + "transform_matrix": [ + [ + -0.8368086814880371, + 0.3819459080696106, + -0.3922608494758606, + -19.86907196044922 + ], + [ + 0.3920917212963104, + -0.08197424560785294, + -0.9162665009498596, + -11.930108070373535 + ], + [ + -0.38211947679519653, + -0.9205420017242432, + -0.08116105198860168, + -9.599581718444824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1107, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_142267942", + "mask_path": "../../mask/hdr_left_01107.png" + }, + { + "file_path": "../../rgb/hdr_left_01110.png", + "transform_matrix": [ + [ + -0.8063129186630249, + 0.41246455907821655, + -0.4239487051963806, + -20.00833511352539 + ], + [ + 0.4303148686885834, + -0.0827018991112709, + -0.8988824486732483, + -11.877342224121094 + ], + [ + -0.40581846237182617, + -0.9072118997573853, + -0.11080600321292877, + -9.678298950195312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1110, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_442267179", + "mask_path": "../../mask/hdr_left_01110.png" + }, + { + "file_path": "../../rgb/hdr_left_01111.png", + "transform_matrix": [ + [ + -0.7886075973510742, + 0.42015138268470764, + -0.4489664137363434, + -20.05050277709961 + ], + [ + 0.4409565329551697, + -0.12245635688304901, + -0.8891354203224182, + -11.861093521118164 + ], + [ + -0.42855024337768555, + -0.8991536498069763, + -0.08869850635528564, + -9.710524559020996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1111, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_542268276", + "mask_path": "../../mask/hdr_left_01111.png" + }, + { + "file_path": "../../rgb/hdr_left_01113.png", + "transform_matrix": [ + [ + -0.7682069540023804, + 0.394255131483078, + -0.5044015645980835, + -20.153669357299805 + ], + [ + 0.4768683612346649, + -0.17329104244709015, + -0.8617230653762817, + -11.850156784057617 + ], + [ + -0.4271470010280609, + -0.9025149345397949, + -0.05488439276814461, + -9.726398468017578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1113, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_742268562", + "mask_path": "../../mask/hdr_left_01113.png" + }, + { + "file_path": "../../rgb/hdr_left_01114.png", + "transform_matrix": [ + [ + -0.765193521976471, + 0.36635297536849976, + -0.5293999314308167, + -20.22075080871582 + ], + [ + 0.5007904171943665, + -0.17805342376232147, + -0.8470572829246521, + -11.833165168762207 + ], + [ + -0.4045833945274353, + -0.9132812023162842, + -0.04722074046730995, + -9.756989479064941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1114, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_842267036", + "mask_path": "../../mask/hdr_left_01114.png" + }, + { + "file_path": "../../rgb/hdr_left_01116.png", + "transform_matrix": [ + [ + -0.7282508015632629, + 0.36325791478157043, + -0.581114649772644, + -20.248872756958008 + ], + [ + 0.5564079880714417, + -0.1816161721944809, + -0.8108179569244385, + -11.814125061035156 + ], + [ + -0.40007585287094116, + -0.9138158559799194, + -0.06985745579004288, + -9.790741920471191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1116, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638911_42268753", + "mask_path": "../../mask/hdr_left_01116.png" + }, + { + "file_path": "../../rgb/hdr_left_01118.png", + "transform_matrix": [ + [ + -0.6603431105613708, + 0.3599344491958618, + -0.6590856909751892, + -20.27876853942871 + ], + [ + 0.6489298343658447, + -0.16819949448108673, + -0.7420235276222229, + -11.779533386230469 + ], + [ + -0.37793776392936707, + -0.9176907539367676, + -0.12250278890132904, + -9.839566230773926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1118, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638911_242269039", + "mask_path": "../../mask/hdr_left_01118.png" + }, + { + "file_path": "../../rgb/hdr_left_01120.png", + "transform_matrix": [ + [ + -0.5634152889251709, + 0.3604114353656769, + -0.7434155941009521, + -20.232826232910156 + ], + [ + 0.7511581182479858, + -0.1511823982000351, + -0.6425769925117493, + -11.714398384094238 + ], + [ + -0.3439834415912628, + -0.9204605221748352, + -0.18554751574993134, + -9.844776153564453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1120, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638911_442268610", + "mask_path": "../../mask/hdr_left_01120.png" + }, + { + "file_path": "../../rgb/hdr_left_01123.png", + "transform_matrix": [ + [ + -0.4081076383590698, + 0.35576993227005005, + -0.8407591581344604, + -20.182659149169922 + ], + [ + 0.8648387789726257, + -0.14431139826774597, + -0.4808618426322937, + -11.639880180358887 + ], + [ + -0.2924073040485382, + -0.923364520072937, + -0.24878902733325958, + -9.837821006774902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1123, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638911_742267608", + "mask_path": "../../mask/hdr_left_01123.png" + }, + { + "file_path": "../../rgb/hdr_left_01125.png", + "transform_matrix": [ + [ + -0.3224339187145233, + 0.3307289481163025, + -0.8869355320930481, + -20.160661697387695 + ], + [ + 0.9081689715385437, + -0.15616239607334137, + -0.38838428258895874, + -11.580286979675293 + ], + [ + -0.2669559419155121, + -0.9307157397270203, + -0.25000572204589844, + -9.836610794067383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1125, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638911_942267179", + "mask_path": "../../mask/hdr_left_01125.png" + }, + { + "file_path": "../../rgb/hdr_left_01129.png", + "transform_matrix": [ + [ + -0.29853126406669617, + 0.3136337101459503, + -0.9013950824737549, + -20.135709762573242 + ], + [ + 0.9212709069252014, + -0.15198379755020142, + -0.3579956293106079, + -11.529695510864258 + ], + [ + -0.24927693605422974, + -0.9373019933700562, + -0.24356965720653534, + -9.825897216796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1129, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638912_342268466", + "mask_path": "../../mask/hdr_left_01129.png" + }, + { + "file_path": "../../rgb/hdr_left_01132.png", + "transform_matrix": [ + [ + -0.3144809901714325, + 0.30049750208854675, + -0.9004459381103516, + -20.166093826293945 + ], + [ + 0.918612003326416, + -0.14276620745658875, + -0.36846959590911865, + -11.46269416809082 + ], + [ + -0.2392774373292923, + -0.943037211894989, + -0.23114334046840668, + -9.854460716247559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1132, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638912_642268180", + "mask_path": "../../mask/hdr_left_01132.png" + }, + { + "file_path": "../../rgb/hdr_left_01134.png", + "transform_matrix": [ + [ + -0.315575510263443, + 0.2570566236972809, + -0.9134188890457153, + -20.220645904541016 + ], + [ + 0.9165281057357788, + -0.16671721637248993, + -0.3635677099227905, + -11.382950782775879 + ], + [ + -0.24574014544487, + -0.951907217502594, + -0.1829877346754074, + -9.880669593811035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1134, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638912_842267990", + "mask_path": "../../mask/hdr_left_01134.png" + }, + { + "file_path": "../../rgb/hdr_left_01136.png", + "transform_matrix": [ + [ + -0.29800987243652344, + 0.24594859778881073, + -0.9223336577415466, + -20.248058319091797 + ], + [ + 0.922951877117157, + -0.17235657572746277, + -0.34417006373405457, + -11.329781532287598 + ], + [ + -0.2436184138059616, + -0.9538357257843018, + -0.1756347417831421, + -9.898873329162598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1136, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_42267560", + "mask_path": "../../mask/hdr_left_01136.png" + }, + { + "file_path": "../../rgb/hdr_left_01137.png", + "transform_matrix": [ + [ + -0.29713675379753113, + 0.24078913033008575, + -0.9239752292633057, + -20.299875259399414 + ], + [ + 0.9237842559814453, + -0.17227518558502197, + -0.34197044372558594, + -11.281339645385742 + ], + [ + -0.2415207475423813, + -0.9551659226417542, + -0.1712479144334793, + -9.92879581451416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1137, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_142267704", + "mask_path": "../../mask/hdr_left_01137.png" + }, + { + "file_path": "../../rgb/hdr_left_01138.png", + "transform_matrix": [ + [ + -0.29857051372528076, + 0.23057571053504944, + -0.9261157512664795, + -20.33409881591797 + ], + [ + 0.924139678478241, + -0.17251907289028168, + -0.34088563919067383, + -11.243622779846191 + ], + [ + -0.2383725494146347, + -0.9576388001441956, + -0.16157503426074982, + -9.938337326049805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1138, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_242268085", + "mask_path": "../../mask/hdr_left_01138.png" + }, + { + "file_path": "../../rgb/hdr_left_01140.png", + "transform_matrix": [ + [ + -0.30651840567588806, + 0.21827787160873413, + -0.9264993667602539, + -20.37314796447754 + ], + [ + 0.9247164726257324, + -0.16252249479293823, + -0.3442178964614868, + -11.181709289550781 + ], + [ + -0.2257121205329895, + -0.962258517742157, + -0.15202899277210236, + -9.964951515197754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1140, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_442267894", + "mask_path": "../../mask/hdr_left_01140.png" + }, + { + "file_path": "../../rgb/hdr_left_01141.png", + "transform_matrix": [ + [ + -0.3124796450138092, + 0.20998403429985046, + -0.9264249205589294, + -20.396665573120117 + ], + [ + 0.9245883822441101, + -0.15650895237922668, + -0.3473345935344696, + -11.127957344055176 + ], + [ + -0.21792849898338318, + -0.9650967121124268, + -0.14524292945861816, + -9.989383697509766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1141, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_542267560", + "mask_path": "../../mask/hdr_left_01141.png" + }, + { + "file_path": "../../rgb/hdr_left_01142.png", + "transform_matrix": [ + [ + -0.3125693202018738, + 0.20777980983257294, + -0.926891565322876, + -20.423376083374023 + ], + [ + 0.9235151410102844, + -0.1618925929069519, + -0.3477218747138977, + -11.079039573669434 + ], + [ + -0.22230646014213562, + -0.9646856784820557, + -0.14128515124320984, + -10.001964569091797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1142, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_642267704", + "mask_path": "../../mask/hdr_left_01142.png" + }, + { + "file_path": "../../rgb/hdr_left_01144.png", + "transform_matrix": [ + [ + -0.29949960112571716, + 0.22809870541095734, + -0.9264291524887085, + -20.43525505065918 + ], + [ + 0.9283343553543091, + -0.1544489562511444, + -0.33814290165901184, + -11.007689476013184 + ], + [ + -0.22021596133708954, + -0.9613098502159119, + -0.16549445688724518, + -10.011274337768555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1144, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_842268466", + "mask_path": "../../mask/hdr_left_01144.png" + }, + { + "file_path": "../../rgb/hdr_left_01146.png", + "transform_matrix": [ + [ + -0.2863529920578003, + 0.2455436885356903, + -0.9261264204978943, + -20.456270217895508 + ], + [ + 0.9326974749565125, + -0.14976806938648224, + -0.3280927240848541, + -10.911713600158691 + ], + [ + -0.21926525235176086, + -0.9577462673187256, + -0.18613143265247345, + -10.050477981567383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1146, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_42267322", + "mask_path": "../../mask/hdr_left_01146.png" + }, + { + "file_path": "../../rgb/hdr_left_01147.png", + "transform_matrix": [ + [ + -0.2881164848804474, + 0.24825747311115265, + -0.9248551726341248, + -20.480581283569336 + ], + [ + 0.931859016418457, + -0.14972169697284698, + -0.3304878771305084, + -10.859587669372559 + ], + [ + -0.22051694989204407, + -0.9570536017417908, + -0.1882036328315735, + -10.06025218963623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1147, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_142266988", + "mask_path": "../../mask/hdr_left_01147.png" + }, + { + "file_path": "../../rgb/hdr_left_01150.png", + "transform_matrix": [ + [ + -0.3043935298919678, + 0.250649094581604, + -0.9189774990081787, + -20.562847137451172 + ], + [ + 0.9281426072120667, + -0.13893534243106842, + -0.3453235924243927, + -10.72339916229248 + ], + [ + -0.21423347294330597, + -0.9580563902854919, + -0.19034704566001892, + -10.113364219665527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1150, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_442267179", + "mask_path": "../../mask/hdr_left_01150.png" + }, + { + "file_path": "../../rgb/hdr_left_01151.png", + "transform_matrix": [ + [ + -0.30113258957862854, + 0.24932506680488586, + -0.9204108119010925, + -20.59860610961914 + ], + [ + 0.9267030358314514, + -0.1510394662618637, + -0.3441053628921509, + -10.666041374206543 + ], + [ + -0.22481246292591095, + -0.9565689563751221, + -0.18556737899780273, + -10.127446174621582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1151, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_542266845", + "mask_path": "../../mask/hdr_left_01151.png" + }, + { + "file_path": "../../rgb/hdr_left_01154.png", + "transform_matrix": [ + [ + -0.27623632550239563, + 0.2741781175136566, + -0.9211513996124268, + -20.67168426513672 + ], + [ + 0.9323179721832275, + -0.15631484985351562, + -0.32611164450645447, + -10.516599655151367 + ], + [ + -0.2334022969007492, + -0.9488899111747742, + -0.2124413549900055, + -10.204888343811035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1154, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_842267036", + "mask_path": "../../mask/hdr_left_01154.png" + }, + { + "file_path": "../../rgb/hdr_left_01155.png", + "transform_matrix": [ + [ + -0.27103379368782043, + 0.2702276408672333, + -0.9238602519035339, + -20.715118408203125 + ], + [ + 0.933394730091095, + -0.1607283055782318, + -0.3208436965942383, + -10.461433410644531 + ], + [ + -0.23519130051136017, + -0.9492858052253723, + -0.20866623520851135, + -10.217780113220215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1155, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_942266941", + "mask_path": "../../mask/hdr_left_01155.png" + }, + { + "file_path": "../../rgb/hdr_left_01158.png", + "transform_matrix": [ + [ + -0.25984302163124084, + 0.2546134293079376, + -0.931479275226593, + -20.79925537109375 + ], + [ + 0.9423252940177917, + -0.1438765674829483, + -0.3021962642669678, + -10.343674659729004 + ], + [ + -0.2109612375497818, + -0.9562801122665405, + -0.20254330337047577, + -10.260079383850098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1158, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638915_242267370", + "mask_path": "../../mask/hdr_left_01158.png" + }, + { + "file_path": "../../rgb/hdr_left_01159.png", + "transform_matrix": [ + [ + -0.24778833985328674, + 0.25009849667549133, + -0.9359762668609619, + -20.828670501708984 + ], + [ + 0.9416573643684387, + -0.16496668756008148, + -0.29337242245674133, + -10.310937881469727 + ], + [ + -0.227776899933815, + -0.954063355922699, + -0.19463026523590088, + -10.278827667236328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1159, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638915_342267274", + "mask_path": "../../mask/hdr_left_01159.png" + }, + { + "file_path": "../../rgb/hdr_left_01161.png", + "transform_matrix": [ + [ + -0.20875106751918793, + 0.26746776700019836, + -0.9406827092170715, + -20.832740783691406 + ], + [ + 0.9504958987236023, + -0.17089882493019104, + -0.2595210075378418, + -10.242011070251465 + ], + [ + -0.23017506301403046, + -0.9482903480529785, + -0.2185516655445099, + -10.300131797790527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1161, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638915_542267799", + "mask_path": "../../mask/hdr_left_01161.png" + }, + { + "file_path": "../../rgb/hdr_left_01167.png", + "transform_matrix": [ + [ + -0.20778903365135193, + 0.2753477692604065, + -0.9386199712753296, + -20.935253143310547 + ], + [ + 0.958622395992279, + -0.13356980681419373, + -0.2514004111289978, + -9.98853588104248 + ], + [ + -0.19459378719329834, + -0.9520204067230225, + -0.23620016872882843, + -10.369565963745117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1167, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638916_142267465", + "mask_path": "../../mask/hdr_left_01167.png" + }, + { + "file_path": "../../rgb/hdr_left_01168.png", + "transform_matrix": [ + [ + -0.2045193761587143, + 0.2603437006473541, + -0.9436063766479492, + -20.959362030029297 + ], + [ + 0.9537848234176636, + -0.16380229592323303, + -0.2519190311431885, + -9.943460464477539 + ], + [ + -0.220150426030159, + -0.9515198469161987, + -0.21481113135814667, + -10.391010284423828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1168, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638916_242267608", + "mask_path": "../../mask/hdr_left_01168.png" + }, + { + "file_path": "../../rgb/hdr_left_01170.png", + "transform_matrix": [ + [ + -0.187619149684906, + 0.2760426104068756, + -0.9426555633544922, + -20.959625244140625 + ], + [ + 0.9562065601348877, + -0.16816499829292297, + -0.23956084251403809, + -9.887499809265137 + ], + [ + -0.22465066611766815, + -0.9463198184967041, + -0.2324027568101883, + -10.392158508300781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1170, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638916_442269325", + "mask_path": "../../mask/hdr_left_01170.png" + }, + { + "file_path": "../../rgb/hdr_left_01173.png", + "transform_matrix": [ + [ + -0.16763292253017426, + 0.2511911988258362, + -0.9533110857009888, + -20.99894142150879 + ], + [ + 0.9677702188491821, + -0.14241260290145874, + -0.2077001929283142, + -9.759842872619629 + ], + [ + -0.1879359781742096, + -0.9574036598205566, + -0.21922235190868378, + -10.413344383239746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1173, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638916_742268323", + "mask_path": "../../mask/hdr_left_01173.png" + }, + { + "file_path": "../../rgb/hdr_left_01180.png", + "transform_matrix": [ + [ + -0.135222926735878, + 0.23515921831130981, + -0.962504506111145, + -21.11125946044922 + ], + [ + 0.9753303527832031, + -0.13947993516921997, + -0.1711025834083557, + -9.534980773925781 + ], + [ + -0.1744864135980606, + -0.9618968367576599, + -0.21049702167510986, + -10.49001693725586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1180, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638917_442265033", + "mask_path": "../../mask/hdr_left_01180.png" + }, + { + "file_path": "../../rgb/hdr_left_01183.png", + "transform_matrix": [ + [ + -0.16052965819835663, + 0.24182651937007904, + -0.9569483995437622, + -21.129100799560547 + ], + [ + 0.9736530780792236, + -0.12028621882200241, + -0.19372893869876862, + -9.382874488830566 + ], + [ + -0.16195647418498993, + -0.9628349542617798, + -0.2161456197500229, + -10.525171279907227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1183, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638917_742267131", + "mask_path": "../../mask/hdr_left_01183.png" + }, + { + "file_path": "../../rgb/hdr_left_01184.png", + "transform_matrix": [ + [ + -0.16311930119991302, + 0.2301880568265915, + -0.959377646446228, + -21.14678192138672 + ], + [ + 0.9697481989860535, + -0.1415833681821823, + -0.19885331392288208, + -9.327240943908691 + ], + [ + -0.18160556256771088, + -0.9627916216850281, + -0.2001294642686844, + -10.5347900390625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1184, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638917_842269182", + "mask_path": "../../mask/hdr_left_01184.png" + }, + { + "file_path": "../../rgb/hdr_left_01186.png", + "transform_matrix": [ + [ + -0.14276669919490814, + 0.23668904602527618, + -0.961039125919342, + -21.142263412475586 + ], + [ + 0.9691797494888306, + -0.16353005170822144, + -0.18425102531909943, + -9.263147354125977 + ], + [ + -0.20076894760131836, + -0.9577245116233826, + -0.20604757964611053, + -10.553973197937012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1186, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638918_42268037", + "mask_path": "../../mask/hdr_left_01186.png" + }, + { + "file_path": "../../rgb/hdr_left_01188.png", + "transform_matrix": [ + [ + -0.10360591858625412, + 0.23775796592235565, + -0.9657831192016602, + -21.15703010559082 + ], + [ + 0.9757067561149597, + -0.16415636241436005, + -0.1450827419757843, + -9.16187572479248 + ], + [ + -0.19303400814533234, + -0.9573525786399841, + -0.21497444808483124, + -10.561014175415039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1188, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638918_242267370", + "mask_path": "../../mask/hdr_left_01188.png" + }, + { + "file_path": "../../rgb/hdr_left_01195.png", + "transform_matrix": [ + [ + 0.09039950370788574, + 0.20023588836193085, + -0.9755683541297913, + -21.179542541503906 + ], + [ + 0.9827770590782166, + -0.176467627286911, + 0.05484742298722267, + -8.951054573059082 + ], + [ + -0.16117380559444427, + -0.9637244343757629, + -0.21273981034755707, + -10.618666648864746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1195, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638918_942267417", + "mask_path": "../../mask/hdr_left_01195.png" + }, + { + "file_path": "../../rgb/hdr_left_01198.png", + "transform_matrix": [ + [ + 0.07520466297864914, + 0.21847540140151978, + -0.97294020652771, + -21.18072509765625 + ], + [ + 0.9892883896827698, + -0.1387643665075302, + 0.045308537781238556, + -8.801047325134277 + ], + [ + -0.12511062622070312, + -0.9659259915351868, + -0.22657088935375214, + -10.621601104736328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1198, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638919_242267370", + "mask_path": "../../mask/hdr_left_01198.png" + }, + { + "file_path": "../../rgb/hdr_left_01199.png", + "transform_matrix": [ + [ + 0.07295654714107513, + 0.20777003467082977, + -0.9754531383514404, + -21.18463706970215 + ], + [ + 0.9883784651756287, + -0.14584586024284363, + 0.0428583100438118, + -8.725956916809082 + ], + [ + -0.13336114585399628, + -0.9672437906265259, + -0.21599584817886353, + -10.649731636047363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1199, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638919_342268466", + "mask_path": "../../mask/hdr_left_01199.png" + }, + { + "file_path": "../../rgb/hdr_left_01204.png", + "transform_matrix": [ + [ + 0.10246402025222778, + 0.20590394735336304, + -0.9731930494308472, + -21.166818618774414 + ], + [ + 0.9878836870193481, + -0.13570453226566315, + 0.0752989873290062, + -8.504913330078125 + ], + [ + -0.11656234413385391, + -0.9691172242164612, + -0.2173139750957489, + -10.650782585144043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1204, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638919_842266798", + "mask_path": "../../mask/hdr_left_01204.png" + }, + { + "file_path": "../../rgb/hdr_left_01205.png", + "transform_matrix": [ + [ + 0.10355348140001297, + 0.20756930112838745, + -0.9727238416671753, + -21.168363571166992 + ], + [ + 0.9885332584381104, + -0.12954311072826385, + 0.07759331911802292, + -8.454278945922852 + ], + [ + -0.10990368574857712, + -0.9696049094200134, + -0.21860377490520477, + -10.663496017456055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1205, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638919_942267656", + "mask_path": "../../mask/hdr_left_01205.png" + }, + { + "file_path": "../../rgb/hdr_left_01206.png", + "transform_matrix": [ + [ + 0.10453743487596512, + 0.20956730842590332, + -0.9721899628639221, + -21.173627853393555 + ], + [ + 0.9893812537193298, + -0.12116894125938416, + 0.0802665501832962, + -8.392840385437012 + ], + [ + -0.10097797214984894, + -0.970257580280304, + -0.22000864148139954, + -10.669047355651855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1206, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_42269229", + "mask_path": "../../mask/hdr_left_01206.png" + }, + { + "file_path": "../../rgb/hdr_left_01207.png", + "transform_matrix": [ + [ + 0.11236068606376648, + 0.1991206407546997, + -0.9735121726989746, + -21.187685012817383 + ], + [ + 0.9880439043045044, + -0.126473531126976, + 0.08816921710968018, + -8.332314491271973 + ], + [ + -0.10556721687316895, + -0.9717795252799988, + -0.2109505534172058, + -10.685912132263184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1207, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_142268180", + "mask_path": "../../mask/hdr_left_01207.png" + }, + { + "file_path": "../../rgb/hdr_left_01208.png", + "transform_matrix": [ + [ + 0.12977322936058044, + 0.19297774136066437, + -0.9725833535194397, + -21.192832946777344 + ], + [ + 0.9860832691192627, + -0.12791624665260315, + 0.10619369894266129, + -8.284375190734863 + ], + [ + -0.10391620546579361, + -0.9728294610977173, + -0.2068922370672226, + -10.691058158874512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1208, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_242267370", + "mask_path": "../../mask/hdr_left_01208.png" + }, + { + "file_path": "../../rgb/hdr_left_01210.png", + "transform_matrix": [ + [ + 0.16976013779640198, + 0.20194314420223236, + -0.9645726680755615, + -21.177209854125977 + ], + [ + 0.9816916584968567, + -0.12045319378376007, + 0.1475549042224884, + -8.203495979309082 + ], + [ + -0.08638815581798553, + -0.9719619750976562, + -0.2186940461397171, + -10.69987678527832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1210, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_442267417", + "mask_path": "../../mask/hdr_left_01210.png" + }, + { + "file_path": "../../rgb/hdr_left_01211.png", + "transform_matrix": [ + [ + 0.18788793683052063, + 0.18665972352027893, + -0.9642905592918396, + -21.179536819458008 + ], + [ + 0.9794644117355347, + -0.10870398581027985, + 0.1698024421930313, + -8.143506050109863 + ], + [ + -0.07312694936990738, + -0.9763921499252319, + -0.2032507210969925, + -10.707259178161621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1211, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_542267799", + "mask_path": "../../mask/hdr_left_01211.png" + }, + { + "file_path": "../../rgb/hdr_left_01212.png", + "transform_matrix": [ + [ + 0.1939420998096466, + 0.18539971113204956, + -0.9633345007896423, + -21.17809295654297 + ], + [ + 0.9793340563774109, + -0.09401529282331467, + 0.1790693700313568, + -8.082805633544922 + ], + [ + -0.05736875906586647, + -0.9781554341316223, + -0.19980177283287048, + -10.705244064331055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1212, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_642267704", + "mask_path": "../../mask/hdr_left_01212.png" + }, + { + "file_path": "../../rgb/hdr_left_01215.png", + "transform_matrix": [ + [ + 0.19836267828941345, + 0.17673808336257935, + -0.9640622138977051, + -21.155885696411133 + ], + [ + 0.9796356558799744, + -0.0669441968202591, + 0.18929438292980194, + -7.9189653396606445 + ], + [ + -0.031082840636372566, + -0.981978714466095, + -0.18641813099384308, + -10.713234901428223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1215, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_942267894", + "mask_path": "../../mask/hdr_left_01215.png" + }, + { + "file_path": "../../rgb/hdr_left_01222.png", + "transform_matrix": [ + [ + 0.269563764333725, + 0.20003478229045868, + -0.9419773817062378, + -21.045249938964844 + ], + [ + 0.9629565477371216, + -0.048799969255924225, + 0.2652043104171753, + -7.6297078132629395 + ], + [ + 0.007081618532538414, + -0.9785727858543396, + -0.20577950775623322, + -10.67199993133545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1222, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638921_642267942", + "mask_path": "../../mask/hdr_left_01222.png" + }, + { + "file_path": "../../rgb/hdr_left_01223.png", + "transform_matrix": [ + [ + 0.26951274275779724, + 0.18264886736869812, + -0.9455169439315796, + -21.033117294311523 + ], + [ + 0.96299147605896, + -0.05435136705636978, + 0.2639945149421692, + -7.566341876983643 + ], + [ + -0.003171839052811265, + -0.9816747903823853, + -0.190537691116333, + -10.680562019348145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1223, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638921_742267131", + "mask_path": "../../mask/hdr_left_01223.png" + }, + { + "file_path": "../../rgb/hdr_left_01224.png", + "transform_matrix": [ + [ + 0.27421388030052185, + 0.1679132729768753, + -0.9468958377838135, + -21.031808853149414 + ], + [ + 0.9616034030914307, + -0.059353116899728775, + 0.2679480016231537, + -7.515269756317139 + ], + [ + -0.011209196411073208, + -0.9840134382247925, + -0.1777414232492447, + -10.687883377075195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1224, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638921_842267274", + "mask_path": "../../mask/hdr_left_01224.png" + }, + { + "file_path": "../../rgb/hdr_left_01226.png", + "transform_matrix": [ + [ + 0.2784557044506073, + 0.1600928157567978, + -0.9470125436782837, + -21.032230377197266 + ], + [ + 0.9603698253631592, + -0.05907618999481201, + 0.27239638566970825, + -7.4552321434021 + ], + [ + -0.012337184511125088, + -0.9853326082229614, + -0.17019839584827423, + -10.692672729492188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1226, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638922_42266845", + "mask_path": "../../mask/hdr_left_01226.png" + }, + { + "file_path": "../../rgb/hdr_left_01251.png", + "transform_matrix": [ + [ + -0.3159395158290863, + 0.13121815025806427, + -0.9396616220474243, + -21.40568733215332 + ], + [ + 0.936139702796936, + -0.11800873279571533, + -0.3312346041202545, + -6.746176719665527 + ], + [ + -0.15435224771499634, + -0.9843047857284546, + -0.08555491268634796, + -10.848311424255371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1251, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638924_542267560", + "mask_path": "../../mask/hdr_left_01251.png" + }, + { + "file_path": "../../rgb/hdr_left_01253.png", + "transform_matrix": [ + [ + -0.3513180613517761, + 0.12941096723079681, + -0.9272693395614624, + -21.44232749938965 + ], + [ + 0.9247978925704956, + -0.1065085232257843, + -0.3652462065219879, + -6.6909661293029785 + ], + [ + -0.14602893590927124, + -0.9858543872833252, + -0.0822606012225151, + -10.864940643310547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1253, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638924_742267608", + "mask_path": "../../mask/hdr_left_01253.png" + }, + { + "file_path": "../../rgb/hdr_left_01271.png", + "transform_matrix": [ + [ + -0.8200575709342957, + 0.17813731729984283, + -0.543849766254425, + -22.103994369506836 + ], + [ + 0.5396324396133423, + -0.0756923109292984, + -0.8384912610054016, + -6.570206642150879 + ], + [ + -0.19053179025650024, + -0.9810901880264282, + -0.03405660018324852, + -11.006879806518555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1271, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638926_542268276", + "mask_path": "../../mask/hdr_left_01271.png" + }, + { + "file_path": "../../rgb/hdr_left_01273.png", + "transform_matrix": [ + [ + -0.8579237461090088, + 0.2009257823228836, + -0.47285905480384827, + -22.162954330444336 + ], + [ + 0.47222957015037537, + -0.054190706461668015, + -0.8798081874847412, + -6.588176250457764 + ], + [ + -0.20240069925785065, + -0.9781064391136169, + -0.048391591757535934, + -11.026905059814453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1273, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638926_742269515", + "mask_path": "../../mask/hdr_left_01273.png" + }, + { + "file_path": "../../rgb/hdr_left_01276.png", + "transform_matrix": [ + [ + -0.9219739437103271, + 0.20091548562049866, + -0.3310544192790985, + -22.247209548950195 + ], + [ + 0.323948472738266, + -0.06825729459524155, + -0.9436091780662537, + -6.6425065994262695 + ], + [ + -0.21218256652355194, + -0.9772277474403381, + -0.0021548117510974407, + -11.055476188659668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1276, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638927_42268276", + "mask_path": "../../mask/hdr_left_01276.png" + }, + { + "file_path": "../../rgb/hdr_left_01284.png", + "transform_matrix": [ + [ + -0.980047345161438, + 0.19793546199798584, + 0.018131162971258163, + -22.381126403808594 + ], + [ + -0.026199299842119217, + -0.03821886330842972, + -0.9989258646965027, + -6.845567226409912 + ], + [ + -0.19702987372875214, + -0.9794697165489197, + 0.04264206439256668, + -11.07534122467041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1284, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638927_842267036", + "mask_path": "../../mask/hdr_left_01284.png" + }, + { + "file_path": "../../rgb/hdr_left_01287.png", + "transform_matrix": [ + [ + -0.9801713824272156, + 0.17684851586818695, + 0.08937861025333405, + -22.461528778076172 + ], + [ + -0.0911320373415947, + -0.0018009620252996683, + -0.9958372116088867, + -6.889580726623535 + ], + [ + -0.17595136165618896, + -0.984236478805542, + 0.01788182370364666, + -11.083081245422363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1287, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638928_142266988", + "mask_path": "../../mask/hdr_left_01287.png" + }, + { + "file_path": "../../rgb/hdr_left_01289.png", + "transform_matrix": [ + [ + -0.9709632396697998, + 0.19688396155834198, + 0.13589385151863098, + -22.533132553100586 + ], + [ + -0.13353341817855835, + 0.025278747081756592, + -0.9907218813896179, + -6.922219276428223 + ], + [ + -0.19849245250225067, + -0.9801009297370911, + 0.001745855901390314, + -11.123529434204102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1289, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638928_342266798", + "mask_path": "../../mask/hdr_left_01289.png" + }, + { + "file_path": "../../rgb/hdr_left_01291.png", + "transform_matrix": [ + [ + -0.961703896522522, + 0.20602576434612274, + 0.1807732731103897, + -22.60236930847168 + ], + [ + -0.1765800565481186, + 0.03871941193938255, + -0.9835244417190552, + -6.9630584716796875 + ], + [ + -0.2096307873725891, + -0.9777802228927612, + -0.0008565593743696809, + -11.167880058288574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1291, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638928_542267799", + "mask_path": "../../mask/hdr_left_01291.png" + }, + { + "file_path": "../../rgb/hdr_left_01292.png", + "transform_matrix": [ + [ + -0.9546434283256531, + 0.2128821462392807, + 0.20817558467388153, + -22.65797233581543 + ], + [ + -0.20217068493366241, + 0.04984739422798157, + -0.9780808687210083, + -6.986051559448242 + ], + [ + -0.21859297156333923, + -0.9758056402206421, + -0.004547947086393833, + -11.19643783569336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1292, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638928_642267227", + "mask_path": "../../mask/hdr_left_01292.png" + }, + { + "file_path": "../../rgb/hdr_left_01293.png", + "transform_matrix": [ + [ + -0.9481292366981506, + 0.21996213495731354, + 0.2294941395521164, + -22.714447021484375 + ], + [ + -0.22139742970466614, + 0.06112612038850784, + -0.9732659459114075, + -7.010476112365723 + ], + [ + -0.22810973227024078, + -0.9735914468765259, + -0.009256409481167793, + -11.200174331665039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1293, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638928_742267370", + "mask_path": "../../mask/hdr_left_01293.png" + }, + { + "file_path": "../../rgb/hdr_left_01303.png", + "transform_matrix": [ + [ + -0.6325742602348328, + 0.23630066215991974, + 0.7375715374946594, + -22.66413116455078 + ], + [ + -0.7388542294502258, + 0.10146734118461609, + -0.666182279586792, + -7.350203514099121 + ], + [ + -0.23225872218608856, + -0.9663676023483276, + 0.11040612310171127, + -11.274267196655273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1303, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638929_742266416", + "mask_path": "../../mask/hdr_left_01303.png" + }, + { + "file_path": "../../rgb/hdr_left_01306.png", + "transform_matrix": [ + [ + -0.6114534735679626, + 0.2584421932697296, + 0.7478852272033691, + -22.61553382873535 + ], + [ + -0.747948408126831, + 0.11970970779657364, + -0.6528725624084473, + -7.410716533660889 + ], + [ + -0.2582589387893677, + -0.9585808515548706, + 0.12010455131530762, + -11.282220840454102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1306, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_42268276", + "mask_path": "../../mask/hdr_left_01306.png" + }, + { + "file_path": "../../rgb/hdr_left_01308.png", + "transform_matrix": [ + [ + -0.6245030760765076, + 0.247855082154274, + 0.7406508326530457, + -22.6329288482666 + ], + [ + -0.7378416061401367, + 0.12372338771820068, + -0.6635377407073975, + -7.482373237609863 + ], + [ + -0.2560970187187195, + -0.9608644247055054, + 0.10561215132474899, + -11.300932884216309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1308, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_242268323", + "mask_path": "../../mask/hdr_left_01308.png" + }, + { + "file_path": "../../rgb/hdr_left_01309.png", + "transform_matrix": [ + [ + -0.6275032162666321, + 0.23999768495559692, + 0.7407029867172241, + -22.65618896484375 + ], + [ + -0.7373753190040588, + 0.12231677025556564, + -0.6643164753913879, + -7.540901184082031 + ], + [ + -0.25003477931022644, + -0.9630367755889893, + 0.10021419823169708, + -11.303414344787598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1309, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_342267274", + "mask_path": "../../mask/hdr_left_01309.png" + }, + { + "file_path": "../../rgb/hdr_left_01312.png", + "transform_matrix": [ + [ + -0.6154041290283203, + 0.24317267537117004, + 0.7497632503509521, + -22.692569732666016 + ], + [ + -0.747231662273407, + 0.12273198366165161, + -0.6531321406364441, + -7.670331954956055 + ], + [ + -0.2508438229560852, + -0.9621870517730713, + 0.10617655515670776, + -11.341862678527832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1312, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_642269849", + "mask_path": "../../mask/hdr_left_01312.png" + }, + { + "file_path": "../../rgb/hdr_left_01313.png", + "transform_matrix": [ + [ + -0.6141427159309387, + 0.24790020287036896, + 0.7492491006851196, + -22.711767196655273 + ], + [ + -0.7434738278388977, + 0.1367122381925583, + -0.6546421647071838, + -7.717909812927246 + ], + [ + -0.2647174298763275, + -0.9590908885002136, + 0.10034649819135666, + -11.358902931213379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1313, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_742267608", + "mask_path": "../../mask/hdr_left_01313.png" + }, + { + "file_path": "../../rgb/hdr_left_01314.png", + "transform_matrix": [ + [ + -0.6168954372406006, + 0.24343447387218475, + 0.7484514713287354, + -22.732091903686523 + ], + [ + -0.7398969531059265, + 0.1448194980621338, + -0.6569473147392273, + -7.767824172973633 + ], + [ + -0.2683139741420746, + -0.959044873714447, + 0.09077794849872589, + -11.378241539001465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1314, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_842268705", + "mask_path": "../../mask/hdr_left_01314.png" + }, + { + "file_path": "../../rgb/hdr_left_01315.png", + "transform_matrix": [ + [ + -0.6225792169570923, + 0.22070899605751038, + 0.7507880926132202, + -22.77752685546875 + ], + [ + -0.7374833822250366, + 0.15542663633823395, + -0.6572372317314148, + -7.846768379211426 + ], + [ + -0.26175063848495483, + -0.96287602186203, + 0.06600381433963776, + -11.396697044372559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1315, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_942267656", + "mask_path": "../../mask/hdr_left_01315.png" + }, + { + "file_path": "../../rgb/hdr_left_01316.png", + "transform_matrix": [ + [ + -0.622903048992157, + 0.20374196767807007, + 0.7553019523620605, + -22.81109619140625 + ], + [ + -0.7361263036727905, + 0.17413294315338135, + -0.6540608406066895, + -7.910251617431641 + ], + [ + -0.264782577753067, + -0.9634143114089966, + 0.0415118969976902, + -11.419828414916992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1316, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638931_42268037", + "mask_path": "../../mask/hdr_left_01316.png" + }, + { + "file_path": "../../rgb/hdr_left_01319.png", + "transform_matrix": [ + [ + -0.6126591563224792, + 0.2140161693096161, + 0.7608191967010498, + -22.886873245239258 + ], + [ + -0.7405075430870056, + 0.18099568784236908, + -0.6472164392471313, + -8.022563934326172 + ], + [ + -0.27621978521347046, + -0.9599154591560364, + 0.0475919246673584, + -11.468673706054688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1319, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638931_342268228", + "mask_path": "../../mask/hdr_left_01319.png" + }, + { + "file_path": "../../rgb/hdr_left_01322.png", + "transform_matrix": [ + [ + -0.6267777681350708, + 0.20475071668624878, + 0.7518155574798584, + -22.952417373657227 + ], + [ + -0.7254670858383179, + 0.19874322414398193, + -0.6589374542236328, + -8.118852615356445 + ], + [ + -0.2843361794948578, + -0.9584249258041382, + 0.023972051218152046, + -11.501675605773926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1322, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638931_642269611", + "mask_path": "../../mask/hdr_left_01322.png" + }, + { + "file_path": "../../rgb/hdr_left_01323.png", + "transform_matrix": [ + [ + -0.6267188191413879, + 0.19961470365524292, + 0.7532445788383484, + -22.973072052001953 + ], + [ + -0.7243611812591553, + 0.20711581408977509, + -0.6575741171836853, + -8.163802146911621 + ], + [ + -0.28727033734321594, + -0.9577354192733765, + 0.014789778739213943, + -11.52302360534668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1323, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638931_742267370", + "mask_path": "../../mask/hdr_left_01323.png" + }, + { + "file_path": "../../rgb/hdr_left_01325.png", + "transform_matrix": [ + [ + -0.6246387958526611, + 0.21547536551952362, + 0.7505975365638733, + -23.00009536743164 + ], + [ + -0.7265319228172302, + 0.19205819070339203, + -0.6597461700439453, + -8.220705032348633 + ], + [ + -0.2863174378871918, + -0.9574361443519592, + 0.03658273443579674, + -11.559804916381836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1325, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638931_942267417", + "mask_path": "../../mask/hdr_left_01325.png" + }, + { + "file_path": "../../rgb/hdr_left_01327.png", + "transform_matrix": [ + [ + -0.6308441162109375, + 0.2102225124835968, + 0.7468883395195007, + -23.052867889404297 + ], + [ + -0.7242783308029175, + 0.1857272833585739, + -0.66402268409729, + -8.284345626831055 + ], + [ + -0.27831003069877625, + -0.9598498940467834, + 0.03509465605020523, + -11.581937789916992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1327, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638932_142267465", + "mask_path": "../../mask/hdr_left_01327.png" + }, + { + "file_path": "../../rgb/hdr_left_01349.png", + "transform_matrix": [ + [ + -0.4233265221118927, + 0.13181155920028687, + 0.8963372111320496, + -23.122081756591797 + ], + [ + -0.8888807892799377, + 0.13086700439453125, + -0.43904978036880493, + -8.978402137756348 + ], + [ + -0.17517277598381042, + -0.9825984239578247, + 0.061765290796756744, + -11.706902503967285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1349, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638934_342267513", + "mask_path": "../../mask/hdr_left_01349.png" + }, + { + "file_path": "../../rgb/hdr_left_01352.png", + "transform_matrix": [ + [ + -0.4222332537174225, + 0.11955908685922623, + 0.8985681533813477, + -23.134910583496094 + ], + [ + -0.8893974423408508, + 0.13693366944789886, + -0.4361436665058136, + -9.099186897277832 + ], + [ + -0.17518918216228485, + -0.9833386540412903, + 0.04851758852601051, + -11.723017692565918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1352, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638934_642267227", + "mask_path": "../../mask/hdr_left_01352.png" + }, + { + "file_path": "../../rgb/hdr_left_01359.png", + "transform_matrix": [ + [ + -0.3754412531852722, + 0.09850359708070755, + 0.9215970635414124, + -23.14986228942871 + ], + [ + -0.9095450043678284, + 0.1520690768957138, + -0.3867851793766022, + -9.386433601379395 + ], + [ + -0.17824611067771912, + -0.9834491014480591, + 0.03250045329332352, + -11.788165092468262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1359, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638935_342268705", + "mask_path": "../../mask/hdr_left_01359.png" + }, + { + "file_path": "../../rgb/hdr_left_01360.png", + "transform_matrix": [ + [ + -0.36953896284103394, + 0.09202675521373749, + 0.9246469736099243, + -23.1588134765625 + ], + [ + -0.9095527529716492, + 0.16779889166355133, + -0.3802068829536438, + -9.436371803283691 + ], + [ + -0.19014392793178558, + -0.9815164804458618, + 0.0216949675232172, + -11.809290885925293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1360, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638935_442267417", + "mask_path": "../../mask/hdr_left_01360.png" + }, + { + "file_path": "../../rgb/hdr_left_01362.png", + "transform_matrix": [ + [ + -0.36170023679733276, + 0.09278498589992523, + 0.9276658296585083, + -23.15868377685547 + ], + [ + -0.9115634560585022, + 0.17347203195095062, + -0.37277254462242126, + -9.514052391052246 + ], + [ + -0.19551177322864532, + -0.9804583191871643, + 0.021834535524249077, + -11.839095115661621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1362, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638935_642266750", + "mask_path": "../../mask/hdr_left_01362.png" + }, + { + "file_path": "../../rgb/hdr_left_01364.png", + "transform_matrix": [ + [ + -0.363815039396286, + 0.08336945623159409, + 0.9277328252792358, + -23.180856704711914 + ], + [ + -0.9123725295066833, + 0.1687586009502411, + -0.37295669317245483, + -9.616275787353516 + ], + [ + -0.18765605986118317, + -0.9821252822875977, + 0.014667109586298466, + -11.8391752243042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1364, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638935_842267274", + "mask_path": "../../mask/hdr_left_01364.png" + }, + { + "file_path": "../../rgb/hdr_left_01367.png", + "transform_matrix": [ + [ + -0.3846062123775482, + 0.08635638654232025, + 0.9190323948860168, + -23.20098304748535 + ], + [ + -0.9019796252250671, + 0.17650368809700012, + -0.3940548598766327, + -9.785831451416016 + ], + [ + -0.19624175131320953, + -0.9805044531822205, + 0.010007278993725777, + -11.883111953735352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1367, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_142268419", + "mask_path": "../../mask/hdr_left_01367.png" + }, + { + "file_path": "../../rgb/hdr_left_01368.png", + "transform_matrix": [ + [ + -0.38161152601242065, + 0.08790063858032227, + 0.9201338291168213, + -23.207319259643555 + ], + [ + -0.8999632000923157, + 0.19169703125953674, + -0.3915589451789856, + -9.842230796813965 + ], + [ + -0.21080517768859863, + -0.9775100350379944, + 0.005953548941761255, + -11.912711143493652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1368, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_242268085", + "mask_path": "../../mask/hdr_left_01368.png" + }, + { + "file_path": "../../rgb/hdr_left_01369.png", + "transform_matrix": [ + [ + -0.3781706392765045, + 0.09397667646408081, + 0.9209534525871277, + -23.208818435668945 + ], + [ + -0.9013924598693848, + 0.18926042318344116, + -0.3894509971141815, + -9.895084381103516 + ], + [ + -0.21089933812618256, + -0.9774195551872253, + 0.013137138448655605, + -11.931282997131348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1369, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_342267751", + "mask_path": "../../mask/hdr_left_01369.png" + }, + { + "file_path": "../../rgb/hdr_left_01370.png", + "transform_matrix": [ + [ + -0.3735249638557434, + 0.10277144610881805, + 0.9219094514846802, + -23.21084213256836 + ], + [ + -0.9026585221290588, + 0.1887342482805252, + -0.38676467537879944, + -9.954713821411133 + ], + [ + -0.21374425292015076, + -0.9766358137130737, + 0.02227056212723255, + -11.962576866149902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1370, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_442267179", + "mask_path": "../../mask/hdr_left_01370.png" + }, + { + "file_path": "../../rgb/hdr_left_01371.png", + "transform_matrix": [ + [ + -0.3747211992740631, + 0.09619732946157455, + 0.9221334457397461, + -23.22891616821289 + ], + [ + -0.9029465913772583, + 0.1878526210784912, + -0.3865213096141815, + -10.025532722473145 + ], + [ + -0.21040749549865723, + -0.9774750471115112, + 0.016468698158860207, + -11.976044654846191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1371, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_542267560", + "mask_path": "../../mask/hdr_left_01371.png" + }, + { + "file_path": "../../rgb/hdr_left_01372.png", + "transform_matrix": [ + [ + -0.37936288118362427, + 0.09159813821315765, + 0.9207027554512024, + -23.244443893432617 + ], + [ + -0.9017114639282227, + 0.18641617894172668, + -0.39008378982543945, + -10.090018272399902 + ], + [ + -0.20736482739448547, + -0.978191614151001, + 0.011875718832015991, + -11.974852561950684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1372, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_642267704", + "mask_path": "../../mask/hdr_left_01372.png" + }, + { + "file_path": "../../rgb/hdr_left_01373.png", + "transform_matrix": [ + [ + -0.38461023569107056, + 0.09700660407543182, + 0.9179677367210388, + -23.24677276611328 + ], + [ + -0.9001510143280029, + 0.1808547079563141, + -0.39625728130340576, + -10.150120735168457 + ], + [ + -0.2044583559036255, + -0.9787141680717468, + 0.017762014642357826, + -11.979446411132812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1373, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_742266893", + "mask_path": "../../mask/hdr_left_01373.png" + }, + { + "file_path": "../../rgb/hdr_left_01374.png", + "transform_matrix": [ + [ + -0.3885774612426758, + 0.0903313010931015, + 0.9169776439666748, + -23.257394790649414 + ], + [ + -0.8968430161476135, + 0.1912212073802948, + -0.3988824486732483, + -10.234033584594727 + ], + [ + -0.2113771140575409, + -0.9773815274238586, + 0.006708736997097731, + -12.00587272644043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1374, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_842268466", + "mask_path": "../../mask/hdr_left_01374.png" + }, + { + "file_path": "../../rgb/hdr_left_01375.png", + "transform_matrix": [ + [ + -0.3878493309020996, + 0.0916866734623909, + 0.9171512126922607, + -23.263574600219727 + ], + [ + -0.893914520740509, + 0.20515593886375427, + -0.39853212237358093, + -10.308277130126953 + ], + [ + -0.22469907999038696, + -0.9744253158569336, + 0.002390464534983039, + -12.036641120910645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1375, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_942266941", + "mask_path": "../../mask/hdr_left_01375.png" + }, + { + "file_path": "../../rgb/hdr_left_01376.png", + "transform_matrix": [ + [ + -0.3858652114868164, + 0.1004125326871872, + 0.9170743823051453, + -23.260759353637695 + ], + [ + -0.8939352631568909, + 0.20498494803905487, + -0.39857354760169983, + -10.36285400390625 + ], + [ + -0.2280081957578659, + -0.9736008048057556, + 0.01066574826836586, + -12.05645751953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1376, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638937_42268276", + "mask_path": "../../mask/hdr_left_01376.png" + }, + { + "file_path": "../../rgb/hdr_left_01377.png", + "transform_matrix": [ + [ + -0.3835928738117218, + 0.11180422455072403, + 0.9167094230651855, + -23.256269454956055 + ], + [ + -0.8943487405776978, + 0.20247220993041992, + -0.398930162191391, + -10.413562774658203 + ], + [ + -0.23021027445793152, + -0.9728848934173584, + 0.022325066849589348, + -12.073399543762207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1377, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638937_142267227", + "mask_path": "../../mask/hdr_left_01377.png" + }, + { + "file_path": "../../rgb/hdr_left_01378.png", + "transform_matrix": [ + [ + -0.3846866190433502, + 0.12145425379276276, + 0.9150218963623047, + -23.25909423828125 + ], + [ + -0.8928219676017761, + 0.20264066755771637, + -0.4022507667541504, + -10.467913627624512 + ], + [ + -0.234275683760643, + -0.9716921448707581, + 0.030483875423669815, + -12.088095664978027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1378, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638937_242267847", + "mask_path": "../../mask/hdr_left_01378.png" + }, + { + "file_path": "../../rgb/hdr_left_01379.png", + "transform_matrix": [ + [ + -0.3894660472869873, + 0.1237691193819046, + 0.9126870036125183, + -23.269145965576172 + ], + [ + -0.8918281197547913, + 0.19691328704357147, + -0.4072684943675995, + -10.522905349731445 + ], + [ + -0.23012740910053253, + -0.9725772142410278, + 0.033689748495817184, + -12.086584091186523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1379, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638937_342268228", + "mask_path": "../../mask/hdr_left_01379.png" + }, + { + "file_path": "../../rgb/hdr_left_01382.png", + "transform_matrix": [ + [ + -0.425851970911026, + 0.10726919025182724, + 0.8984116315841675, + -23.301237106323242 + ], + [ + -0.8778833746910095, + 0.1913762390613556, + -0.43897151947021484, + -10.698389053344727 + ], + [ + -0.2190227210521698, + -0.9756374955177307, + 0.012671888805925846, + -12.1090726852417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1382, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638937_642267465", + "mask_path": "../../mask/hdr_left_01382.png" + }, + { + "file_path": "../../rgb/hdr_left_01386.png", + "transform_matrix": [ + [ + -0.47921130061149597, + 0.13210472464561462, + 0.8677008748054504, + -23.332393646240234 + ], + [ + -0.846954345703125, + 0.189767986536026, + -0.49664509296417236, + -10.806574821472168 + ], + [ + -0.23027099668979645, + -0.9729010462760925, + 0.02094770222902298, + -12.134845733642578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1386, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638938_42267560", + "mask_path": "../../mask/hdr_left_01386.png" + }, + { + "file_path": "../../rgb/hdr_left_01388.png", + "transform_matrix": [ + [ + -0.5290601253509521, + 0.1468668282032013, + 0.835778534412384, + -23.36397933959961 + ], + [ + -0.8153620362281799, + 0.18490780889987946, + -0.5486290454864502, + -10.849823951721191 + ], + [ + -0.2351173460483551, + -0.9717198610305786, + 0.021922310814261436, + -12.132097244262695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1388, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638938_242267131", + "mask_path": "../../mask/hdr_left_01388.png" + }, + { + "file_path": "../../rgb/hdr_left_01390.png", + "transform_matrix": [ + [ + -0.5727829933166504, + 0.13768421113491058, + 0.8080610632896423, + -23.398767471313477 + ], + [ + -0.786338210105896, + 0.1861117035150528, + -0.5890964269638062, + -10.914985656738281 + ], + [ + -0.23149888217449188, + -0.9728338122367859, + 0.0016647274605929852, + -12.146388053894043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1390, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638938_442267656", + "mask_path": "../../mask/hdr_left_01390.png" + }, + { + "file_path": "../../rgb/hdr_left_01392.png", + "transform_matrix": [ + [ + -0.5777428150177002, + 0.14733664691448212, + 0.8028107285499573, + -23.425825119018555 + ], + [ + -0.7827091813087463, + 0.17892548441886902, + -0.5961141586303711, + -10.957347869873047 + ], + [ + -0.23147276043891907, + -0.9727680683135986, + 0.011948833242058754, + -12.16598892211914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1392, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638938_642267465", + "mask_path": "../../mask/hdr_left_01392.png" + }, + { + "file_path": "../../rgb/hdr_left_01394.png", + "transform_matrix": [ + [ + -0.5786935091018677, + 0.14871817827224731, + 0.8018708229064941, + -23.479597091674805 + ], + [ + -0.7835693955421448, + 0.17123058438301086, + -0.5972428917884827, + -11.023289680480957 + ], + [ + -0.22612567245960236, + -0.9739420413970947, + 0.017440978437662125, + -12.197122573852539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1394, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638938_842267274", + "mask_path": "../../mask/hdr_left_01394.png" + }, + { + "file_path": "../../rgb/hdr_left_01397.png", + "transform_matrix": [ + [ + -0.6104696393013, + 0.15026777982711792, + 0.7776544690132141, + -23.54413414001465 + ], + [ + -0.7599469423294067, + 0.16552884876728058, + -0.6285544633865356, + -11.145696640014648 + ], + [ + -0.22317571938037872, + -0.9746896624565125, + 0.013145234435796738, + -12.224570274353027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1397, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638939_142268180", + "mask_path": "../../mask/hdr_left_01397.png" + }, + { + "file_path": "../../rgb/hdr_left_01398.png", + "transform_matrix": [ + [ + -0.6147714257240295, + 0.151442751288414, + 0.7740291953086853, + -23.567338943481445 + ], + [ + -0.7558709979057312, + 0.16708765923976898, + -0.6330409049987793, + -11.202591896057129 + ], + [ + -0.22520016133785248, + -0.9742417335510254, + 0.011750465258955956, + -12.237832069396973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1398, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638939_242267131", + "mask_path": "../../mask/hdr_left_01398.png" + }, + { + "file_path": "../../rgb/hdr_left_01400.png", + "transform_matrix": [ + [ + -0.614059567451477, + 0.16531899571418762, + 0.7717515230178833, + -23.589454650878906 + ], + [ + -0.7567254304885864, + 0.15453049540519714, + -0.6352061629295349, + -11.278553009033203 + ], + [ + -0.2242707759141922, + -0.9740585088729858, + 0.03021017089486122, + -12.272305488586426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1400, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638939_442267179", + "mask_path": "../../mask/hdr_left_01400.png" + }, + { + "file_path": "../../rgb/hdr_left_01405.png", + "transform_matrix": [ + [ + -0.6417732834815979, + 0.20811136066913605, + 0.7381170392036438, + -23.679662704467773 + ], + [ + -0.7165499329566956, + 0.1802530735731125, + -0.6738433837890625, + -11.478099822998047 + ], + [ + -0.27328231930732727, + -0.9613524675369263, + 0.03344060853123665, + -12.345486640930176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1405, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638939_942267894", + "mask_path": "../../mask/hdr_left_01405.png" + }, + { + "file_path": "../../rgb/hdr_left_01406.png", + "transform_matrix": [ + [ + -0.6432194113731384, + 0.21371139585971832, + 0.7352524995803833, + -23.706567764282227 + ], + [ + -0.7058312296867371, + 0.2066853642463684, + -0.6775569319725037, + -11.524773597717285 + ], + [ + -0.2967675030231476, + -0.9547820091247559, + 0.01790015771985054, + -12.380295753479004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1406, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_42267799", + "mask_path": "../../mask/hdr_left_01406.png" + }, + { + "file_path": "../../rgb/hdr_left_01409.png", + "transform_matrix": [ + [ + -0.6451422572135925, + 0.226938396692276, + 0.7295823693275452, + -23.779664993286133 + ], + [ + -0.6980736255645752, + 0.2131228744983673, + -0.6835728287696838, + -11.62084674835205 + ], + [ + -0.310619592666626, + -0.9503040313720703, + 0.02092515118420124, + -12.458836555480957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1409, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_342267990", + "mask_path": "../../mask/hdr_left_01409.png" + }, + { + "file_path": "../../rgb/hdr_left_01410.png", + "transform_matrix": [ + [ + -0.6489932537078857, + 0.22097599506378174, + 0.7279954552650452, + -23.820650100708008 + ], + [ + -0.6953218579292297, + 0.2160670906305313, + -0.6854504942893982, + -11.658291816711426 + ], + [ + -0.30876392126083374, + -0.9510440230369568, + 0.013423384167253971, + -12.463152885437012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1410, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_442267894", + "mask_path": "../../mask/hdr_left_01410.png" + }, + { + "file_path": "../../rgb/hdr_left_01412.png", + "transform_matrix": [ + [ + -0.6639877557754517, + 0.20562614500522614, + 0.7189145684242249, + -23.88165283203125 + ], + [ + -0.6821693778038025, + 0.22714367508888245, + -0.6950185298919678, + -11.726021766662598 + ], + [ + -0.30621081590652466, + -0.9519052505493164, + -0.01054875086992979, + -12.513591766357422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1412, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_642268419", + "mask_path": "../../mask/hdr_left_01412.png" + }, + { + "file_path": "../../rgb/hdr_left_01413.png", + "transform_matrix": [ + [ + -0.6693634986877441, + 0.19061528146266937, + 0.718065619468689, + -23.92423439025879 + ], + [ + -0.6735908389091492, + 0.2520275115966797, + -0.6948075294494629, + -11.77650260925293 + ], + [ + -0.31341320276260376, + -0.9487613439559937, + -0.04030132666230202, + -12.517685890197754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1413, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_742269992", + "mask_path": "../../mask/hdr_left_01413.png" + }, + { + "file_path": "../../rgb/hdr_left_01414.png", + "transform_matrix": [ + [ + -0.6715624332427979, + 0.189047709107399, + 0.7164250016212463, + -23.95611572265625 + ], + [ + -0.6713281869888306, + 0.2539418637752533, + -0.6962987184524536, + -11.821245193481445 + ], + [ + -0.3135639727115631, + -0.9485644698143005, + -0.043624769896268845, + -12.514784812927246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1414, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_842267751", + "mask_path": "../../mask/hdr_left_01414.png" + }, + { + "file_path": "../../rgb/hdr_left_01416.png", + "transform_matrix": [ + [ + -0.674316942691803, + 0.19779758155345917, + 0.7114582061767578, + -24.007003784179688 + ], + [ + -0.6688237190246582, + 0.24478945136070251, + -0.7019636631011963, + -11.908985137939453 + ], + [ + -0.31300413608551025, + -0.9491861462593079, + -0.0327739454805851, + -12.573271751403809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1416, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_42268037", + "mask_path": "../../mask/hdr_left_01416.png" + }, + { + "file_path": "../../rgb/hdr_left_01417.png", + "transform_matrix": [ + [ + -0.6774208545684814, + 0.20954208076000214, + 0.7051190733909607, + -24.041423797607422 + ], + [ + -0.6619603633880615, + 0.24438031017780304, + -0.7085807919502258, + -11.957449913024902 + ], + [ + -0.3207947015762329, + -0.9467684030532837, + -0.02683979459106922, + -12.581987380981445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1417, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_142267227", + "mask_path": "../../mask/hdr_left_01417.png" + }, + { + "file_path": "../../rgb/hdr_left_01420.png", + "transform_matrix": [ + [ + -0.6905388832092285, + 0.20085623860359192, + 0.6948472857475281, + -24.116994857788086 + ], + [ + -0.6469036340713501, + 0.25820037722587585, + -0.7175292372703552, + -12.094977378845215 + ], + [ + -0.32353007793426514, + -0.9449811577796936, + -0.04836278036236763, + -12.613687515258789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1420, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_442268371", + "mask_path": "../../mask/hdr_left_01420.png" + }, + { + "file_path": "../../rgb/hdr_left_01421.png", + "transform_matrix": [ + [ + -0.6890272498130798, + 0.19315646588802338, + 0.6985214352607727, + -24.142595291137695 + ], + [ + -0.6477272510528564, + 0.26822760701179504, + -0.713094174861908, + -12.140944480895996 + ], + [ + -0.32510146498680115, + -0.9437927007675171, + -0.05970339849591255, + -12.615494728088379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1421, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_542267799", + "mask_path": "../../mask/hdr_left_01421.png" + }, + { + "file_path": "../../rgb/hdr_left_01423.png", + "transform_matrix": [ + [ + -0.6789699792861938, + 0.20181062817573547, + 0.7058840394020081, + -24.173851013183594 + ], + [ + -0.6633300185203552, + 0.24341686069965363, + -0.7076308131217957, + -12.227910995483398 + ], + [ + -0.31463149189949036, + -0.9486942887306213, + -0.03140571713447571, + -12.66102409362793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1423, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_742267847", + "mask_path": "../../mask/hdr_left_01423.png" + }, + { + "file_path": "../../rgb/hdr_left_01424.png", + "transform_matrix": [ + [ + -0.6695499420166016, + 0.19907104969024658, + 0.7155932188034058, + -24.199844360351562 + ], + [ + -0.677827775478363, + 0.23019877076148987, + -0.6982536315917969, + -12.277235984802246 + ], + [ + -0.30373072624206543, + -0.9525645971298218, + -0.019193675369024277, + -12.676627159118652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1424, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_842268705", + "mask_path": "../../mask/hdr_left_01424.png" + }, + { + "file_path": "../../rgb/hdr_left_01427.png", + "transform_matrix": [ + [ + -0.6315221786499023, + 0.16290584206581116, + 0.7580510377883911, + -24.246231079101562 + ], + [ + -0.7319449782371521, + 0.1972985863685608, + -0.6521731019020081, + -12.417284965515137 + ], + [ + -0.25580525398254395, + -0.966713547706604, + -0.00536031648516655, + -12.67640209197998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1427, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638942_142267704", + "mask_path": "../../mask/hdr_left_01427.png" + }, + { + "file_path": "../../rgb/hdr_left_01435.png", + "transform_matrix": [ + [ + -0.5279210209846497, + 0.11566881090402603, + 0.8413800001144409, + -24.300689697265625 + ], + [ + -0.8305985927581787, + 0.13640083372592926, + -0.5399079322814941, + -12.712864875793457 + ], + [ + -0.17721542716026306, + -0.983877956867218, + 0.02406550757586956, + -12.71230411529541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1435, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638942_942267656", + "mask_path": "../../mask/hdr_left_01435.png" + }, + { + "file_path": "../../rgb/hdr_left_01437.png", + "transform_matrix": [ + [ + -0.5226607322692871, + 0.11806275695562363, + 0.8443262577056885, + -24.299678802490234 + ], + [ + -0.8353272080421448, + 0.1270902156829834, + -0.534861147403717, + -12.802091598510742 + ], + [ + -0.1704527735710144, + -0.9848397374153137, + 0.03219595551490784, + -12.734091758728027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1437, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638943_142268180", + "mask_path": "../../mask/hdr_left_01437.png" + }, + { + "file_path": "../../rgb/hdr_left_01441.png", + "transform_matrix": [ + [ + -0.4832944869995117, + 0.1070629358291626, + 0.8688866496086121, + -24.338237762451172 + ], + [ + -0.8626266121864319, + 0.11106417328119278, + -0.4934976398944855, + -13.034806251525879 + ], + [ + -0.14933747053146362, + -0.9880295395851135, + 0.03867863491177559, + -12.75342082977295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1441, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638943_542267560", + "mask_path": "../../mask/hdr_left_01441.png" + }, + { + "file_path": "../../rgb/hdr_left_01449.png", + "transform_matrix": [ + [ + -0.39462170004844666, + 0.10656985640525818, + 0.9126426577568054, + -24.39283561706543 + ], + [ + -0.9045400023460388, + 0.12951719760894775, + -0.4062420129776001, + -13.391914367675781 + ], + [ + -0.16149607300758362, + -0.9858337640762329, + 0.04528641328215599, + -12.82798957824707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1449, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638944_342268466", + "mask_path": "../../mask/hdr_left_01449.png" + }, + { + "file_path": "../../rgb/hdr_left_01450.png", + "transform_matrix": [ + [ + -0.3941711187362671, + 0.10722825676202774, + 0.9127602577209473, + -24.392393112182617 + ], + [ + -0.9018160700798035, + 0.1462346911430359, + -0.4066241383552551, + -13.436010360717773 + ], + [ + -0.17707878351211548, + -0.9834213256835938, + 0.03905867040157318, + -12.854281425476074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1450, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638944_442268610", + "mask_path": "../../mask/hdr_left_01450.png" + }, + { + "file_path": "../../rgb/hdr_left_01452.png", + "transform_matrix": [ + [ + -0.38931018114089966, + 0.11109054833650589, + 0.9143832325935364, + -24.378904342651367 + ], + [ + -0.9020692706108093, + 0.15480022132396698, + -0.4028744399547577, + -13.498456001281738 + ], + [ + -0.18630224466323853, + -0.9816800951957703, + 0.039946071803569794, + -12.877141952514648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1452, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638944_642269134", + "mask_path": "../../mask/hdr_left_01452.png" + }, + { + "file_path": "../../rgb/hdr_left_01454.png", + "transform_matrix": [ + [ + -0.3918015658855438, + 0.10806083679199219, + 0.9136818051338196, + -24.377511978149414 + ], + [ + -0.9000248312950134, + 0.16104795038700104, + -0.40499234199523926, + -13.582206726074219 + ], + [ + -0.19091036915779114, + -0.9810130000114441, + 0.034158606082201004, + -12.883050918579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1454, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638944_842269182", + "mask_path": "../../mask/hdr_left_01454.png" + }, + { + "file_path": "../../rgb/hdr_left_01457.png", + "transform_matrix": [ + [ + -0.4201122522354126, + 0.0895528569817543, + 0.9030426740646362, + -24.40839958190918 + ], + [ + -0.8901671171188354, + 0.15274207293987274, + -0.4292694628238678, + -13.715682029724121 + ], + [ + -0.1763748973608017, + -0.9842002987861633, + 0.01554819941520691, + -12.920632362365723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1457, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638945_142267704", + "mask_path": "../../mask/hdr_left_01457.png" + }, + { + "file_path": "../../rgb/hdr_left_01458.png", + "transform_matrix": [ + [ + -0.4203476905822754, + 0.08282917737960815, + 0.9035746455192566, + -24.42262840270996 + ], + [ + -0.8899791240692139, + 0.15635879337787628, + -0.4283561706542969, + -13.775618553161621 + ], + [ + -0.17676222324371338, + -0.9842212200164795, + 0.007991185411810875, + -12.91268253326416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1458, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638945_242267608", + "mask_path": "../../mask/hdr_left_01458.png" + }, + { + "file_path": "../../rgb/hdr_left_01465.png", + "transform_matrix": [ + [ + -0.5496373176574707, + 0.11614573746919632, + 0.8272900581359863, + -24.535804748535156 + ], + [ + -0.8145104050636292, + 0.14558328688144684, + -0.561585545539856, + -14.029450416564941 + ], + [ + -0.18566538393497467, + -0.9825047850608826, + 0.014583904296159744, + -12.95598316192627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1465, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638945_942267656", + "mask_path": "../../mask/hdr_left_01465.png" + }, + { + "file_path": "../../rgb/hdr_left_01484.png", + "transform_matrix": [ + [ + -0.9346479177474976, + 0.21882383525371552, + 0.2802666127681732, + -24.668291091918945 + ], + [ + -0.2498609572649002, + 0.15661711990833282, + -0.9555315375328064, + -14.010918617248535 + ], + [ + -0.2529876232147217, + -0.9631133675575256, + -0.09170634299516678, + -13.026866912841797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1484, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638947_842272281", + "mask_path": "../../mask/hdr_left_01484.png" + }, + { + "file_path": "../../rgb/hdr_left_01489.png", + "transform_matrix": [ + [ + -0.9261099100112915, + 0.27654537558555603, + 0.2565990090370178, + -24.85668182373047 + ], + [ + -0.23026998341083527, + 0.12439055740833282, + -0.9651439189910889, + -14.070056915283203 + ], + [ + -0.2988244891166687, + -0.9529164433479309, + -0.05151922255754471, + -13.096872329711914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1489, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638948_342268228", + "mask_path": "../../mask/hdr_left_01489.png" + }, + { + "file_path": "../../rgb/hdr_left_01494.png", + "transform_matrix": [ + [ + -0.9258553385734558, + 0.2774341404438019, + 0.2565578520298004, + -25.042387008666992 + ], + [ + -0.23758584260940552, + 0.10057234019041061, + -0.9661461114883423, + -14.167869567871094 + ], + [ + -0.29384446144104004, + -0.9554661512374878, + -0.027201030403375626, + -13.17662239074707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1494, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638948_842267513", + "mask_path": "../../mask/hdr_left_01494.png" + }, + { + "file_path": "../../rgb/hdr_left_01497.png", + "transform_matrix": [ + [ + -0.9315510392189026, + 0.27176064252853394, + 0.24157564342021942, + -25.170957565307617 + ], + [ + -0.22013497352600098, + 0.10727568715810776, + -0.969552755355835, + -14.240744590759277 + ], + [ + -0.28940147161483765, + -0.9563672542572021, + -0.04010875150561333, + -13.244571685791016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1497, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638949_142267942", + "mask_path": "../../mask/hdr_left_01497.png" + }, + { + "file_path": "../../rgb/hdr_right_00977.png", + "transform_matrix": [ + [ + 0.2980138957500458, + 0.06761821359395981, + 0.952163577079773, + -18.419050216674805 + ], + [ + -0.9504706859588623, + -0.07122939079999924, + 0.30254241824150085, + -14.733325958251953 + ], + [ + 0.08827942609786987, + -0.9951654076576233, + 0.04304177314043045, + -8.76020622253418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 977, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_442267656", + "mask_path": "../../mask/hdr_right_00977.png" + }, + { + "file_path": "../../rgb/hdr_right_00978.png", + "transform_matrix": [ + [ + 0.2949361503124237, + 0.046976301819086075, + 0.9543615579605103, + -18.433551788330078 + ], + [ + -0.949053943157196, + -0.10156971961259842, + 0.29829540848731995, + -14.675432205200195 + ], + [ + 0.11094705760478973, + -0.993718683719635, + 0.014626463875174522, + -8.76341724395752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 978, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_542267560", + "mask_path": "../../mask/hdr_right_00978.png" + }, + { + "file_path": "../../rgb/hdr_right_00981.png", + "transform_matrix": [ + [ + 0.28225696086883545, + 0.06530393660068512, + 0.9571136236190796, + -18.449243545532227 + ], + [ + -0.9503987431526184, + -0.11685198545455933, + 0.28824955224990845, + -14.563092231750488 + ], + [ + 0.13066445291042328, + -0.9909999966621399, + 0.029082488268613815, + -8.789323806762695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 981, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_842266798", + "mask_path": "../../mask/hdr_right_00981.png" + }, + { + "file_path": "../../rgb/hdr_right_00982.png", + "transform_matrix": [ + [ + 0.28779852390289307, + 0.0669480413198471, + 0.9553481340408325, + -18.477359771728516 + ], + [ + -0.9485090374946594, + -0.11787823587656021, + 0.2939988374710083, + -14.506635665893555 + ], + [ + 0.13229739665985107, + -0.9907687306404114, + 0.0295756496489048, + -8.808147430419922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 982, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638898_942267417", + "mask_path": "../../mask/hdr_right_00982.png" + }, + { + "file_path": "../../rgb/hdr_right_00983.png", + "transform_matrix": [ + [ + 0.3043060898780823, + 0.058005768805742264, + 0.9508066177368164, + -18.523639678955078 + ], + [ + -0.9449227452278137, + -0.10787671059370041, + 0.30900415778160095, + -14.434886932373047 + ], + [ + 0.12049391120672226, + -0.9924706220626831, + 0.021983440965414047, + -8.799668312072754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 983, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_42267322", + "mask_path": "../../mask/hdr_right_00983.png" + }, + { + "file_path": "../../rgb/hdr_right_00986.png", + "transform_matrix": [ + [ + 0.3530137240886688, + 0.07296648621559143, + 0.9327685832977295, + -18.569835662841797 + ], + [ + -0.9289783239364624, + -0.09122747927904129, + 0.35871559381484985, + -14.324165344238281 + ], + [ + 0.11126835644245148, + -0.9931532740592957, + 0.035579729825258255, + -8.838714599609375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 986, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_342267990", + "mask_path": "../../mask/hdr_right_00986.png" + }, + { + "file_path": "../../rgb/hdr_right_00987.png", + "transform_matrix": [ + [ + 0.35699692368507385, + 0.05986045300960541, + 0.9321856498718262, + -18.595300674438477 + ], + [ + -0.9235009551048279, + -0.1273280531167984, + 0.3618473708629608, + -14.28483772277832 + ], + [ + 0.140353724360466, + -0.9900526404380798, + 0.00982545968145132, + -8.84790325164795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 987, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_442267656", + "mask_path": "../../mask/hdr_right_00987.png" + }, + { + "file_path": "../../rgb/hdr_right_00989.png", + "transform_matrix": [ + [ + 0.34542983770370483, + 0.08371403813362122, + 0.9347033500671387, + -18.59535026550293 + ], + [ + -0.9242644906044006, + -0.1421431005001068, + 0.35430270433425903, + -14.234090805053711 + ], + [ + 0.16252173483371735, + -0.9862997531890869, + 0.028273457661271095, + -8.859511375427246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 989, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_642267704", + "mask_path": "../../mask/hdr_right_00989.png" + }, + { + "file_path": "../../rgb/hdr_right_00991.png", + "transform_matrix": [ + [ + 0.3287825286388397, + 0.09492393583059311, + 0.9396230578422546, + -18.59686279296875 + ], + [ + -0.9310117959976196, + -0.13439203798770905, + 0.33934611082077026, + -14.141552925109863 + ], + [ + 0.1584899127483368, + -0.9863712191581726, + 0.04418954625725746, + -8.885858535766602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 991, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_842268228", + "mask_path": "../../mask/hdr_right_00991.png" + }, + { + "file_path": "../../rgb/hdr_right_00992.png", + "transform_matrix": [ + [ + 0.3297264873981476, + 0.0953889787197113, + 0.9392451643943787, + -18.61871337890625 + ], + [ + -0.9325901865959167, + -0.12181069701910019, + 0.3397611975669861, + -14.074394226074219 + ], + [ + 0.1468195766210556, + -0.9879590272903442, + 0.04879462346434593, + -8.875810623168945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 992, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638899_942267417", + "mask_path": "../../mask/hdr_right_00992.png" + }, + { + "file_path": "../../rgb/hdr_right_00995.png", + "transform_matrix": [ + [ + 0.34419625997543335, + 0.1051277294754982, + 0.9329936504364014, + -18.625574111938477 + ], + [ + -0.9307757616043091, + -0.09221743792295456, + 0.353768914937973, + -13.916145324707031 + ], + [ + 0.12322920560836792, + -0.9901737570762634, + 0.06610943377017975, + -8.893468856811523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 995, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_242267847", + "mask_path": "../../mask/hdr_right_00995.png" + }, + { + "file_path": "../../rgb/hdr_right_00996.png", + "transform_matrix": [ + [ + 0.34042099118232727, + 0.08174318820238113, + 0.9367131590843201, + -18.64159393310547 + ], + [ + -0.9283867478370667, + -0.1286817193031311, + 0.3486245274543762, + -13.852500915527344 + ], + [ + 0.14903554320335388, + -0.9883111715316772, + 0.03208333998918533, + -8.907055854797363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 996, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_342268228", + "mask_path": "../../mask/hdr_right_00996.png" + }, + { + "file_path": "../../rgb/hdr_right_00998.png", + "transform_matrix": [ + [ + 0.3220193684101105, + 0.09197000414133072, + 0.9422553777694702, + -18.640928268432617 + ], + [ + -0.9318406581878662, + -0.14504669606685638, + 0.3326175808906555, + -13.787652015686035 + ], + [ + 0.16726185381412506, + -0.9851410388946533, + 0.03899353742599487, + -8.922865867614746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 998, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_542267799", + "mask_path": "../../mask/hdr_right_00998.png" + }, + { + "file_path": "../../rgb/hdr_right_00999.png", + "transform_matrix": [ + [ + 0.31215617060661316, + 0.09749982506036758, + 0.945014476776123, + -18.641626358032227 + ], + [ + -0.93511962890625, + -0.14401300251483917, + 0.3237459659576416, + -13.735398292541504 + ], + [ + 0.16765955090522766, + -0.9847608804702759, + 0.04621946066617966, + -8.934289932250977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 999, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_642267942", + "mask_path": "../../mask/hdr_right_00999.png" + }, + { + "file_path": "../../rgb/hdr_right_01000.png", + "transform_matrix": [ + [ + 0.2994558811187744, + 0.0974498838186264, + 0.9491205215454102, + -18.646991729736328 + ], + [ + -0.9395851492881775, + -0.14279723167419434, + 0.31110891699790955, + -13.684967041015625 + ], + [ + 0.16584929823875427, + -0.9849428534507751, + 0.0488009974360466, + -8.950201988220215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1000, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_742267847", + "mask_path": "../../mask/hdr_right_01000.png" + }, + { + "file_path": "../../rgb/hdr_right_01001.png", + "transform_matrix": [ + [ + 0.29330936074256897, + 0.09426789730787277, + 0.9513586163520813, + -18.67227554321289 + ], + [ + -0.9430655837059021, + -0.1347203552722931, + 0.3041016757488251, + -13.615307807922363 + ], + [ + 0.15683439373970032, + -0.9863893985748291, + 0.049386072903871536, + -8.957364082336426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1001, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638900_842268228", + "mask_path": "../../mask/hdr_right_01001.png" + }, + { + "file_path": "../../rgb/hdr_right_01004.png", + "transform_matrix": [ + [ + 0.28484833240509033, + 0.1042163297533989, + 0.9528905749320984, + -18.696279525756836 + ], + [ + -0.9480717778205872, + -0.11610725522041321, + 0.29610633850097656, + -13.469279289245605 + ], + [ + 0.14149664342403412, + -0.9877540469169617, + 0.06573160737752914, + -8.992566108703613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1004, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638901_142267704", + "mask_path": "../../mask/hdr_right_01004.png" + }, + { + "file_path": "../../rgb/hdr_right_01005.png", + "transform_matrix": [ + [ + 0.2760586738586426, + 0.08329247683286667, + 0.9575250744819641, + -18.712732315063477 + ], + [ + -0.9469487071037292, + -0.1469983160495758, + 0.28579646348953247, + -13.416171073913574 + ], + [ + 0.1645592451095581, + -0.9856235980987549, + 0.03829355165362358, + -8.998679161071777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1005, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638901_242267608", + "mask_path": "../../mask/hdr_right_01005.png" + }, + { + "file_path": "../../rgb/hdr_right_01007.png", + "transform_matrix": [ + [ + 0.2603985369205475, + 0.09437210112810135, + 0.9608780741691589, + -18.714393615722656 + ], + [ + -0.9490751624107361, + -0.157776340842247, + 0.2726958692073822, + -13.35226058959961 + ], + [ + 0.17733868956565857, + -0.9829549789428711, + 0.04848148301243782, + -9.00041389465332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1007, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638901_442267894", + "mask_path": "../../mask/hdr_right_01007.png" + }, + { + "file_path": "../../rgb/hdr_right_01009.png", + "transform_matrix": [ + [ + 0.25540778040885925, + 0.0948791354894638, + 0.9621667861938477, + -18.725666046142578 + ], + [ + -0.9525963068008423, + -0.14545975625514984, + 0.26721101999282837, + -13.238887786865234 + ], + [ + 0.16530930995941162, + -0.9848042130470276, + 0.053229957818984985, + -9.020240783691406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1009, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638901_642268180", + "mask_path": "../../mask/hdr_right_01009.png" + }, + { + "file_path": "../../rgb/hdr_right_01013.png", + "transform_matrix": [ + [ + 0.27910900115966797, + 0.08750695735216141, + 0.9562639594078064, + -18.768779754638672 + ], + [ + -0.9497718214988708, + -0.12162060290575027, + 0.28834354877471924, + -13.052810668945312 + ], + [ + 0.14153344929218292, + -0.9887117743492126, + 0.049166239798069, + -9.057997703552246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1013, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638902_42268991", + "mask_path": "../../mask/hdr_right_01013.png" + }, + { + "file_path": "../../rgb/hdr_right_01017.png", + "transform_matrix": [ + [ + 0.29690730571746826, + 0.07006366550922394, + 0.9523324966430664, + -18.824947357177734 + ], + [ + -0.9398183226585388, + -0.15514521300792694, + 0.3044198751449585, + -12.901917457580566 + ], + [ + 0.16907857358455658, + -0.9854040145874023, + 0.019783377647399902, + -9.079906463623047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1017, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638902_442268133", + "mask_path": "../../mask/hdr_right_01017.png" + }, + { + "file_path": "../../rgb/hdr_right_01018.png", + "transform_matrix": [ + [ + 0.3091597557067871, + 0.07095906883478165, + 0.9483591318130493, + -18.850048065185547 + ], + [ + -0.9369873404502869, + -0.14788919687271118, + 0.3165181279182434, + -12.84740924835205 + ], + [ + 0.16271190345287323, + -0.9864550828933716, + 0.020766356959939003, + -9.082096099853516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1018, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638902_542267560", + "mask_path": "../../mask/hdr_right_01018.png" + }, + { + "file_path": "../../rgb/hdr_right_01022.png", + "transform_matrix": [ + [ + 0.3493352234363556, + 0.06808116286993027, + 0.9345211982727051, + -18.8870792388916 + ], + [ + -0.9242505431175232, + -0.13891778886318207, + 0.3556162416934967, + -12.663981437683105 + ], + [ + 0.1540324091911316, + -0.987960934638977, + 0.014395167119801044, + -9.111044883728027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1022, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638902_942266464", + "mask_path": "../../mask/hdr_right_01022.png" + }, + { + "file_path": "../../rgb/hdr_right_01026.png", + "transform_matrix": [ + [ + 0.3365257978439331, + 0.06426408886909485, + 0.939478874206543, + -18.948314666748047 + ], + [ + -0.9290021061897278, + -0.14046375453472137, + 0.34238123893737793, + -12.474220275878906 + ], + [ + 0.1539655476808548, + -0.9879979491233826, + 0.012431800365447998, + -9.139456748962402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1026, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638903_342267036", + "mask_path": "../../mask/hdr_right_01026.png" + }, + { + "file_path": "../../rgb/hdr_right_01027.png", + "transform_matrix": [ + [ + 0.3343411087989807, + 0.06555027514696121, + 0.9401698112487793, + -18.971033096313477 + ], + [ + -0.9300568103790283, + -0.13831187784671783, + 0.34038811922073364, + -12.42430305480957 + ], + [ + 0.15234917402267456, + -0.9882171154022217, + 0.014722157269716263, + -9.151468276977539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1027, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638903_442266941", + "mask_path": "../../mask/hdr_right_01027.png" + }, + { + "file_path": "../../rgb/hdr_right_01029.png", + "transform_matrix": [ + [ + 0.3289233148097992, + 0.07164199650287628, + 0.9416353106498718, + -18.990455627441406 + ], + [ + -0.933090329170227, + -0.1289072036743164, + 0.33574607968330383, + -12.349629402160645 + ], + [ + 0.1454370766878128, + -0.9890653491020203, + 0.02444787323474884, + -9.176204681396484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1029, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638903_642266750", + "mask_path": "../../mask/hdr_right_01029.png" + }, + { + "file_path": "../../rgb/hdr_right_01031.png", + "transform_matrix": [ + [ + 0.31834205985069275, + 0.06597857177257538, + 0.9456771612167358, + -18.999975204467773 + ], + [ + -0.9340740442276001, + -0.1483844816684723, + 0.3247886896133423, + -12.235499382019043 + ], + [ + 0.16175289452075958, + -0.9867263436317444, + 0.014391867443919182, + -9.195671081542969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1031, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638903_842267036", + "mask_path": "../../mask/hdr_right_01031.png" + }, + { + "file_path": "../../rgb/hdr_right_01033.png", + "transform_matrix": [ + [ + 0.3081449568271637, + 0.07519269734621048, + 0.948363184928894, + -19.011056900024414 + ], + [ + -0.9354742169380188, + -0.15734784305095673, + 0.3164326548576355, + -12.17791748046875 + ], + [ + 0.17301632463932037, + -0.9846764206886292, + 0.02185489609837532, + -9.20541000366211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1033, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638904_42267084", + "mask_path": "../../mask/hdr_right_01033.png" + }, + { + "file_path": "../../rgb/hdr_right_01035.png", + "transform_matrix": [ + [ + 0.3031729459762573, + 0.0764375701546669, + 0.9498650431632996, + -19.032142639160156 + ], + [ + -0.9390486478805542, + -0.14558537304401398, + 0.3114362061023712, + -12.077086448669434 + ], + [ + 0.16209185123443604, + -0.9863884449005127, + 0.02764105796813965, + -9.21629810333252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1035, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638904_242266654", + "mask_path": "../../mask/hdr_right_01035.png" + }, + { + "file_path": "../../rgb/hdr_right_01040.png", + "transform_matrix": [ + [ + 0.28753966093063354, + 0.06896188855171204, + 0.9552828073501587, + -19.051218032836914 + ], + [ + -0.9463355541229248, + -0.13319571316242218, + 0.2944619357585907, + -11.866310119628906 + ], + [ + 0.1475462168455124, + -0.9886875748634338, + 0.026962049305438995, + -9.24289608001709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1040, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638904_742268085", + "mask_path": "../../mask/hdr_right_01040.png" + }, + { + "file_path": "../../rgb/hdr_right_01043.png", + "transform_matrix": [ + [ + 0.2748557925224304, + 0.06923855096101761, + 0.9589892625808716, + -19.06136131286621 + ], + [ + -0.9502826929092407, + -0.13225050270557404, + 0.2819088101387024, + -11.790799140930176 + ], + [ + 0.14634574949741364, + -0.9887951016426086, + 0.02944638393819332, + -9.248575210571289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1043, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638905_42268991", + "mask_path": "../../mask/hdr_right_01043.png" + }, + { + "file_path": "../../rgb/hdr_right_01055.png", + "transform_matrix": [ + [ + 0.4528752565383911, + 0.0844104066491127, + 0.8875691294670105, + -19.194101333618164 + ], + [ + -0.8804115056991577, + -0.11469491571187973, + 0.4601310193538666, + -11.757726669311523 + ], + [ + 0.1406394988298416, + -0.9898080229759216, + 0.022373415529727936, + -9.247851371765137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1055, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638906_242268085", + "mask_path": "../../mask/hdr_right_01055.png" + }, + { + "file_path": "../../rgb/hdr_right_01058.png", + "transform_matrix": [ + [ + 0.5470486283302307, + 0.09872183948755264, + 0.8312591910362244, + -19.222736358642578 + ], + [ + -0.822299063205719, + -0.12254051119089127, + 0.5557051301002502, + -11.816987037658691 + ], + [ + 0.15672315657138824, + -0.9875413179397583, + 0.014143249951303005, + -9.281800270080566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1058, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638906_542267322", + "mask_path": "../../mask/hdr_right_01058.png" + }, + { + "file_path": "../../rgb/hdr_right_01064.png", + "transform_matrix": [ + [ + 0.7025467753410339, + 0.10656624287366867, + 0.70361328125, + -19.270553588867188 + ], + [ + -0.689625084400177, + -0.14206074178218842, + 0.7100958228111267, + -11.910429954528809 + ], + [ + 0.17562806606292725, + -0.9841048717498779, + -0.02631356008350849, + -9.269221305847168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1064, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638907_142268419", + "mask_path": "../../mask/hdr_right_01064.png" + }, + { + "file_path": "../../rgb/hdr_right_01068.png", + "transform_matrix": [ + [ + 0.7968454957008362, + 0.11475613713264465, + 0.5931850671768188, + -19.30260467529297 + ], + [ + -0.5787063241004944, + -0.13712964951992035, + 0.8039244413375854, + -12.004839897155762 + ], + [ + 0.173598513007164, + -0.9838833808898926, + -0.042861033231019974, + -9.262185096740723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1068, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638907_542264223", + "mask_path": "../../mask/hdr_right_01068.png" + }, + { + "file_path": "../../rgb/hdr_right_01079.png", + "transform_matrix": [ + [ + 0.9488366842269897, + 0.16100046038627625, + 0.2716388404369354, + -19.39310073852539 + ], + [ + -0.2546215355396271, + -0.11867135018110275, + 0.9597317576408386, + -12.124045372009277 + ], + [ + 0.18675297498703003, + -0.979793906211853, + -0.07160557061433792, + -9.289921760559082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1079, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638908_642267942", + "mask_path": "../../mask/hdr_right_01079.png" + }, + { + "file_path": "../../rgb/hdr_right_01081.png", + "transform_matrix": [ + [ + 0.9610552787780762, + 0.1953541338443756, + 0.19547271728515625, + -19.42389488220215 + ], + [ + -0.17667530477046967, + -0.10958018153905869, + 0.9781503081321716, + -12.143499374389648 + ], + [ + 0.21250563859939575, + -0.9745917320251465, + -0.0707983449101448, + -9.33417797088623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1081, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638908_842267274", + "mask_path": "../../mask/hdr_right_01081.png" + }, + { + "file_path": "../../rgb/hdr_right_01083.png", + "transform_matrix": [ + [ + 0.9686925411224365, + 0.21197006106376648, + 0.1292422115802765, + -19.47766876220703 + ], + [ + -0.10461351275444031, + -0.12359415739774704, + 0.9868032336235046, + -12.182528495788574 + ], + [ + 0.2251463085412979, + -0.9694292545318604, + -0.09754981100559235, + -9.352740287780762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1083, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_42268037", + "mask_path": "../../mask/hdr_right_01083.png" + }, + { + "file_path": "../../rgb/hdr_right_01085.png", + "transform_matrix": [ + [ + 0.9625539183616638, + 0.2430625557899475, + 0.12004455924034119, + -19.52667999267578 + ], + [ + -0.08745940774679184, + -0.14070932567119598, + 0.9861804246902466, + -12.206375122070312 + ], + [ + 0.2565948963165283, + -0.959750771522522, + -0.11418218910694122, + -9.363157272338867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1085, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_242267370", + "mask_path": "../../mask/hdr_right_01085.png" + }, + { + "file_path": "../../rgb/hdr_right_01087.png", + "transform_matrix": [ + [ + 0.9544524550437927, + 0.27712324261665344, + 0.11055835336446762, + -19.626026153564453 + ], + [ + -0.08211273699998856, + -0.11226412653923035, + 0.9902799129486084, + -12.196512222290039 + ], + [ + 0.2868412435054779, + -0.9542534351348877, + -0.08439543098211288, + -9.418489456176758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1087, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_442266941", + "mask_path": "../../mask/hdr_right_01087.png" + }, + { + "file_path": "../../rgb/hdr_right_01089.png", + "transform_matrix": [ + [ + 0.9451147317886353, + 0.31311580538749695, + 0.09336325526237488, + -19.673784255981445 + ], + [ + -0.06675056368112564, + -0.09468590468168259, + 0.9932668209075928, + -12.187370300292969 + ], + [ + 0.3198477029800415, + -0.9449830651283264, + -0.06858838349580765, + -9.464229583740234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1089, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_642266750", + "mask_path": "../../mask/hdr_right_01089.png" + }, + { + "file_path": "../../rgb/hdr_right_01090.png", + "transform_matrix": [ + [ + 0.9433035254478455, + 0.3214455246925354, + 0.08277246356010437, + -19.727556228637695 + ], + [ + -0.05639501288533211, + -0.09053664654493332, + 0.9942951798439026, + -12.172428131103516 + ], + [ + 0.3271056115627289, + -0.9425899982452393, + -0.06727560609579086, + -9.499841690063477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1090, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_742267370", + "mask_path": "../../mask/hdr_right_01090.png" + }, + { + "file_path": "../../rgb/hdr_right_01091.png", + "transform_matrix": [ + [ + 0.9389782547950745, + 0.3344781696796417, + 0.08027597516775131, + -19.77812385559082 + ], + [ + -0.0480533242225647, + -0.10353515297174454, + 0.9934643507003784, + -12.16224479675293 + ], + [ + 0.3406035304069519, + -0.9366989135742188, + -0.08114447444677353, + -9.520648002624512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1091, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638909_842267036", + "mask_path": "../../mask/hdr_right_01091.png" + }, + { + "file_path": "../../rgb/hdr_right_01093.png", + "transform_matrix": [ + [ + 0.9347370862960815, + 0.34555110335350037, + 0.08283181488513947, + -19.852699279785156 + ], + [ + -0.04931394383311272, + -0.10470119118690491, + 0.9932803511619568, + -12.149293899536133 + ], + [ + 0.35190173983573914, + -0.9325406551361084, + -0.08082759380340576, + -9.564728736877441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1093, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_42266845", + "mask_path": "../../mask/hdr_right_01093.png" + }, + { + "file_path": "../../rgb/hdr_right_01094.png", + "transform_matrix": [ + [ + 0.92161625623703, + 0.3799096941947937, + 0.07932381331920624, + -19.919492721557617 + ], + [ + -0.05620642751455307, + -0.07157975435256958, + 0.9958500266075134, + -12.130965232849121 + ], + [ + 0.38401103019714355, + -0.9222499132156372, + -0.04461568966507912, + -9.603742599487305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1094, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_142267942", + "mask_path": "../../mask/hdr_right_01094.png" + }, + { + "file_path": "../../rgb/hdr_right_01097.png", + "transform_matrix": [ + [ + 0.9038568139076233, + 0.41089484095573425, + 0.11919895559549332, + -20.066259384155273 + ], + [ + -0.09806930273771286, + -0.07221078872680664, + 0.9925563931465149, + -12.075987815856934 + ], + [ + 0.41644373536109924, + -0.9088184833526611, + -0.024972042068839073, + -9.68766975402832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1097, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_442267179", + "mask_path": "../../mask/hdr_right_01097.png" + }, + { + "file_path": "../../rgb/hdr_right_01098.png", + "transform_matrix": [ + [ + 0.8957734107971191, + 0.4189099371433258, + 0.14867554605007172, + -20.114145278930664 + ], + [ + -0.11152181774377823, + -0.1119782030582428, + 0.9874329566955566, + -12.058162689208984 + ], + [ + 0.4302939176559448, + -0.9010967016220093, + -0.05358950048685074, + -9.714577674865723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1098, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_542268276", + "mask_path": "../../mask/hdr_right_01098.png" + }, + { + "file_path": "../../rgb/hdr_right_01100.png", + "transform_matrix": [ + [ + 0.8954296708106995, + 0.39362239837646484, + 0.20800748467445374, + -20.2293701171875 + ], + [ + -0.15478961169719696, + -0.16281436383724213, + 0.9744391441345215, + -12.042939186096191 + ], + [ + 0.4174276888370514, + -0.9047391414642334, + -0.08486014604568481, + -9.723601341247559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1100, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_742268562", + "mask_path": "../../mask/hdr_right_01100.png" + }, + { + "file_path": "../../rgb/hdr_right_01101.png", + "transform_matrix": [ + [ + 0.9010390639305115, + 0.3659558892250061, + 0.2328193187713623, + -20.30168914794922 + ], + [ + -0.18229475617408752, + -0.1675485223531723, + 0.9688633680343628, + -12.023795127868652 + ], + [ + 0.39356979727745056, + -0.9154254794120789, + -0.08425591886043549, + -9.753427505493164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1101, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638910_842267036", + "mask_path": "../../mask/hdr_right_01101.png" + }, + { + "file_path": "../../rgb/hdr_right_01103.png", + "transform_matrix": [ + [ + 0.8839476108551025, + 0.36354270577430725, + 0.2940632104873657, + -20.341663360595703 + ], + [ + -0.24695007503032684, + -0.17106451094150543, + 0.9538095593452454, + -11.99930477142334 + ], + [ + 0.3970542550086975, + -0.9157366752624512, + -0.06143518164753914, + -9.791960716247559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1103, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638911_42268753", + "mask_path": "../../mask/hdr_right_01103.png" + }, + { + "file_path": "../../rgb/hdr_right_01105.png", + "transform_matrix": [ + [ + 0.8467068076133728, + 0.3613257110118866, + 0.39055249094963074, + -20.389856338500977 + ], + [ + -0.3573494553565979, + -0.15764421224594116, + 0.9205702543258667, + -11.953889846801758 + ], + [ + 0.3941941261291504, + -0.9190168976783752, + -0.004358904901891947, + -9.852310180664062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1105, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638911_242269039", + "mask_path": "../../mask/hdr_right_01105.png" + }, + { + "file_path": "../../rgb/hdr_right_01107.png", + "transform_matrix": [ + [ + 0.7843684554100037, + 0.3631502389907837, + 0.5028796195983887, + -20.364519119262695 + ], + [ + -0.4873194694519043, + -0.14082448184490204, + 0.8617935180664062, + -11.872010231018066 + ], + [ + 0.38377833366394043, + -0.9210267663002014, + 0.06651193648576736, + -9.87158203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1107, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638911_442268610", + "mask_path": "../../mask/hdr_right_01107.png" + }, + { + "file_path": "../../rgb/hdr_right_01110.png", + "transform_matrix": [ + [ + 0.6715777516365051, + 0.3603438436985016, + 0.6474069952964783, + -20.339662551879883 + ], + [ + -0.6493310928344727, + -0.13461127877235413, + 0.7484978437423706, + -11.76844596862793 + ], + [ + 0.356864869594574, + -0.9230558276176453, + 0.14358054101467133, + -9.87934398651123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1110, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638911_742267608", + "mask_path": "../../mask/hdr_right_01110.png" + }, + { + "file_path": "../../rgb/hdr_right_01112.png", + "transform_matrix": [ + [ + 0.6067215204238892, + 0.3362518846988678, + 0.720294177532196, + -20.33011245727539 + ], + [ + -0.7216496467590332, + -0.14697697758674622, + 0.6764758229255676, + -11.691500663757324 + ], + [ + 0.33333295583724976, + -0.9302324652671814, + 0.15348199009895325, + -9.879280090332031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1112, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638911_942267179", + "mask_path": "../../mask/hdr_right_01112.png" + }, + { + "file_path": "../../rgb/hdr_right_01116.png", + "transform_matrix": [ + [ + 0.5891332030296326, + 0.3194355368614197, + 0.7422149777412415, + -20.30896759033203 + ], + [ + -0.7443203926086426, + -0.14297527074813843, + 0.6523383259773254, + -11.63515853881836 + ], + [ + 0.3144984543323517, + -0.936759889125824, + 0.15353086590766907, + -9.867877960205078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1116, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638912_342268466", + "mask_path": "../../mask/hdr_right_01116.png" + }, + { + "file_path": "../../rgb/hdr_right_01119.png", + "transform_matrix": [ + [ + 0.6037611365318298, + 0.3061893582344055, + 0.7360167503356934, + -20.338613510131836 + ], + [ + -0.7382187843322754, + -0.1336853802204132, + 0.6611817479133606, + -11.57019329071045 + ], + [ + 0.30084148049354553, + -0.9425371885299683, + 0.14532069861888885, + -9.89426040649414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1119, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638912_642268180", + "mask_path": "../../mask/hdr_right_01119.png" + }, + { + "file_path": "../../rgb/hdr_right_01121.png", + "transform_matrix": [ + [ + 0.6090806126594543, + 0.26285532116889954, + 0.7482833862304688, + -20.39582061767578 + ], + [ + -0.7380069494247437, + -0.15769051015377045, + 0.6561092138290405, + -11.489400863647461 + ], + [ + 0.290459007024765, + -0.9518617391586304, + 0.09794283658266068, + -9.910420417785645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1121, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638912_842267990", + "mask_path": "../../mask/hdr_right_01121.png" + }, + { + "file_path": "../../rgb/hdr_right_01123.png", + "transform_matrix": [ + [ + 0.5955759882926941, + 0.25193747878074646, + 0.7627691030502319, + -20.425678253173828 + ], + [ + -0.7506809830665588, + -0.1634547859430313, + 0.6401255130767822, + -11.432502746582031 + ], + [ + 0.28594985604286194, + -0.9538396000862122, + 0.09177491068840027, + -9.927199363708496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1123, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_42267560", + "mask_path": "../../mask/hdr_right_01123.png" + }, + { + "file_path": "../../rgb/hdr_right_01124.png", + "transform_matrix": [ + [ + 0.595299243927002, + 0.24679800868034363, + 0.7646629810333252, + -20.477867126464844 + ], + [ + -0.752213716506958, + -0.16338692605495453, + 0.6383410692214966, + -11.38364028930664 + ], + [ + 0.2824772298336029, + -0.9551939368247986, + 0.08838071674108505, + -9.956300735473633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1124, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_142267704", + "mask_path": "../../mask/hdr_right_01124.png" + }, + { + "file_path": "../../rgb/hdr_right_01125.png", + "transform_matrix": [ + [ + 0.5973454713821411, + 0.2365943342447281, + 0.7662907838821411, + -20.512489318847656 + ], + [ + -0.7529186606407166, + -0.16363784670829773, + 0.6374451518058777, + -11.345714569091797 + ], + [ + 0.27621006965637207, + -0.9577295184135437, + 0.08038795739412308, + -9.963980674743652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1125, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_242268085", + "mask_path": "../../mask/hdr_right_01125.png" + }, + { + "file_path": "../../rgb/hdr_right_01127.png", + "transform_matrix": [ + [ + 0.6049090027809143, + 0.22424939274787903, + 0.7640663385391235, + -20.551349639892578 + ], + [ + -0.7522927522659302, + -0.1536095142364502, + 0.64067143201828, + -11.284490585327148 + ], + [ + 0.26103800535202026, + -0.9623494744300842, + 0.07578139752149582, + -9.989093780517578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1127, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_442267894", + "mask_path": "../../mask/hdr_right_01127.png" + }, + { + "file_path": "../../rgb/hdr_right_01128.png", + "transform_matrix": [ + [ + 0.6104612350463867, + 0.21591703593730927, + 0.7620478868484497, + -20.57465362548828 + ], + [ + -0.7510902881622314, + -0.1475703865289688, + 0.6434956192970276, + -11.231364250183105 + ], + [ + 0.25139737129211426, + -0.9651957154273987, + 0.07208717614412308, + -10.012415885925293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1128, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_542267560", + "mask_path": "../../mask/hdr_right_01128.png" + }, + { + "file_path": "../../rgb/hdr_right_01129.png", + "transform_matrix": [ + [ + 0.6106979250907898, + 0.21371637284755707, + 0.7624785900115967, + -20.601457595825195 + ], + [ + -0.749966025352478, + -0.1529572755098343, + 0.6435487866401672, + -11.182494163513184 + ], + [ + 0.25416356325149536, + -0.9648468494415283, + 0.0668693482875824, + -10.024035453796387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1129, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_642267704", + "mask_path": "../../mask/hdr_right_01129.png" + }, + { + "file_path": "../../rgb/hdr_right_01131.png", + "transform_matrix": [ + [ + 0.5983180403709412, + 0.23411418497562408, + 0.7662938833236694, + -20.613677978515625 + ], + [ + -0.7577410340309143, + -0.14556533098220825, + 0.6361124515533447, + -11.109349250793457 + ], + [ + 0.2604687809944153, + -0.961249828338623, + 0.09030359238386154, + -10.03835678100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1131, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638913_842268466", + "mask_path": "../../mask/hdr_right_01131.png" + }, + { + "file_path": "../../rgb/hdr_right_01133.png", + "transform_matrix": [ + [ + 0.5859113931655884, + 0.2516401410102844, + 0.7703149318695068, + -20.635074615478516 + ], + [ + -0.7652566432952881, + -0.14094294607639313, + 0.6281061172485352, + -11.011468887329102 + ], + [ + 0.26662716269493103, + -0.9575031399726868, + 0.1099892109632492, + -10.081802368164062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1133, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_42267322", + "mask_path": "../../mask/hdr_right_01133.png" + }, + { + "file_path": "../../rgb/hdr_right_01134.png", + "transform_matrix": [ + [ + 0.5871437788009644, + 0.25433149933815, + 0.7684905529022217, + -20.659061431884766 + ], + [ + -0.7636511325836182, + -0.14088140428066254, + 0.6300709843635559, + -10.959802627563477 + ], + [ + 0.26851293444633484, + -0.9568008184432983, + 0.11150289326906204, + -10.091955184936523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1134, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_142266988", + "mask_path": "../../mask/hdr_right_01134.png" + }, + { + "file_path": "../../rgb/hdr_right_01137.png", + "transform_matrix": [ + [ + 0.6004462242126465, + 0.2565678060054779, + 0.7573885321617126, + -20.73955535888672 + ], + [ + -0.755062460899353, + -0.12999218702316284, + 0.6426373720169067, + -10.826501846313477 + ], + [ + 0.2633346617221832, + -0.9577447175979614, + 0.11567140370607376, + -10.145726203918457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1137, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_442267179", + "mask_path": "../../mask/hdr_right_01137.png" + }, + { + "file_path": "../../rgb/hdr_right_01138.png", + "transform_matrix": [ + [ + 0.5978658199310303, + 0.255277156829834, + 0.7598618268966675, + -20.77572250366211 + ], + [ + -0.7541626691818237, + -0.14211533963680267, + 0.6411254405975342, + -10.768857955932617 + ], + [ + 0.2716527283191681, + -0.9563664197921753, + 0.107554592192173, + -10.15846061706543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1138, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_542266845", + "mask_path": "../../mask/hdr_right_01138.png" + }, + { + "file_path": "../../rgb/hdr_right_01141.png", + "transform_matrix": [ + [ + 0.5747935771942139, + 0.2802952527999878, + 0.7687957882881165, + -20.849796295166016 + ], + [ + -0.7655962109565735, + -0.14750880002975464, + 0.6261817216873169, + -10.615944862365723 + ], + [ + 0.2889198958873749, + -0.9485123157501221, + 0.12980590760707855, + -10.241081237792969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1141, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_842267036", + "mask_path": "../../mask/hdr_right_01141.png" + }, + { + "file_path": "../../rgb/hdr_right_01142.png", + "transform_matrix": [ + [ + 0.5708152055740356, + 0.27640172839164734, + 0.7731572389602661, + -20.89396858215332 + ], + [ + -0.7684194445610046, + -0.1519603133201599, + 0.6216427087783813, + -10.559745788574219 + ], + [ + 0.28931230306625366, + -0.9489521384239197, + 0.12565122544765472, + -10.253140449523926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1142, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638914_942266941", + "mask_path": "../../mask/hdr_right_01142.png" + }, + { + "file_path": "../../rgb/hdr_right_01145.png", + "transform_matrix": [ + [ + 0.5628467202186584, + 0.260925829410553, + 0.7842966914176941, + -20.980070114135742 + ], + [ + -0.7831237316131592, + -0.1352122277021408, + 0.6069884300231934, + -10.43847370147705 + ], + [ + 0.2644254267215729, + -0.9558427929878235, + 0.1282334178686142, + -10.295044898986816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1145, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638915_242267370", + "mask_path": "../../mask/hdr_right_01145.png" + }, + { + "file_path": "../../rgb/hdr_right_01146.png", + "transform_matrix": [ + [ + 0.5530356764793396, + 0.2565273344516754, + 0.7926822900772095, + -21.01082992553711 + ], + [ + -0.7855721116065979, + -0.15638120472431183, + 0.5986830592155457, + -10.403934478759766 + ], + [ + 0.2775391638278961, + -0.953802227973938, + 0.11503634601831436, + -10.311586380004883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1146, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638915_342267274", + "mask_path": "../../mask/hdr_right_01146.png" + }, + { + "file_path": "../../rgb/hdr_right_01148.png", + "transform_matrix": [ + [ + 0.5180007219314575, + 0.2741870582103729, + 0.8102447986602783, + -21.017208099365234 + ], + [ + -0.8054481744766235, + -0.16254682838916779, + 0.5699401497840881, + -10.328412055969238 + ], + [ + 0.28797292709350586, + -0.9478395581245422, + 0.13664411008358002, + -10.337684631347656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1148, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638915_542267799", + "mask_path": "../../mask/hdr_right_01148.png" + }, + { + "file_path": "../../rgb/hdr_right_01154.png", + "transform_matrix": [ + [ + 0.5164173245429993, + 0.2820551097393036, + 0.8085532188415527, + -21.11932373046875 + ], + [ + -0.8157413601875305, + -0.12523740530014038, + 0.5646960735321045, + -10.073524475097656 + ], + [ + 0.2605365216732025, + -0.9511889815330505, + 0.16540925204753876, + -10.411970138549805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1154, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638916_142267465", + "mask_path": "../../mask/hdr_right_01154.png" + }, + { + "file_path": "../../rgb/hdr_right_01155.png", + "transform_matrix": [ + [ + 0.5149983167648315, + 0.2671157717704773, + 0.8145096898078918, + -21.144580841064453 + ], + [ + -0.811111330986023, + -0.155494824051857, + 0.5638437271118164, + -10.028417587280273 + ], + [ + 0.2772635817527771, + -0.9510365128517151, + 0.13658104836940765, + -10.428153038024902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1155, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638916_242267608", + "mask_path": "../../mask/hdr_right_01155.png" + }, + { + "file_path": "../../rgb/hdr_right_01157.png", + "transform_matrix": [ + [ + 0.4988367557525635, + 0.28291428089141846, + 0.8192200660705566, + -21.145225524902344 + ], + [ + -0.8176177740097046, + -0.15994781255722046, + 0.5530984401702881, + -9.970023155212402 + ], + [ + 0.2875118851661682, + -0.9457146525382996, + 0.15152789652347565, + -10.432729721069336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1157, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638916_442269325", + "mask_path": "../../mask/hdr_right_01157.png" + }, + { + "file_path": "../../rgb/hdr_right_01160.png", + "transform_matrix": [ + [ + 0.48360785841941833, + 0.2582843601703644, + 0.8363088965415955, + -21.187440872192383 + ], + [ + -0.839277446269989, + -0.13439610600471497, + 0.5268311500549316, + -9.8362398147583 + ], + [ + 0.24846893548965454, + -0.9566749334335327, + 0.15177728235721588, + -10.452520370483398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1160, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638916_742268323", + "mask_path": "../../mask/hdr_right_01160.png" + }, + { + "file_path": "../../rgb/hdr_right_01167.png", + "transform_matrix": [ + [ + 0.4562293589115143, + 0.24254071712493896, + 0.8561710715293884, + -21.302785873413086 + ], + [ + -0.8588611483573914, + -0.13172923028469086, + 0.49497976899147034, + -9.604166984558105 + ], + [ + 0.23283550143241882, + -0.9611562490463257, + 0.1482100635766983, + -10.527886390686035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1167, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638917_442265033", + "mask_path": "../../mask/hdr_right_01167.png" + }, + { + "file_path": "../../rgb/hdr_right_01170.png", + "transform_matrix": [ + [ + 0.478142648935318, + 0.24899713695049286, + 0.8422471284866333, + -21.318601608276367 + ], + [ + -0.8495050072669983, + -0.1123531237244606, + 0.5154784321784973, + -9.4566011428833 + ], + [ + 0.22298173606395721, + -0.9619652628898621, + 0.1578035205602646, + -10.5646333694458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1170, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638917_742267131", + "mask_path": "../../mask/hdr_right_01170.png" + }, + { + "file_path": "../../rgb/hdr_right_01171.png", + "transform_matrix": [ + [ + 0.4813694357872009, + 0.2373635619878769, + 0.8437665700912476, + -21.336700439453125 + ], + [ + -0.8441525101661682, + -0.1336301565170288, + 0.5191816687583923, + -9.401899337768555 + ], + [ + 0.23598746955394745, + -0.962185800075531, + 0.13604557514190674, + -10.570294380187988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1171, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638917_842269182", + "mask_path": "../../mask/hdr_right_01171.png" + }, + { + "file_path": "../../rgb/hdr_right_01173.png", + "transform_matrix": [ + [ + 0.4628252685070038, + 0.2440093457698822, + 0.8522045016288757, + -21.33322525024414 + ], + [ + -0.84866863489151, + -0.15570461750030518, + 0.5054875016212463, + -9.334827423095703 + ], + [ + 0.25603583455085754, + -0.9571914672851562, + 0.13501906394958496, + -10.590010643005371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1173, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638918_42268037", + "mask_path": "../../mask/hdr_right_01173.png" + }, + { + "file_path": "../../rgb/hdr_right_01175.png", + "transform_matrix": [ + [ + 0.4276362955570221, + 0.24537083506584167, + 0.8700118064880371, + -21.35032844543457 + ], + [ + -0.868169367313385, + -0.15662524104118347, + 0.4709039330482483, + -9.225788116455078 + ], + [ + 0.2518118917942047, + -0.9566931128501892, + 0.1460447907447815, + -10.59914493560791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1175, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638918_242267370", + "mask_path": "../../mask/hdr_right_01175.png" + }, + { + "file_path": "../../rgb/hdr_right_01182.png", + "transform_matrix": [ + [ + 0.2484942078590393, + 0.20918281376361847, + 0.9457765221595764, + -21.381662368774414 + ], + [ + -0.9430661201477051, + -0.1706070750951767, + 0.2855161726474762, + -8.974411010742188 + ], + [ + 0.22108125686645508, + -0.9628788828849792, + 0.15487833321094513, + -10.657462120056152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1182, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638918_942267417", + "mask_path": "../../mask/hdr_right_01182.png" + }, + { + "file_path": "../../rgb/hdr_right_01185.png", + "transform_matrix": [ + [ + 0.2619374096393585, + 0.2273009717464447, + 0.937935471534729, + -21.381759643554688 + ], + [ + -0.9458147287368774, + -0.1327821910381317, + 0.296316534280777, + -8.826539993286133 + ], + [ + 0.19189418852329254, + -0.9647296071052551, + 0.18020397424697876, + -10.664483070373535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1185, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638919_242267370", + "mask_path": "../../mask/hdr_right_01185.png" + }, + { + "file_path": "../../rgb/hdr_right_01186.png", + "transform_matrix": [ + [ + 0.264874666929245, + 0.2166033387184143, + 0.9396406412124634, + -21.38611602783203 + ], + [ + -0.9441455006599426, + -0.13984809815883636, + 0.2983819246292114, + -8.751924514770508 + ], + [ + 0.19603747129440308, + -0.9661911725997925, + 0.16746285557746887, + -10.690167427062988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1186, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638919_342268466", + "mask_path": "../../mask/hdr_right_01186.png" + }, + { + "file_path": "../../rgb/hdr_right_01191.png", + "transform_matrix": [ + [ + 0.23636092245578766, + 0.21490775048732758, + 0.947601318359375, + -21.36886978149414 + ], + [ + -0.9547169208526611, + -0.12998910248279572, + 0.2676161527633667, + -8.52423095703125 + ], + [ + 0.18069061636924744, + -0.9679450988769531, + 0.17445172369480133, + -10.69207763671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1191, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638919_842266798", + "mask_path": "../../mask/hdr_right_01191.png" + }, + { + "file_path": "../../rgb/hdr_right_01192.png", + "transform_matrix": [ + [ + 0.23518195748329163, + 0.2165759801864624, + 0.9475148320198059, + -21.3703556060791 + ], + [ + -0.956091046333313, + -0.12384355068206787, + 0.26561787724494934, + -8.473143577575684 + ], + [ + 0.1748700737953186, + -0.9683788418769836, + 0.17794057726860046, + -10.705286979675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1192, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638919_942267656", + "mask_path": "../../mask/hdr_right_01192.png" + }, + { + "file_path": "../../rgb/hdr_right_01193.png", + "transform_matrix": [ + [ + 0.23408110439777374, + 0.2185756266117096, + 0.9473282098770142, + -21.37554359436035 + ], + [ + -0.9577741622924805, + -0.11548735946416855, + 0.26330849528312683, + -8.41118049621582 + ], + [ + 0.16695724427700043, + -0.9689620137214661, + 0.18231266736984253, + -10.71143913269043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1193, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_42269229", + "mask_path": "../../mask/hdr_right_01193.png" + }, + { + "file_path": "../../rgb/hdr_right_01194.png", + "transform_matrix": [ + [ + 0.22714586555957794, + 0.20819121599197388, + 0.9513469934463501, + -21.390155792236328 + ], + [ + -0.9592298269271851, + -0.12086810916662216, + 0.25547856092453003, + -8.348999977111816 + ], + [ + 0.16817592084407806, + -0.9705911874771118, + 0.17224852740764618, + -10.726295471191406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1194, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_142268180", + "mask_path": "../../mask/hdr_right_01194.png" + }, + { + "file_path": "../../rgb/hdr_right_01195.png", + "transform_matrix": [ + [ + 0.2104421705007553, + 0.20215269923210144, + 0.9564770460128784, + -21.395729064941406 + ], + [ + -0.9635409116744995, + -0.12247812002897263, + 0.23788225650787354, + -8.297313690185547 + ], + [ + 0.16523607075214386, + -0.9716652631759644, + 0.16900785267353058, + -10.730671882629395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1195, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_242267370", + "mask_path": "../../mask/hdr_right_01195.png" + }, + { + "file_path": "../../rgb/hdr_right_01197.png", + "transform_matrix": [ + [ + 0.17014963924884796, + 0.21130600571632385, + 0.9624962210655212, + -21.379858016967773 + ], + [ + -0.9735012054443359, + -0.11539890617132187, + 0.19742970168590546, + -8.207828521728516 + ], + [ + 0.15278908610343933, + -0.9705837368965149, + 0.18607157468795776, + -10.742510795593262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1197, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_442267417", + "mask_path": "../../mask/hdr_right_01197.png" + }, + { + "file_path": "../../rgb/hdr_right_01198.png", + "transform_matrix": [ + [ + 0.1529657393693924, + 0.19613765180110931, + 0.9685719013214111, + -21.38277816772461 + ], + [ + -0.9789614677429199, + -0.10385573655366898, + 0.17563751339912415, + -8.143207550048828 + ], + [ + 0.13504089415073395, + -0.9750609993934631, + 0.17612484097480774, + -10.747209548950195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1198, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_542267799", + "mask_path": "../../mask/hdr_right_01198.png" + }, + { + "file_path": "../../rgb/hdr_right_01199.png", + "transform_matrix": [ + [ + 0.14694473147392273, + 0.19490844011306763, + 0.9697514772415161, + -21.381351470947266 + ], + [ + -0.98195481300354, + -0.08924829959869385, + 0.16673171520233154, + -8.080595016479492 + ], + [ + 0.11904610693454742, + -0.9767524600028992, + 0.17827673256397247, + -10.74504280090332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1199, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_642267704", + "mask_path": "../../mask/hdr_right_01199.png" + }, + { + "file_path": "../../rgb/hdr_right_01202.png", + "transform_matrix": [ + [ + 0.14301073551177979, + 0.1862819939851761, + 0.9720324277877808, + -21.35945701599121 + ], + [ + -0.9856424927711487, + -0.06226462498307228, + 0.1569456160068512, + -7.914649963378906 + ], + [ + 0.08975937217473984, + -0.9805213809013367, + 0.17470292747020721, + -10.751225471496582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1202, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638920_942267894", + "mask_path": "../../mask/hdr_right_01202.png" + }, + { + "file_path": "../../rgb/hdr_right_01209.png", + "transform_matrix": [ + [ + 0.06861994415521622, + 0.2098456770181656, + 0.9753236174583435, + -21.24677848815918 + ], + [ + -0.9958067536354065, + -0.044880546629428864, + 0.07971732318401337, + -7.609292984008789 + ], + [ + 0.060501400381326675, + -0.9767038822174072, + 0.20588605105876923, + -10.7152738571167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1209, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638921_642267942", + "mask_path": "../../mask/hdr_right_01209.png" + }, + { + "file_path": "../../rgb/hdr_right_01210.png", + "transform_matrix": [ + [ + 0.0698213279247284, + 0.1924908459186554, + 0.9788117408752441, + -21.235383987426758 + ], + [ + -0.995444118976593, + -0.05042101442813873, + 0.0809234157204628, + -7.546180725097656 + ], + [ + 0.06492969393730164, + -0.9800025224685669, + 0.1880934238433838, + -10.720369338989258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1210, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638921_742267131", + "mask_path": "../../mask/hdr_right_01210.png" + }, + { + "file_path": "../../rgb/hdr_right_01211.png", + "transform_matrix": [ + [ + 0.06582679599523544, + 0.17779816687107086, + 0.9818628430366516, + -21.23453712463379 + ], + [ + -0.9955037236213684, + -0.055465348064899445, + 0.07678510248661041, + -7.494258403778076 + ], + [ + 0.06811162829399109, + -0.9825026392936707, + 0.17334763705730438, + -10.724799156188965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1211, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638921_842267274", + "mask_path": "../../mask/hdr_right_01211.png" + }, + { + "file_path": "../../rgb/hdr_right_01213.png", + "transform_matrix": [ + [ + 0.06185496598482132, + 0.17000643908977509, + 0.9834998250007629, + -21.235139846801758 + ], + [ + -0.9958610534667969, + -0.05523457005620003, + 0.07218017429113388, + -7.433269500732422 + ], + [ + 0.06659428030252457, + -0.9838937520980835, + 0.16588625311851501, + -10.728010177612305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1213, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638922_42266845", + "mask_path": "../../mask/hdr_right_01213.png" + }, + { + "file_path": "../../rgb/hdr_right_01238.png", + "transform_matrix": [ + [ + 0.6179841160774231, + 0.13724708557128906, + 0.7741181254386902, + -21.58633804321289 + ], + [ + -0.7673213481903076, + -0.10913632065057755, + 0.6319075226783752, + -6.846661567687988 + ], + [ + 0.1712118685245514, + -0.9845062494277954, + 0.03786814212799072, + -10.861401557922363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1238, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638924_542267560", + "mask_path": "../../mask/hdr_right_01238.png" + }, + { + "file_path": "../../rgb/hdr_right_01240.png", + "transform_matrix": [ + [ + 0.6470060348510742, + 0.13510604202747345, + 0.7504196166992188, + -21.619213104248047 + ], + [ + -0.7450202107429504, + -0.0974176824092865, + 0.6598899364471436, + -6.797985553741455 + ], + [ + 0.16225925087928772, + -0.9860305190086365, + 0.037626903504133224, + -10.877650260925293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1240, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638924_742267608", + "mask_path": "../../mask/hdr_right_01240.png" + }, + { + "file_path": "../../rgb/hdr_right_01258.png", + "transform_matrix": [ + [ + 0.956954300403595, + 0.17752225697040558, + 0.22961780428886414, + -22.186159133911133 + ], + [ + -0.22140944004058838, + -0.06501702219247818, + 0.9730111956596375, + -6.760339260101318 + ], + [ + 0.18766017258167267, + -0.9819667339324951, + -0.022913215681910515, + -11.008187294006348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1258, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638926_542268276", + "mask_path": "../../mask/hdr_right_01258.png" + }, + { + "file_path": "../../rgb/hdr_right_01260.png", + "transform_matrix": [ + [ + 0.9683985710144043, + 0.19945625960826874, + 0.14973808825016022, + -22.229278564453125 + ], + [ + -0.1438876986503601, + -0.04359542205929756, + 0.9886333346366882, + -6.784364223480225 + ], + [ + 0.20371697843074799, + -0.9789364337921143, + -0.013518440537154675, + -11.030720710754395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1260, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638926_742269515", + "mask_path": "../../mask/hdr_right_01260.png" + }, + { + "file_path": "../../rgb/hdr_right_01263.png", + "transform_matrix": [ + [ + 0.9802241921424866, + 0.19781634211540222, + -0.005401996895670891, + -22.282344818115234 + ], + [ + 0.017219264060258865, + -0.058067116886377335, + 0.998164176940918, + -6.846549034118652 + ], + [ + 0.19713950157165527, + -0.9785177707672119, + -0.06032504141330719, + -11.04951000213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1263, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638927_42268276", + "mask_path": "../../mask/hdr_right_01263.png" + }, + { + "file_path": "../../rgb/hdr_right_01271.png", + "transform_matrix": [ + [ + 0.9156681895256042, + 0.19146457314491272, + -0.3534022271633148, + -22.342945098876953 + ], + [ + 0.36532217264175415, + -0.029807621613144875, + 0.9304038286209106, + -7.048625469207764 + ], + [ + 0.16760526597499847, + -0.9810467958450317, + -0.0972401425242424, + -11.060761451721191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1271, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638927_842267036", + "mask_path": "../../mask/hdr_right_01271.png" + }, + { + "file_path": "../../rgb/hdr_right_01274.png", + "transform_matrix": [ + [ + 0.8914108276367188, + 0.16976626217365265, + -0.4201976954936981, + -22.4088191986084 + ], + [ + 0.4254181683063507, + 0.006164002697914839, + 0.904975950717926, + -7.089700222015381 + ], + [ + 0.15622448921203613, + -0.9854650497436523, + -0.06672699749469757, + -11.074298858642578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1274, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638928_142266988", + "mask_path": "../../mask/hdr_right_01274.png" + }, + { + "file_path": "../../rgb/hdr_right_01276.png", + "transform_matrix": [ + [ + 0.866947591304779, + 0.1894603669643402, + -0.46098458766937256, + -22.471227645874023 + ], + [ + 0.4636143445968628, + 0.032925497740507126, + 0.8854252099990845, + -7.1197829246521 + ], + [ + 0.18293112516403198, + -0.9813361763954163, + -0.05929185077548027, + -11.11724853515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1276, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638928_342266798", + "mask_path": "../../mask/hdr_right_01276.png" + }, + { + "file_path": "../../rgb/hdr_right_01278.png", + "transform_matrix": [ + [ + 0.8429603576660156, + 0.19827581942081451, + -0.5001046061515808, + -22.5316162109375 + ], + [ + 0.5016640424728394, + 0.04602670297026634, + 0.8638372421264648, + -7.1576337814331055 + ], + [ + 0.194296196103096, + -0.97906494140625, + -0.0606691800057888, + -11.161738395690918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1278, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638928_542267799", + "mask_path": "../../mask/hdr_right_01278.png" + }, + { + "file_path": "../../rgb/hdr_right_01279.png", + "transform_matrix": [ + [ + 0.8269957900047302, + 0.20494194328784943, + -0.5235233902931213, + -22.581863403320312 + ], + [ + 0.5238965749740601, + 0.05694270133972168, + 0.8498764634132385, + -7.1786088943481445 + ], + [ + 0.20398616790771484, + -0.9771164059638977, + -0.06027701124548912, + -11.190733909606934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1279, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638928_642267227", + "mask_path": "../../mask/hdr_right_01279.png" + }, + { + "file_path": "../../rgb/hdr_right_01280.png", + "transform_matrix": [ + [ + 0.8136211037635803, + 0.21188035607337952, + -0.5414124131202698, + -22.63420867919922 + ], + [ + 0.5403619408607483, + 0.06805576384067535, + 0.8386759757995605, + -7.201365947723389 + ], + [ + 0.21454520523548126, + -0.9749231338500977, + -0.05912047624588013, + -11.195096969604492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1280, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638928_742267370", + "mask_path": "../../mask/hdr_right_01280.png" + }, + { + "file_path": "../../rgb/hdr_right_01290.png", + "transform_matrix": [ + [ + 0.34370657801628113, + 0.22588488459587097, + -0.9115052819252014, + -22.491186141967773 + ], + [ + 0.9221222996711731, + 0.10242945700883865, + 0.3730936348438263, + -7.460262775421143 + ], + [ + 0.17764119803905487, + -0.9687539339065552, + -0.17308782041072845, + -11.244607925415039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1290, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638929_742266416", + "mask_path": "../../mask/hdr_right_01290.png" + }, + { + "file_path": "../../rgb/hdr_right_01293.png", + "transform_matrix": [ + [ + 0.3204033374786377, + 0.24807244539260864, + -0.914222002029419, + -22.441198348999023 + ], + [ + 0.9261865615844727, + 0.12049798667430878, + 0.35729342699050903, + -7.517721176147461 + ], + [ + 0.19879655539989471, + -0.9612181186676025, + -0.19115345180034637, + -11.249663352966309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1293, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_42268276", + "mask_path": "../../mask/hdr_right_01293.png" + }, + { + "file_path": "../../rgb/hdr_right_01295.png", + "transform_matrix": [ + [ + 0.3351050615310669, + 0.23746411502361298, + -0.9117649793624878, + -22.459623336791992 + ], + [ + 0.920337438583374, + 0.12466801702976227, + 0.3707248270511627, + -7.591904640197754 + ], + [ + 0.20170176029205322, + -0.9633631706237793, + -0.17677022516727448, + -11.271411895751953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1295, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_242268323", + "mask_path": "../../mask/hdr_right_01295.png" + }, + { + "file_path": "../../rgb/hdr_right_01296.png", + "transform_matrix": [ + [ + 0.3378829061985016, + 0.22958742082118988, + -0.9127567410469055, + -22.482776641845703 + ], + [ + 0.9201605319976807, + 0.1232711672782898, + 0.37163034081459045, + -7.650609493255615 + ], + [ + 0.1978382170200348, + -0.9654500484466553, + -0.1696060448884964, + -11.2752103805542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1296, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_342267274", + "mask_path": "../../mask/hdr_right_01296.png" + }, + { + "file_path": "../../rgb/hdr_right_01299.png", + "transform_matrix": [ + [ + 0.32342857122421265, + 0.23276226222515106, + -0.917178213596344, + -22.51772689819336 + ], + [ + 0.9256108403205872, + 0.1235269233584404, + 0.35775095224380493, + -7.777411460876465 + ], + [ + 0.1965671181678772, + -0.9646568298339844, + -0.17549513280391693, + -11.312411308288574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1299, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_642269849", + "mask_path": "../../mask/hdr_right_01299.png" + }, + { + "file_path": "../../rgb/hdr_right_01300.png", + "transform_matrix": [ + [ + 0.3224329650402069, + 0.23750203847885132, + -0.9163131713867188, + -22.53706932067871 + ], + [ + 0.9226372838020325, + 0.13754351437091827, + 0.3603086769580841, + -7.825415134429932 + ], + [ + 0.2116069793701172, + -0.9616000056266785, + -0.17477968335151672, + -11.330153465270996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1300, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_742267608", + "mask_path": "../../mask/hdr_right_01300.png" + }, + { + "file_path": "../../rgb/hdr_right_01301.png", + "transform_matrix": [ + [ + 0.32527872920036316, + 0.2330257147550583, + -0.9164566397666931, + -22.557466506958008 + ], + [ + 0.9200868010520935, + 0.1456931084394455, + 0.3636123836040497, + -7.875916481018066 + ], + [ + 0.21825243532657623, + -0.9614949822425842, + -0.1670130044221878, + -11.351320266723633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1301, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_842268705", + "mask_path": "../../mask/hdr_right_01301.png" + }, + { + "file_path": "../../rgb/hdr_right_01302.png", + "transform_matrix": [ + [ + 0.32975339889526367, + 0.21024492383003235, + -0.9203585982322693, + -22.602249145507812 + ], + [ + 0.9179499745368958, + 0.15631763637065887, + 0.36459940671920776, + -7.95499324798584 + ], + [ + 0.22052346169948578, + -0.965070903301239, + -0.1414480209350586, + -11.375067710876465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1302, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638930_942267656", + "mask_path": "../../mask/hdr_right_01302.png" + }, + { + "file_path": "../../rgb/hdr_right_01303.png", + "transform_matrix": [ + [ + 0.32846492528915405, + 0.1932380199432373, + -0.924537718296051, + -22.634902954101562 + ], + [ + 0.915648877620697, + 0.17500431835651398, + 0.3618846535682678, + -8.017855644226074 + ], + [ + 0.2317279726266861, + -0.9654183983802795, + -0.11945541948080063, + -11.403093338012695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1303, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638931_42268037", + "mask_path": "../../mask/hdr_right_01303.png" + }, + { + "file_path": "../../rgb/hdr_right_01306.png", + "transform_matrix": [ + [ + 0.3169853687286377, + 0.20353016257286072, + -0.9263346195220947, + -22.70989990234375 + ], + [ + 0.917453408241272, + 0.18177972733974457, + 0.35388609766960144, + -8.128610610961914 + ], + [ + 0.24041536450386047, + -0.9620454907417297, + -0.12910793721675873, + -11.45029354095459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1306, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638931_342268228", + "mask_path": "../../mask/hdr_right_01306.png" + }, + { + "file_path": "../../rgb/hdr_right_01309.png", + "transform_matrix": [ + [ + 0.33329975605010986, + 0.19425173103809357, + -0.92259281873703, + -22.776798248291016 + ], + [ + 0.90736985206604, + 0.19972363114356995, + 0.3698520064353943, + -8.227800369262695 + ], + [ + 0.25610801577568054, + -0.9604044556617737, + -0.10969030857086182, + -11.487832069396973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1309, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638931_642269611", + "mask_path": "../../mask/hdr_right_01309.png" + }, + { + "file_path": "../../rgb/hdr_right_01310.png", + "transform_matrix": [ + [ + 0.33274075388908386, + 0.1891041249036789, + -0.9238631725311279, + -22.797168731689453 + ], + [ + 0.9058912396430969, + 0.208091139793396, + 0.3688618242740631, + -8.272501945495605 + ], + [ + 0.26200106739997864, + -0.9596550464630127, + -0.10206738114356995, + -11.51095199584961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1310, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638931_742267370", + "mask_path": "../../mask/hdr_right_01310.png" + }, + { + "file_path": "../../rgb/hdr_right_01312.png", + "transform_matrix": [ + [ + 0.33173811435699463, + 0.20499996840953827, + -0.9208284020423889, + -22.824787139892578 + ], + [ + 0.9086258411407471, + 0.19303907454013824, + 0.3703174889087677, + -8.329787254333496 + ], + [ + 0.25367093086242676, + -0.9595367908477783, + -0.12222985923290253, + -11.543316841125488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1312, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638931_942267417", + "mask_path": "../../mask/hdr_right_01312.png" + }, + { + "file_path": "../../rgb/hdr_right_01314.png", + "transform_matrix": [ + [ + 0.3388201594352722, + 0.19973936676979065, + -0.9194047451019287, + -22.87810707092285 + ], + [ + 0.9079468250274658, + 0.18675974011421204, + 0.375171035528183, + -8.39438533782959 + ], + [ + 0.24664419889450073, + -0.9618861079216003, + -0.11807475239038467, + -11.566036224365234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1314, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638932_142267465", + "mask_path": "../../mask/hdr_right_01314.png" + }, + { + "file_path": "../../rgb/hdr_right_01336.png", + "transform_matrix": [ + [ + 0.0925217717885971, + 0.12138442695140839, + -0.9882842302322388, + -22.924148559570312 + ], + [ + 0.9857445955276489, + 0.128912091255188, + 0.10811746120452881, + -9.036813735961914 + ], + [ + 0.14052553474903107, + -0.9841989278793335, + -0.10772685706615448, + -11.689186096191406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1336, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638934_342267513", + "mask_path": "../../mask/hdr_right_01336.png" + }, + { + "file_path": "../../rgb/hdr_right_01339.png", + "transform_matrix": [ + [ + 0.09069471806287766, + 0.10912053287029266, + -0.9898824691772461, + -22.936573028564453 + ], + [ + 0.985257625579834, + 0.13495013117790222, + 0.10514731705188751, + -9.156980514526367 + ], + [ + 0.1450585126876831, + -0.9848254919052124, + -0.09527256339788437, + -11.708006858825684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1339, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638934_642267227", + "mask_path": "../../mask/hdr_right_01339.png" + }, + { + "file_path": "../../rgb/hdr_right_01346.png", + "transform_matrix": [ + [ + 0.03878796473145485, + 0.08816948533058167, + -0.9953501224517822, + -22.948482513427734 + ], + [ + 0.987403154373169, + 0.14953124523162842, + 0.051724012941122055, + -9.433429718017578 + ], + [ + 0.1533963978290558, + -0.9848180413246155, + -0.08125881105661392, + -11.77631664276123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1346, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638935_342268705", + "mask_path": "../../mask/hdr_right_01346.png" + }, + { + "file_path": "../../rgb/hdr_right_01347.png", + "transform_matrix": [ + [ + 0.032179076224565506, + 0.08170478790998459, + -0.9961369633674622, + -22.95702362060547 + ], + [ + 0.9852150678634644, + 0.16520361602306366, + 0.04537654295563698, + -9.482008934020996 + ], + [ + 0.16827289760112762, + -0.9828692674636841, + -0.07518069446086884, + -11.799230575561523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1347, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638935_442267417", + "mask_path": "../../mask/hdr_right_01347.png" + }, + { + "file_path": "../../rgb/hdr_right_01349.png", + "transform_matrix": [ + [ + 0.023783154785633087, + 0.08248747885227203, + -0.9963083267211914, + -22.95655059814453 + ], + [ + 0.9845863580703735, + 0.17079965770244598, + 0.0376444049179554, + -9.558095932006836 + ], + [ + 0.17327430844306946, + -0.9818468689918518, + -0.07715389877557755, + -11.828817367553711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1349, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638935_642266750", + "mask_path": "../../mask/hdr_right_01349.png" + }, + { + "file_path": "../../rgb/hdr_right_01351.png", + "transform_matrix": [ + [ + 0.025718826800584793, + 0.07305830717086792, + -0.9969960451126099, + -22.97864532470703 + ], + [ + 0.985395073890686, + 0.16608287394046783, + 0.037589870393276215, + -9.660333633422852 + ], + [ + 0.16833020746707916, + -0.9834017157554626, + -0.06771985441446304, + -11.83063793182373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1351, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638935_842267274", + "mask_path": "../../mask/hdr_right_01351.png" + }, + { + "file_path": "../../rgb/hdr_right_01354.png", + "transform_matrix": [ + [ + 0.04824011027812958, + 0.07598604261875153, + -0.9959412813186646, + -22.999818801879883 + ], + [ + 0.9828481674194336, + 0.17407552897930145, + 0.06088714301586151, + -9.834551811218262 + ], + [ + 0.17799559235572815, + -0.981796145439148, + -0.06628531962633133, + -11.875224113464355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1354, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_142268419", + "mask_path": "../../mask/hdr_right_01354.png" + }, + { + "file_path": "../../rgb/hdr_right_01355.png", + "transform_matrix": [ + [ + 0.04505414888262749, + 0.07754001021385193, + -0.9959707856178284, + -23.006032943725586 + ], + [ + 0.9801486134529114, + 0.18925954401493073, + 0.059072982519865036, + -9.890496253967285 + ], + [ + 0.19307748973369598, + -0.9788607954978943, + -0.06747379899024963, + -11.905137062072754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1355, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_242268085", + "mask_path": "../../mask/hdr_right_01355.png" + }, + { + "file_path": "../../rgb/hdr_right_01356.png", + "transform_matrix": [ + [ + 0.041559044271707535, + 0.08363080024719238, + -0.9956297874450684, + -23.007478713989258 + ], + [ + 0.9807652831077576, + 0.18679577112197876, + 0.05662904307246208, + -9.942872047424316 + ], + [ + 0.19071537256240845, + -0.9788326025009155, + -0.07425913214683533, + -11.922239303588867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1356, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_342267751", + "mask_path": "../../mask/hdr_right_01356.png" + }, + { + "file_path": "../../rgb/hdr_right_01357.png", + "transform_matrix": [ + [ + 0.03689337894320488, + 0.09244672954082489, + -0.9950339198112488, + -23.00946044921875 + ], + [ + 0.9810372591018677, + 0.18623842298984528, + 0.053677499294281006, + -10.001909255981445 + ], + [ + 0.1902758628129959, + -0.9781455993652344, + -0.08382271230220795, + -11.951568603515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1357, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_442267179", + "mask_path": "../../mask/hdr_right_01357.png" + }, + { + "file_path": "../../rgb/hdr_right_01358.png", + "transform_matrix": [ + [ + 0.03792094439268112, + 0.0858633816242218, + -0.995585024356842, + -23.027454376220703 + ], + [ + 0.9812222123146057, + 0.1853528916835785, + 0.053359515964984894, + -10.072669982910156 + ], + [ + 0.1891162097454071, + -0.9789135456085205, + -0.0772222951054573, + -11.966338157653809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1358, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_542267560", + "mask_path": "../../mask/hdr_right_01358.png" + }, + { + "file_path": "../../rgb/hdr_right_01359.png", + "transform_matrix": [ + [ + 0.042757827788591385, + 0.08124687522649765, + -0.9957765340805054, + -23.04311752319336 + ], + [ + 0.9812722206115723, + 0.1839550882577896, + 0.05714420974254608, + -10.137927055358887 + ], + [ + 0.1878208965063095, + -0.9795710444450378, + -0.07185977697372437, + -11.966190338134766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1359, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_642267704", + "mask_path": "../../mask/hdr_right_01359.png" + }, + { + "file_path": "../../rgb/hdr_right_01360.png", + "transform_matrix": [ + [ + 0.04864032566547394, + 0.08664476871490479, + -0.9950512051582336, + -23.045814514160156 + ], + [ + 0.9818942546844482, + 0.17845697700977325, + 0.06353647261857986, + -10.199350357055664 + ], + [ + 0.18307894468307495, + -0.980125367641449, + -0.07639578729867935, + -11.969685554504395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1360, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_742266893", + "mask_path": "../../mask/hdr_right_01360.png" + }, + { + "file_path": "../../rgb/hdr_right_01361.png", + "transform_matrix": [ + [ + 0.05268651247024536, + 0.07995282858610153, + -0.9954054355621338, + -23.05650520324707 + ], + [ + 0.9797126650810242, + 0.18886668980121613, + 0.06702608615159988, + -10.283904075622559 + ], + [ + 0.19335784018039703, + -0.9787424802780151, + -0.06838007271289825, + -11.998125076293945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1361, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_842268466", + "mask_path": "../../mask/hdr_right_01361.png" + }, + { + "file_path": "../../rgb/hdr_right_01362.png", + "transform_matrix": [ + [ + 0.05194706842303276, + 0.08131132274866104, + -0.9953340888023376, + -23.06267547607422 + ], + [ + 0.9768838882446289, + 0.2028164565563202, + 0.06755273044109344, + -10.358163833618164 + ], + [ + 0.20736293494701385, + -0.9758350253105164, + -0.06889600306749344, + -12.029305458068848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1362, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638936_942266941", + "mask_path": "../../mask/hdr_right_01362.png" + }, + { + "file_path": "../../rgb/hdr_right_01363.png", + "transform_matrix": [ + [ + 0.05013539269566536, + 0.0900500938296318, + -0.9946746230125427, + -23.0599365234375 + ], + [ + 0.9769169688224792, + 0.2026456892490387, + 0.06758635491132736, + -10.412748336791992 + ], + [ + 0.20765265822410583, + -0.9751029014587402, + -0.07781174033880234, + -12.04731559753418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1363, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638937_42268276", + "mask_path": "../../mask/hdr_right_01363.png" + }, + { + "file_path": "../../rgb/hdr_right_01364.png", + "transform_matrix": [ + [ + 0.04815943166613579, + 0.10145888477563858, + -0.9936733841896057, + -23.055587768554688 + ], + [ + 0.9774194359779358, + 0.20013350248336792, + 0.06780629605054855, + -10.463518142700195 + ], + [ + 0.20574690401554108, + -0.9745012521743774, + -0.08952956646680832, + -12.061800003051758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1364, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638937_142267227", + "mask_path": "../../mask/hdr_right_01364.png" + }, + { + "file_path": "../../rgb/hdr_right_01365.png", + "transform_matrix": [ + [ + 0.04979340732097626, + 0.11111580580472946, + -0.9925593137741089, + -23.05870819091797 + ], + [ + 0.9771177172660828, + 0.20034028589725494, + 0.07144664973020554, + -10.518600463867188 + ], + [ + 0.20678845047950745, + -0.9734048247337341, + -0.09859760850667953, + -12.074687004089355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1365, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638937_242267847", + "mask_path": "../../mask/hdr_right_01365.png" + }, + { + "file_path": "../../rgb/hdr_right_01366.png", + "transform_matrix": [ + [ + 0.05508989840745926, + 0.11341985315084457, + -0.9920187592506409, + -23.069067001342773 + ], + [ + 0.9778777360916138, + 0.19466270506381989, + 0.07656089961528778, + -10.574657440185547 + ], + [ + 0.20179255306720734, + -0.9742907285690308, + -0.100186787545681, + -12.072668075561523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1366, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638937_342268228", + "mask_path": "../../mask/hdr_right_01366.png" + }, + { + "file_path": "../../rgb/hdr_right_01369.png", + "transform_matrix": [ + [ + 0.09411141276359558, + 0.09680940955877304, + -0.9908435940742493, + -23.10281753540039 + ], + [ + 0.975568950176239, + 0.18948790431022644, + 0.1111743152141571, + -10.75710678100586 + ], + [ + 0.19851559400558472, + -0.9770988821983337, + -0.07661127299070358, + -12.099838256835938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1369, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638937_642267465", + "mask_path": "../../mask/hdr_right_01369.png" + }, + { + "file_path": "../../rgb/hdr_right_01373.png", + "transform_matrix": [ + [ + 0.1548241376876831, + 0.12156400829553604, + -0.9804344773292542, + -23.13835334777832 + ], + [ + 0.9661679863929749, + 0.1885739117860794, + 0.17595256865024567, + -10.87814998626709 + ], + [ + 0.2062738537788391, + -0.9745060205459595, + -0.08825546503067017, + -12.123525619506836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1373, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638938_42267560", + "mask_path": "../../mask/hdr_right_01373.png" + }, + { + "file_path": "../../rgb/hdr_right_01375.png", + "transform_matrix": [ + [ + 0.212618887424469, + 0.13627873361110687, + -0.9675853848457336, + -23.17469596862793 + ], + [ + 0.9541922211647034, + 0.18436358869075775, + 0.2356424182653427, + -10.933121681213379 + ], + [ + 0.2105005532503128, + -0.9733644127845764, + -0.09083692729473114, + -12.120408058166504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1375, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638938_242267131", + "mask_path": "../../mask/hdr_right_01375.png" + }, + { + "file_path": "../../rgb/hdr_right_01377.png", + "transform_matrix": [ + [ + 0.26314616203308105, + 0.1270534098148346, + -0.9563533067703247, + -23.213623046875 + ], + [ + 0.9407204389572144, + 0.18610160052776337, + 0.28356873989105225, + -11.007558822631836 + ], + [ + 0.21400724351406097, + -0.9742811322212219, + -0.07054981589317322, + -12.138961791992188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1377, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638938_442267656", + "mask_path": "../../mask/hdr_right_01377.png" + }, + { + "file_path": "../../rgb/hdr_right_01379.png", + "transform_matrix": [ + [ + 0.26962968707084656, + 0.1367184817790985, + -0.9532092809677124, + -23.24156951904297 + ], + [ + 0.9396810531616211, + 0.1789993941783905, + 0.29147690534591675, + -11.051487922668457 + ], + [ + 0.2104741483926773, + -0.9743034839630127, + -0.08020821213722229, + -12.156463623046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1379, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638938_642267465", + "mask_path": "../../mask/hdr_right_01379.png" + }, + { + "file_path": "../../rgb/hdr_right_01381.png", + "transform_matrix": [ + [ + 0.2708483040332794, + 0.13810189068317413, + -0.9526642560958862, + -23.295499801635742 + ], + [ + 0.9408507943153381, + 0.17130909860134125, + 0.29232341051101685, + -11.11763858795166 + ], + [ + 0.20357047021389008, + -0.975490152835846, + -0.08353448659181595, + -12.186664581298828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1381, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638938_842267274", + "mask_path": "../../mask/hdr_right_01381.png" + }, + { + "file_path": "../../rgb/hdr_right_01384.png", + "transform_matrix": [ + [ + 0.3089846670627594, + 0.1396549642086029, + -0.940757691860199, + -23.363866806030273 + ], + [ + 0.9293110370635986, + 0.16602849960327148, + 0.32987192273139954, + -11.247269630432129 + ], + [ + 0.2022608071565628, + -0.9761818647384644, + -0.07848265022039413, + -12.215092658996582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1384, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638939_142268180", + "mask_path": "../../mask/hdr_right_01384.png" + }, + { + "file_path": "../../rgb/hdr_right_01385.png", + "transform_matrix": [ + [ + 0.3142688274383545, + 0.14083331823349, + -0.9388296604156494, + -23.387659072875977 + ], + [ + 0.9270151853561401, + 0.16765196621418, + 0.33546343445777893, + -11.305221557617188 + ], + [ + 0.20464105904102325, + -0.9757350087165833, + -0.07786683738231659, + -12.228569030761719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1385, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638939_242267131", + "mask_path": "../../mask/hdr_right_01385.png" + }, + { + "file_path": "../../rgb/hdr_right_01387.png", + "transform_matrix": [ + [ + 0.31442004442214966, + 0.15473289787769318, + -0.9365883469581604, + -23.41025161743164 + ], + [ + 0.9285179972648621, + 0.15510861575603485, + 0.33733615279197693, + -11.381608009338379 + ], + [ + 0.19746990501880646, + -0.9757043719291687, + -0.09490302950143814, + -12.259305953979492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1387, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638939_442267179", + "mask_path": "../../mask/hdr_right_01387.png" + }, + { + "file_path": "../../rgb/hdr_right_01392.png", + "transform_matrix": [ + [ + 0.35207951068878174, + 0.19763335585594177, + -0.9148666858673096, + -23.50631332397461 + ], + [ + 0.9040157794952393, + 0.18141989409923553, + 0.3870947062969208, + -11.590421676635742 + ], + [ + 0.24247784912586212, + -0.9633420705795288, + -0.1147894635796547, + -12.330099105834961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1392, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638939_942267894", + "mask_path": "../../mask/hdr_right_01392.png" + }, + { + "file_path": "../../rgb/hdr_right_01393.png", + "transform_matrix": [ + [ + 0.35443365573883057, + 0.20324836671352386, + -0.9127249717712402, + -23.53374671936035 + ], + [ + 0.8952895998954773, + 0.20795150101184845, + 0.39397042989730835, + -11.638199806213379 + ], + [ + 0.2698763608932495, + -0.9567895531654358, + -0.10826114565134048, + -12.367253303527832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1393, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_42267799", + "mask_path": "../../mask/hdr_right_01393.png" + }, + { + "file_path": "../../rgb/hdr_right_01396.png", + "transform_matrix": [ + [ + 0.3582170009613037, + 0.21651092171669006, + -0.9081870317459106, + -23.607919692993164 + ], + [ + 0.8900701403617859, + 0.21449019014835358, + 0.40220537781715393, + -11.735766410827637 + ], + [ + 0.2818790674209595, + -0.9524269104003906, + -0.11587589234113693, + -12.444687843322754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1396, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_342267990", + "mask_path": "../../mask/hdr_right_01396.png" + }, + { + "file_path": "../../rgb/hdr_right_01397.png", + "transform_matrix": [ + [ + 0.3623596131801605, + 0.21053773164749146, + -0.9079479575157166, + -23.64910125732422 + ], + [ + 0.8881332874298096, + 0.2174680531024933, + 0.4048788547515869, + -11.773688316345215 + ], + [ + 0.2826918959617615, + -0.9530905485153198, + -0.10818392038345337, + -12.450601577758789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1397, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_442267894", + "mask_path": "../../mask/hdr_right_01397.png" + }, + { + "file_path": "../../rgb/hdr_right_01399.png", + "transform_matrix": [ + [ + 0.3795047700405121, + 0.19517028331756592, + -0.9043698310852051, + -23.711448669433594 + ], + [ + 0.8790689706802368, + 0.22871077060699463, + 0.41824543476104736, + -11.843820571899414 + ], + [ + 0.2884681224822998, + -0.9537294507026672, + -0.0847713053226471, + -12.506024360656738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1399, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_642268419", + "mask_path": "../../mask/hdr_right_01399.png" + }, + { + "file_path": "../../rgb/hdr_right_01400.png", + "transform_matrix": [ + [ + 0.3848007619380951, + 0.18013300001621246, + -0.9052516222000122, + -23.754030227661133 + ], + [ + 0.8710107803344727, + 0.25364652276039124, + 0.42071813344955444, + -11.89453125 + ], + [ + 0.3053991496562958, + -0.950376570224762, + -0.059294383972883224, + -12.515937805175781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1400, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_742269992", + "mask_path": "../../mask/hdr_right_01400.png" + }, + { + "file_path": "../../rgb/hdr_right_01401.png", + "transform_matrix": [ + [ + 0.3874225914478302, + 0.17856545746326447, + -0.9044435024261475, + -23.786170959472656 + ], + [ + 0.8693986535072327, + 0.2555881440639496, + 0.42287197709083557, + -11.939655303955078 + ], + [ + 0.30667540431022644, + -0.9501520991325378, + -0.05622393637895584, + -12.51370906829834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1401, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638940_842267751", + "mask_path": "../../mask/hdr_right_01401.png" + }, + { + "file_path": "../../rgb/hdr_right_01403.png", + "transform_matrix": [ + [ + 0.3917336165904999, + 0.18733975291252136, + -0.9008044004440308, + -23.837968826293945 + ], + [ + 0.8689486980438232, + 0.24650099873542786, + 0.42914512753486633, + -12.02864933013916 + ], + [ + 0.3024451434612274, + -0.9508633017539978, + -0.06622590124607086, + -12.570001602172852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1403, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_42268037", + "mask_path": "../../mask/hdr_right_01403.png" + }, + { + "file_path": "../../rgb/hdr_right_01404.png", + "transform_matrix": [ + [ + 0.3968507945537567, + 0.19911804795265198, + -0.8960253000259399, + -23.87356185913086 + ], + [ + 0.8647536039352417, + 0.2461928427219391, + 0.4377104341983795, + -12.078705787658691 + ], + [ + 0.3077510595321655, + -0.948546826839447, + -0.07448618859052658, + -12.577230453491211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1404, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_142267227", + "mask_path": "../../mask/hdr_right_01404.png" + }, + { + "file_path": "../../rgb/hdr_right_01407.png", + "transform_matrix": [ + [ + 0.41265904903411865, + 0.19043652713298798, + -0.8907561302185059, + -23.950780868530273 + ], + [ + 0.8536964654922485, + 0.2601858079433441, + 0.45111608505249023, + -12.218572616577148 + ], + [ + 0.31767112016677856, + -0.9465924501419067, + -0.05520695820450783, + -12.613226890563965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1407, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_442268371", + "mask_path": "../../mask/hdr_right_01407.png" + }, + { + "file_path": "../../rgb/hdr_right_01408.png", + "transform_matrix": [ + [ + 0.4099605679512024, + 0.18271538615226746, + -0.8936148881912231, + -23.975692749023438 + ], + [ + 0.8529887795448303, + 0.27016907930374146, + 0.4465634226799011, + -12.263594627380371 + ], + [ + 0.3230211138725281, + -0.945316731929779, + -0.04509550333023071, + -12.617293357849121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1408, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_542267799", + "mask_path": "../../mask/hdr_right_01408.png" + }, + { + "file_path": "../../rgb/hdr_right_01410.png", + "transform_matrix": [ + [ + 0.39802178740501404, + 0.19137050211429596, + -0.897193431854248, + -24.005786895751953 + ], + [ + 0.865713894367218, + 0.24521249532699585, + 0.4363601803779602, + -12.348925590515137 + ], + [ + 0.30350950360298157, + -0.9503937363624573, + -0.06807216256856918, + -12.657416343688965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1410, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_742267847", + "mask_path": "../../mask/hdr_right_01410.png" + }, + { + "file_path": "../../rgb/hdr_right_01411.png", + "transform_matrix": [ + [ + 0.3858458995819092, + 0.1886083036661148, + -0.903078019618988, + -24.03013038635254 + ], + [ + 0.8761011958122253, + 0.23182137310504913, + 0.4227359890937805, + -12.395842552185059 + ], + [ + 0.2890843152999878, + -0.9542985558509827, + -0.07579263299703598, + -12.67091178894043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1411, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638941_842268705", + "mask_path": "../../mask/hdr_right_01411.png" + }, + { + "file_path": "../../rgb/hdr_right_01414.png", + "transform_matrix": [ + [ + 0.3355015516281128, + 0.15232521295547485, + -0.9296428561210632, + -24.069217681884766 + ], + [ + 0.9111466407775879, + 0.19817931950092316, + 0.36129873991012573, + -12.524625778198242 + ], + [ + 0.23927092552185059, + -0.9682572484016418, + -0.07230113446712494, + -12.66955280303955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1414, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638942_142267704", + "mask_path": "../../mask/hdr_right_01414.png" + }, + { + "file_path": "../../rgb/hdr_right_01422.png", + "transform_matrix": [ + [ + 0.20953983068466187, + 0.1050417497754097, + -0.972141683101654, + -24.110334396362305 + ], + [ + 0.9653878211975098, + 0.13568651676177979, + 0.22274525463581085, + -12.793899536132812 + ], + [ + 0.15530405938625336, + -0.9851678013801575, + -0.0729743018746376, + -12.702215194702148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1422, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638942_942267656", + "mask_path": "../../mask/hdr_right_01422.png" + }, + { + "file_path": "../../rgb/hdr_right_01424.png", + "transform_matrix": [ + [ + 0.20359745621681213, + 0.10744409263134003, + -0.9731411933898926, + -24.108903884887695 + ], + [ + 0.9680817127227783, + 0.12630270421504974, + 0.2164839655160904, + -12.881940841674805 + ], + [ + 0.14617027342319489, + -0.9861558675765991, + -0.07829974591732025, + -12.722579956054688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1424, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638943_142268180", + "mask_path": "../../mask/hdr_right_01424.png" + }, + { + "file_path": "../../rgb/hdr_right_01428.png", + "transform_matrix": [ + [ + 0.1581796407699585, + 0.09648721665143967, + -0.982684850692749, + -24.14383888244629 + ], + [ + 0.9795806407928467, + 0.10974680632352829, + 0.16845573484897614, + -13.10527229309082 + ], + [ + 0.12410034239292145, + -0.9892653226852417, + -0.07715728878974915, + -12.741327285766602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1428, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638943_542267560", + "mask_path": "../../mask/hdr_right_01428.png" + }, + { + "file_path": "../../rgb/hdr_right_01436.png", + "transform_matrix": [ + [ + 0.05989765375852585, + 0.09618879109621048, + -0.9935593008995056, + -24.192604064941406 + ], + [ + 0.989266574382782, + 0.12717992067337036, + 0.0719514936208725, + -13.443081855773926 + ], + [ + 0.13328172266483307, + -0.9872046113014221, + -0.08753859251737595, + -12.814119338989258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1436, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638944_342268466", + "mask_path": "../../mask/hdr_right_01436.png" + }, + { + "file_path": "../../rgb/hdr_right_01437.png", + "transform_matrix": [ + [ + 0.059436019510030746, + 0.09684904664754868, + -0.9935229420661926, + -24.19215202331543 + ], + [ + 0.9868884682655334, + 0.1439172625541687, + 0.0730682909488678, + -13.487334251403809 + ], + [ + 0.1500616818666458, + -0.9848390817642212, + -0.08702532947063446, + -12.841135025024414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1437, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638944_442268610", + "mask_path": "../../mask/hdr_right_01437.png" + }, + { + "file_path": "../../rgb/hdr_right_01439.png", + "transform_matrix": [ + [ + 0.05432510748505592, + 0.10072844475507736, + -0.9934297800064087, + -24.178497314453125 + ], + [ + 0.9858739376068115, + 0.15244847536087036, + 0.06936942040920258, + -13.548995971679688 + ], + [ + 0.15843430161476135, + -0.98316490650177, + -0.0910237655043602, + -12.863490104675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1439, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638944_642269134", + "mask_path": "../../mask/hdr_right_01439.png" + }, + { + "file_path": "../../rgb/hdr_right_01441.png", + "transform_matrix": [ + [ + 0.0568968690931797, + 0.09768891334533691, + -0.9935893416404724, + -24.17716407775879 + ], + [ + 0.9846941828727722, + 0.15872718393802643, + 0.07199344784021378, + -13.633244514465332 + ], + [ + 0.164742574095726, + -0.9824777841567993, + -0.08716262876987457, + -12.870418548583984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1441, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638944_842269182", + "mask_path": "../../mask/hdr_right_01441.png" + }, + { + "file_path": "../../rgb/hdr_right_01444.png", + "transform_matrix": [ + [ + 0.08708088099956512, + 0.07909125089645386, + -0.9930566549301147, + -24.209253311157227 + ], + [ + 0.9836849570274353, + 0.1506936401128769, + 0.09826099872589111, + -13.772029876708984 + ], + [ + 0.15741890668869019, + -0.9854115843772888, + -0.06467834860086441, + -12.912311553955078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1444, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638945_142267704", + "mask_path": "../../mask/hdr_right_01444.png" + }, + { + "file_path": "../../rgb/hdr_right_01445.png", + "transform_matrix": [ + [ + 0.08709976077079773, + 0.07236187905073166, + -0.9935680627822876, + -24.223373413085938 + ], + [ + 0.9832080006599426, + 0.15430352091789246, + 0.09742956608533859, + -13.831782341003418 + ], + [ + 0.16036123037338257, + -0.9853700995445251, + -0.05770697817206383, + -12.905890464782715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1445, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638945_242267608", + "mask_path": "../../mask/hdr_right_01445.png" + }, + { + "file_path": "../../rgb/hdr_right_01452.png", + "transform_matrix": [ + [ + 0.23476171493530273, + 0.10549995303153992, + -0.9663108587265015, + -24.347566604614258 + ], + [ + 0.9576895833015442, + 0.1451580673456192, + 0.24851523339748383, + -14.115463256835938 + ], + [ + 0.16648617386817932, + -0.9837676882743835, + -0.06695865094661713, + -12.947531700134277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1452, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638945_942267656", + "mask_path": "../../mask/hdr_right_01452.png" + }, + { + "file_path": "../../rgb/hdr_right_01471.png", + "transform_matrix": [ + [ + 0.7836226224899292, + 0.21039286255836487, + -0.5845258235931396, + -24.57815933227539 + ], + [ + 0.5613644123077393, + 0.16320590674877167, + 0.8113161325454712, + -14.197093963623047 + ], + [ + 0.2660931944847107, + -0.9638976454734802, + 0.009784785099327564, + -13.037740707397461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1471, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638947_842272281", + "mask_path": "../../mask/hdr_right_01471.png" + }, + { + "file_path": "../../rgb/hdr_right_01476.png", + "transform_matrix": [ + [ + 0.7838518023490906, + 0.26836922764778137, + -0.5599592924118042, + -24.77161979675293 + ], + [ + 0.5461281538009644, + 0.1311897486448288, + 0.8273652791976929, + -14.258913040161133 + ], + [ + 0.2955002188682556, + -0.9543412327766418, + -0.04373065009713173, + -13.097929000854492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1476, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638948_342268228", + "mask_path": "../../mask/hdr_right_01476.png" + }, + { + "file_path": "../../rgb/hdr_right_01481.png", + "transform_matrix": [ + [ + 0.7836294174194336, + 0.2692599296569824, + -0.5598428249359131, + -24.95734214782715 + ], + [ + 0.5532726645469666, + 0.1073344498872757, + 0.8260561227798462, + -14.356698989868164 + ], + [ + 0.2825142443180084, + -0.9570675492286682, + -0.06486372649669647, + -13.172890663146973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1481, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638948_842267513", + "mask_path": "../../mask/hdr_right_01481.png" + }, + { + "file_path": "../../rgb/hdr_right_01484.png", + "transform_matrix": [ + [ + 0.7940771579742432, + 0.26367875933647156, + -0.5476449131965637, + -25.088777542114258 + ], + [ + 0.5380522608757019, + 0.11417891085147858, + 0.8351426124572754, + -14.43087387084961 + ], + [ + 0.2827388346195221, + -0.9578291773796082, + -0.0512060709297657, + -13.243631362915039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1484, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638949_142267942", + "mask_path": "../../mask/hdr_right_01484.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/b664e18f/mesh.ply b/2024-11-03-13-59-54/splats/b664e18f/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..26eed3ceea938241360b3b5f6da593805f913f1f --- /dev/null +++ b/2024-11-03-13-59-54/splats/b664e18f/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:150d4e84904d99b09af4c67492eb03493be59d44cd01e70e3c13230a87b21d8d +size 34819498 diff --git a/2024-11-03-13-59-54/splats/b664e18f/mesh_filled_decimated.ply b/2024-11-03-13-59-54/splats/b664e18f/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..1788ab8e6017adcba688715775b459fc195fcd1d --- /dev/null +++ b/2024-11-03-13-59-54/splats/b664e18f/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15ac909170f7daa028833d5755091d4f5b77b4214b84db9a03e4829a96b13868 +size 1570860 diff --git a/2024-11-03-13-59-54/splats/b664e18f/splatfacto/config.yml b/2024-11-03-13-59-54/splats/b664e18f/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..ef516d0ce484e19ed1f2979de8b4a066936e58cc --- /dev/null +++ b/2024-11-03-13-59-54/splats/b664e18f/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-03-13-59-54_nerfstudio +- slices +- slice_b664e18f +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-03-13-59-54_nerfstudio + - slices + - slice_b664e18f + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-03-13-59-54/splats/b664e18f/splatfacto/dataparser_transforms.json b/2024-11-03-13-59-54/splats/b664e18f/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..abc0e55e9f6ff78e22fc2ee0f5f6a938ef67d033 --- /dev/null +++ b/2024-11-03-13-59-54/splats/b664e18f/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + 0.417211651802063, + -0.9075685739517212, + -0.04747271537780762, + 0.2511941194534302 + ], + [ + -0.9075685739517212, + -0.41334450244903564, + -0.07392863184213638, + -2.724313259124756 + ], + [ + 0.04747271537780762, + 0.07392863184213638, + -0.9961328506469727, + -0.431372731924057 + ] + ], + "scale": 0.23244819147465773 +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/b664e18f/splatfacto/splat.ply b/2024-11-03-13-59-54/splats/b664e18f/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..7368361cb7c009eecddee6b07951b7028220c2fd --- /dev/null +++ b/2024-11-03-13-59-54/splats/b664e18f/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffaaafec8d0c5d2ee691e898d6634bf66d08ad3250ae3be3c464472718bfe789 +size 291390682 diff --git a/2024-11-03-13-59-54/splats/b664e18f/transforms.json b/2024-11-03-13-59-54/splats/b664e18f/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a131c37c2a8a545858b10d0546e0368adc2af9d9 --- /dev/null +++ b/2024-11-03-13-59-54/splats/b664e18f/transforms.json @@ -0,0 +1,17772 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_00091.png", + "transform_matrix": [ + [ + -0.9999330043792725, + -0.008272610604763031, + 0.008095500990748405, + 0.015354681760072708 + ], + [ + -0.007981030270457268, + -0.013777903281152248, + -0.9998732805252075, + 0.07423096895217896 + ], + [ + 0.008383100852370262, + -0.9998708963394165, + 0.01371095608919859, + 0.115977443754673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 91, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638811_42267560", + "mask_path": "../../mask/hdr_front_00091.png" + }, + { + "file_path": "../../rgb/hdr_front_00183.png", + "transform_matrix": [ + [ + -0.9986811876296997, + -0.025674808770418167, + 0.044459227472543716, + -0.034307122230529785 + ], + [ + -0.04342327266931534, + -0.039587315171957016, + -0.998272180557251, + 0.1361737847328186 + ], + [ + 0.02739046886563301, + -0.998886227607727, + 0.03842022269964218, + 0.11246810853481293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 183, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_242267608", + "mask_path": "../../mask/hdr_front_00183.png" + }, + { + "file_path": "../../rgb/hdr_front_00185.png", + "transform_matrix": [ + [ + -0.9985073804855347, + -0.03646508976817131, + 0.040660303086042404, + -0.06123333051800728 + ], + [ + -0.038818567991256714, + -0.0498669296503067, + -0.998001217842102, + 0.21792802214622498 + ], + [ + 0.03841980919241905, + -0.9980899691581726, + 0.04837697744369507, + 0.1161290854215622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 185, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_442267656", + "mask_path": "../../mask/hdr_front_00185.png" + }, + { + "file_path": "../../rgb/hdr_front_00186.png", + "transform_matrix": [ + [ + -0.9990189075469971, + -0.03229101374745369, + 0.030309069901704788, + -0.05935673415660858 + ], + [ + -0.0288297850638628, + -0.04533151537179947, + -0.9985559582710266, + 0.27107447385787964 + ], + [ + 0.03361833840608597, + -0.998449981212616, + 0.0443560928106308, + 0.11350622773170471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 186, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_542267084", + "mask_path": "../../mask/hdr_front_00186.png" + }, + { + "file_path": "../../rgb/hdr_front_00187.png", + "transform_matrix": [ + [ + -0.999569833278656, + -0.018609534949064255, + 0.02266811393201351, + -0.05467807129025459 + ], + [ + -0.021705154329538345, + -0.050411157310009, + -0.9984927177429199, + 0.3463841378688812 + ], + [ + 0.01972421072423458, + -0.9985551834106445, + 0.04998554661870003, + 0.09691698104143143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 187, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_642267704", + "mask_path": "../../mask/hdr_front_00187.png" + }, + { + "file_path": "../../rgb/hdr_front_00188.png", + "transform_matrix": [ + [ + -0.9997187256813049, + -0.003316898364573717, + 0.023481830954551697, + -0.055570926517248154 + ], + [ + -0.023227421566843987, + -0.06278788298368454, + -0.9977566599845886, + 0.4222400486469269 + ], + [ + 0.004783830605447292, + -0.9980214238166809, + 0.06269317865371704, + 0.08412064611911774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 188, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_742268562", + "mask_path": "../../mask/hdr_front_00188.png" + }, + { + "file_path": "../../rgb/hdr_front_00189.png", + "transform_matrix": [ + [ + -0.9995956420898438, + 0.008214203640818596, + 0.027221711352467537, + -0.05591714754700661 + ], + [ + -0.027716312557458878, + -0.06773650646209717, + -0.9973182082176208, + 0.4905751049518585 + ], + [ + -0.006348270457237959, + -0.9976694583892822, + 0.06793679296970367, + 0.07219726592302322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 189, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_842267513", + "mask_path": "../../mask/hdr_front_00189.png" + }, + { + "file_path": "../../rgb/hdr_front_00190.png", + "transform_matrix": [ + [ + -0.9994738101959229, + 0.012677347287535667, + 0.029854867607355118, + -0.0480366125702858 + ], + [ + -0.030609840527176857, + -0.06425470113754272, + -0.9974640011787415, + 0.5743247270584106 + ], + [ + -0.01072688028216362, + -0.9978530406951904, + 0.06460895389318466, + 0.05867689847946167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 190, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_942267179", + "mask_path": "../../mask/hdr_front_00190.png" + }, + { + "file_path": "../../rgb/hdr_front_00191.png", + "transform_matrix": [ + [ + -0.9995487332344055, + 0.013604016974568367, + 0.02678426168859005, + -0.03290615975856781 + ], + [ + -0.02762603387236595, + -0.06600713729858398, + -0.9974366426467896, + 0.6711503267288208 + ], + [ + -0.011801193468272686, + -0.9977264404296875, + 0.06635316461324692, + 0.06073486804962158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 191, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_42268276", + "mask_path": "../../mask/hdr_front_00191.png" + }, + { + "file_path": "../../rgb/hdr_front_00192.png", + "transform_matrix": [ + [ + -0.9995411038398743, + 0.018468627706170082, + 0.02400895021855831, + -0.023607216775417328 + ], + [ + -0.025150194764137268, + -0.06426865607500076, + -0.99761563539505, + 0.7409154772758484 + ], + [ + -0.016881566494703293, + -0.9977617263793945, + 0.06470365077257156, + 0.062443964183330536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 192, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_142268180", + "mask_path": "../../mask/hdr_front_00192.png" + }, + { + "file_path": "../../rgb/hdr_front_00193.png", + "transform_matrix": [ + [ + -0.9992533922195435, + 0.025118786841630936, + 0.029354073107242584, + -0.021503638476133347 + ], + [ + -0.030772775411605835, + -0.05809315666556358, + -0.9978367686271667, + 0.7958265542984009 + ], + [ + -0.023359177634119987, + -0.9979950785636902, + 0.05882275849580765, + 0.058304138481616974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 193, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_242268800", + "mask_path": "../../mask/hdr_front_00193.png" + }, + { + "file_path": "../../rgb/hdr_front_00194.png", + "transform_matrix": [ + [ + -0.9984259009361267, + 0.029363995417952538, + 0.04778477922081947, + -0.022554900497198105 + ], + [ + -0.04949621483683586, + -0.06062145158648491, + -0.996932864189148, + 0.8692449331283569 + ], + [ + -0.026377150788903236, + -0.9977288246154785, + 0.06197943165898323, + 0.04643689841032028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 194, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_342267990", + "mask_path": "../../mask/hdr_front_00194.png" + }, + { + "file_path": "../../rgb/hdr_front_00195.png", + "transform_matrix": [ + [ + -0.9956965446472168, + 0.03870279714465141, + 0.08420484513044357, + -0.03496010974049568 + ], + [ + -0.08682481944561005, + -0.07191037386655807, + -0.9936248660087585, + 0.9484226107597351 + ], + [ + -0.03240085393190384, + -0.9966599345207214, + 0.07496127486228943, + 0.0348513200879097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 195, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_442268371", + "mask_path": "../../mask/hdr_front_00195.png" + }, + { + "file_path": "../../rgb/hdr_front_00196.png", + "transform_matrix": [ + [ + -0.9896926283836365, + 0.04659918695688248, + 0.13541369140148163, + -0.05674651637673378 + ], + [ + -0.13870404660701752, + -0.07665261626243591, + -0.9873629212379456, + 1.0161329507827759 + ], + [ + -0.035630494356155396, + -0.9959683418273926, + 0.08232603222131729, + 0.024685688316822052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 196, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_542267799", + "mask_path": "../../mask/hdr_front_00196.png" + }, + { + "file_path": "../../rgb/hdr_front_00197.png", + "transform_matrix": [ + [ + -0.9781956672668457, + 0.03814581036567688, + 0.20415209233760834, + -0.09142744541168213 + ], + [ + -0.20654906332492828, + -0.07600033283233643, + -0.9754801392555237, + 1.0935066938400269 + ], + [ + -0.02169485203921795, + -0.9963778853416443, + 0.08222217857837677, + 0.01476123183965683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 197, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_642268419", + "mask_path": "../../mask/hdr_front_00197.png" + }, + { + "file_path": "../../rgb/hdr_front_00198.png", + "transform_matrix": [ + [ + -0.9622768759727478, + 0.027929944917559624, + 0.2706344425678253, + -0.12849721312522888 + ], + [ + -0.2720046937465668, + -0.07666343450546265, + -0.959237277507782, + 1.1771341562271118 + ], + [ + -0.006043676286935806, + -0.9966657757759094, + 0.08136853575706482, + 0.017729952931404114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 198, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_742268085", + "mask_path": "../../mask/hdr_front_00198.png" + }, + { + "file_path": "../../rgb/hdr_front_00199.png", + "transform_matrix": [ + [ + -0.9453126192092896, + 0.023691190406680107, + 0.3253040611743927, + -0.15601129829883575 + ], + [ + -0.3261595070362091, + -0.07475197315216064, + -0.9423546195030212, + 1.2383372783660889 + ], + [ + 0.001991615630686283, + -0.9969208240509033, + 0.07839109003543854, + 0.016078807413578033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 199, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_842267751", + "mask_path": "../../mask/hdr_front_00199.png" + }, + { + "file_path": "../../rgb/hdr_front_00200.png", + "transform_matrix": [ + [ + -0.925793468952179, + 0.02152400277554989, + 0.37741631269454956, + -0.18275126814842224 + ], + [ + -0.377956360578537, + -0.07234366983175278, + -0.9229926466941833, + 1.2912557125091553 + ], + [ + 0.007437183987349272, + -0.9971475601196289, + 0.07511043548583984, + 0.0077095627784729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 200, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_942268133", + "mask_path": "../../mask/hdr_front_00200.png" + }, + { + "file_path": "../../rgb/hdr_front_00201.png", + "transform_matrix": [ + [ + -0.9002135396003723, + 0.03265693038702011, + 0.43422240018844604, + -0.2234923243522644 + ], + [ + -0.4354340732097626, + -0.0756806805729866, + -0.8970337510108948, + 1.360403060913086 + ], + [ + 0.0035678758285939693, + -0.9965972304344177, + 0.08234871178865433, + -0.008642993867397308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 201, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_42268753", + "mask_path": "../../mask/hdr_front_00201.png" + }, + { + "file_path": "../../rgb/hdr_front_00202.png", + "transform_matrix": [ + [ + -0.8695319890975952, + 0.04144500195980072, + 0.49213463068008423, + -0.27988845109939575 + ], + [ + -0.4938627779483795, + -0.08044750988483429, + -0.8658105134963989, + 1.426270842552185 + ], + [ + 0.0037074892316013575, + -0.9958968758583069, + 0.09041981399059296, + -0.02077840268611908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 202, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_142267704", + "mask_path": "../../mask/hdr_front_00202.png" + }, + { + "file_path": "../../rgb/hdr_front_00203.png", + "transform_matrix": [ + [ + -0.8338244557380676, + 0.043697766959667206, + 0.5502975583076477, + -0.3415461480617523 + ], + [ + -0.5519692897796631, + -0.08074792474508286, + -0.8299456238746643, + 1.4794220924377441 + ], + [ + 0.008168616332113743, + -0.9957762360572815, + 0.09144941717386246, + -0.028474584221839905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 203, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_242267131", + "mask_path": "../../mask/hdr_front_00203.png" + }, + { + "file_path": "../../rgb/hdr_front_00204.png", + "transform_matrix": [ + [ + -0.7925178408622742, + 0.0408155657351017, + 0.6084812879562378, + -0.41266101598739624 + ], + [ + -0.6095383763313293, + -0.08483925461769104, + -0.7882038354873657, + 1.54182767868042 + ], + [ + 0.01945211924612522, + -0.9955583810806274, + 0.09211527556180954, + -0.04368913918733597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 204, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_342267036", + "mask_path": "../../mask/hdr_front_00204.png" + }, + { + "file_path": "../../rgb/hdr_front_00205.png", + "transform_matrix": [ + [ + -0.7534358501434326, + 0.042846113443374634, + 0.6561239361763, + -0.48158401250839233 + ], + [ + -0.6571213006973267, + -0.08387092500925064, + -0.749104380607605, + 1.5996088981628418 + ], + [ + 0.022933511063456535, + -0.9955551624298096, + 0.09134647250175476, + -0.044846341013908386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 205, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_442265033", + "mask_path": "../../mask/hdr_front_00205.png" + }, + { + "file_path": "../../rgb/hdr_front_00206.png", + "transform_matrix": [ + [ + -0.7173330187797546, + 0.04245160520076752, + 0.6954360604286194, + -0.5339953303337097 + ], + [ + -0.6962958574295044, + -0.07893145084381104, + -0.713401734828949, + 1.6410475969314575 + ], + [ + 0.024606728926301003, + -0.9959757924079895, + 0.08617901057004929, + -0.04355359077453613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 206, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_542266845", + "mask_path": "../../mask/hdr_front_00206.png" + }, + { + "file_path": "../../rgb/hdr_front_00207.png", + "transform_matrix": [ + [ + -0.6800562143325806, + 0.03977371007204056, + 0.732080340385437, + -0.5839605331420898 + ], + [ + -0.732654333114624, + -0.07394463568925858, + -0.6765720844268799, + 1.6767420768737793 + ], + [ + 0.0272236205637455, + -0.9964689016342163, + 0.07942688465118408, + -0.053373828530311584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 207, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_642268180", + "mask_path": "../../mask/hdr_front_00207.png" + }, + { + "file_path": "../../rgb/hdr_front_00208.png", + "transform_matrix": [ + [ + -0.6344767212867737, + 0.048283886164426804, + 0.7714324593544006, + -0.6607891321182251 + ], + [ + -0.7726234197616577, + -0.06827263534069061, + -0.6311830282211304, + 1.7173655033111572 + ], + [ + 0.02219175361096859, + -0.996497631072998, + 0.08062264323234558, + -0.06692207604646683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 208, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_742266178", + "mask_path": "../../mask/hdr_front_00208.png" + }, + { + "file_path": "../../rgb/hdr_front_00209.png", + "transform_matrix": [ + [ + -0.5753644704818726, + 0.05805959925055504, + 0.8158338069915771, + -0.7466679215431213 + ], + [ + -0.8176525235176086, + -0.06522823870182037, + -0.572005033493042, + 1.7455816268920898 + ], + [ + 0.02000502124428749, + -0.9961798787117004, + 0.0850025862455368, + -0.07568670809268951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 209, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_842267751", + "mask_path": "../../mask/hdr_front_00209.png" + }, + { + "file_path": "../../rgb/hdr_front_00210.png", + "transform_matrix": [ + [ + -0.5044111609458923, + 0.06138208135962486, + 0.8612791895866394, + -0.8199448585510254 + ], + [ + -0.8631187677383423, + -0.06403243541717529, + -0.5009249448776245, + 1.7607128620147705 + ], + [ + 0.02440197579562664, + -0.9960582852363586, + 0.0852787047624588, + -0.08857394009828568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 210, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_942267179", + "mask_path": "../../mask/hdr_front_00210.png" + }, + { + "file_path": "../../rgb/hdr_front_00211.png", + "transform_matrix": [ + [ + -0.4248436391353607, + 0.06210900843143463, + 0.9031336307525635, + -0.9127395153045654 + ], + [ + -0.904570460319519, + -0.06824515759944916, + -0.42082634568214417, + 1.7812230587005615 + ], + [ + 0.03549738600850105, + -0.9957334995269775, + 0.08517550677061081, + -0.09803561121225357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 211, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_42267560", + "mask_path": "../../mask/hdr_front_00211.png" + }, + { + "file_path": "../../rgb/hdr_front_00212.png", + "transform_matrix": [ + [ + -0.35115471482276917, + 0.06071142852306366, + 0.9343470931053162, + -1.002230167388916 + ], + [ + -0.9355868697166443, + -0.06216272711753845, + -0.34758150577545166, + 1.7994157075881958 + ], + [ + 0.03697939217090607, + -0.9962179064750671, + 0.07862956821918488, + -0.09279150515794754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 212, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_142267704", + "mask_path": "../../mask/hdr_front_00212.png" + }, + { + "file_path": "../../rgb/hdr_front_00213.png", + "transform_matrix": [ + [ + -0.2806563079357147, + 0.055512476712465286, + 0.9582015872001648, + -1.0663684606552124 + ], + [ + -0.9590742588043213, + -0.05525955185294151, + -0.2777104675769806, + 1.8024038076400757 + ], + [ + 0.03753339871764183, + -0.9969276785850525, + 0.06874952465295792, + -0.09156309068202972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 213, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_242267608", + "mask_path": "../../mask/hdr_front_00213.png" + }, + { + "file_path": "../../rgb/hdr_front_00214.png", + "transform_matrix": [ + [ + -0.20726358890533447, + 0.05178222060203552, + 0.9769136905670166, + -1.1326626539230347 + ], + [ + -0.9774518609046936, + -0.052168671041727066, + -0.20461252331733704, + 1.7909743785858154 + ], + [ + 0.04036899656057358, + -0.9972949028015137, + 0.061427291482686996, + -0.10029025375843048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 214, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_342266798", + "mask_path": "../../mask/hdr_front_00214.png" + }, + { + "file_path": "../../rgb/hdr_front_00215.png", + "transform_matrix": [ + [ + -0.127234548330307, + 0.06909240037202835, + 0.9894633293151855, + -1.2189452648162842 + ], + [ + -0.9912940263748169, + -0.04292735457420349, + -0.12447243928909302, + 1.7753338813781738 + ], + [ + 0.03387494385242462, + -0.9966862797737122, + 0.07395271211862564, + -0.11717689037322998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 215, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_442267656", + "mask_path": "../../mask/hdr_front_00215.png" + }, + { + "file_path": "../../rgb/hdr_front_00216.png", + "transform_matrix": [ + [ + -0.04335412010550499, + 0.08066988736391068, + 0.9957975745201111, + -1.2960970401763916 + ], + [ + -0.9985694289207458, + -0.034726642072200775, + -0.04066157341003418, + 1.749841570854187 + ], + [ + 0.031300537288188934, + -0.9961357712745667, + 0.08206001669168472, + -0.12902507185935974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 216, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_542268514", + "mask_path": "../../mask/hdr_front_00216.png" + }, + { + "file_path": "../../rgb/hdr_front_00217.png", + "transform_matrix": [ + [ + 0.031443286687135696, + 0.08199353516101837, + 0.9961367845535278, + -1.3569517135620117 + ], + [ + -0.9989258050918579, + -0.031361814588308334, + 0.03411275893449783, + 1.7172740697860718 + ], + [ + 0.03403768315911293, + -0.9961393475532532, + 0.08091934770345688, + -0.13951784372329712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 217, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_642267704", + "mask_path": "../../mask/hdr_front_00217.png" + }, + { + "file_path": "../../rgb/hdr_front_00218.png", + "transform_matrix": [ + [ + 0.09027604013681412, + 0.0890372171998024, + 0.99192875623703, + -1.4307377338409424 + ], + [ + -0.9952146410942078, + -0.029327470809221268, + 0.09320756793022156, + 1.6867154836654663 + ], + [ + 0.03738970309495926, + -0.9955964684486389, + 0.08596356958150864, + -0.15231846272945404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 218, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_742267847", + "mask_path": "../../mask/hdr_front_00218.png" + }, + { + "file_path": "../../rgb/hdr_front_00219.png", + "transform_matrix": [ + [ + 0.1332414150238037, + 0.09830505400896072, + 0.9861962199211121, + -1.5053331851959229 + ], + [ + -0.9903675317764282, + -0.02461383491754532, + 0.13625851273536682, + 1.659732460975647 + ], + [ + 0.037668973207473755, + -0.9948518872261047, + 0.09407854825258255, + -0.15930770337581635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 219, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_842267990", + "mask_path": "../../mask/hdr_front_00219.png" + }, + { + "file_path": "../../rgb/hdr_front_00220.png", + "transform_matrix": [ + [ + 0.17151287198066711, + 0.10012149065732956, + 0.9800811409950256, + -1.570012092590332 + ], + [ + -0.9844685792922974, + -0.020431596785783768, + 0.17436790466308594, + 1.631657600402832 + ], + [ + 0.03748259320855141, + -0.9947654604911804, + 0.09506217390298843, + -0.16527853906154633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 220, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_942268133", + "mask_path": "../../mask/hdr_front_00220.png" + }, + { + "file_path": "../../rgb/hdr_front_00221.png", + "transform_matrix": [ + [ + 0.21195194125175476, + 0.09358814358711243, + 0.9727885723114014, + -1.6435277462005615 + ], + [ + -0.9765978455543518, + -0.016906216740608215, + 0.21440836787223816, + 1.5943284034729004 + ], + [ + 0.03651225566864014, + -0.9954674243927002, + 0.08781466633081436, + -0.17954756319522858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 221, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_42267084", + "mask_path": "../../mask/hdr_front_00221.png" + }, + { + "file_path": "../../rgb/hdr_front_00222.png", + "transform_matrix": [ + [ + 0.26019853353500366, + 0.09538941085338593, + 0.9608317613601685, + -1.7417274713516235 + ], + [ + -0.965133011341095, + -0.003728709416463971, + 0.2617335319519043, + 1.5465762615203857 + ], + [ + 0.02854926325380802, + -0.9954330921173096, + 0.09109324961900711, + -0.19998162984848022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 222, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_142267465", + "mask_path": "../../mask/hdr_front_00222.png" + }, + { + "file_path": "../../rgb/hdr_front_00223.png", + "transform_matrix": [ + [ + 0.3242814540863037, + 0.09788483381271362, + 0.9408825635910034, + -1.8130693435668945 + ], + [ + -0.9456250071525574, + 0.007050428539514542, + 0.3251824676990509, + 1.4948210716247559 + ], + [ + 0.025196800008416176, + -0.9951728582382202, + 0.09484867751598358, + -0.21284279227256775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 223, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_242268085", + "mask_path": "../../mask/hdr_front_00223.png" + }, + { + "file_path": "../../rgb/hdr_front_00224.png", + "transform_matrix": [ + [ + 0.3930271863937378, + 0.0984492301940918, + 0.9142414331436157, + -1.8568896055221558 + ], + [ + -0.9190154075622559, + 0.008899787440896034, + 0.3941211998462677, + 1.4443376064300537 + ], + [ + 0.030664369463920593, + -0.9951022863388062, + 0.09397421777248383, + -0.22332540154457092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 224, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_342266082", + "mask_path": "../../mask/hdr_front_00224.png" + }, + { + "file_path": "../../rgb/hdr_front_00225.png", + "transform_matrix": [ + [ + 0.4543873965740204, + 0.10895092040300369, + 0.8841164112091064, + -1.920862078666687 + ], + [ + -0.8898231387138367, + 0.008945910260081291, + 0.4562179744243622, + 1.3961082696914673 + ], + [ + 0.041796132922172546, + -0.9940069317817688, + 0.10101195424795151, + -0.23481959104537964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 225, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_442268371", + "mask_path": "../../mask/hdr_front_00225.png" + }, + { + "file_path": "../../rgb/hdr_front_00226.png", + "transform_matrix": [ + [ + 0.5056010484695435, + 0.11033130437135696, + 0.8556836247444153, + -1.9828650951385498 + ], + [ + -0.8616958856582642, + 0.015162426978349686, + 0.5071985721588135, + 1.3536114692687988 + ], + [ + 0.04298562929034233, + -0.993779182434082, + 0.1027381643652916, + -0.23736146092414856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 226, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_542268514", + "mask_path": "../../mask/hdr_front_00226.png" + }, + { + "file_path": "../../rgb/hdr_front_00227.png", + "transform_matrix": [ + [ + 0.5484577417373657, + 0.10628987103700638, + 0.8293953537940979, + -2.024400234222412 + ], + [ + -0.8350712656974792, + 0.018599018454551697, + 0.5498274564743042, + 1.3156176805496216 + ], + [ + 0.043015141040086746, + -0.9941613078117371, + 0.09896037727594376, + -0.24151593446731567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 227, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_642268180", + "mask_path": "../../mask/hdr_front_00227.png" + }, + { + "file_path": "../../rgb/hdr_front_00228.png", + "transform_matrix": [ + [ + 0.5852721333503723, + 0.10472244769334793, + 0.8040459156036377, + -2.064777135848999 + ], + [ + -0.8095342516899109, + 0.019282344728708267, + 0.5867558717727661, + 1.277962327003479 + ], + [ + 0.04594260826706886, + -0.9943146109580994, + 0.0960618332028389, + -0.25173622369766235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 228, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_742267608", + "mask_path": "../../mask/hdr_front_00228.png" + }, + { + "file_path": "../../rgb/hdr_front_00229.png", + "transform_matrix": [ + [ + 0.616167426109314, + 0.10237167775630951, + 0.7809337973594666, + -2.129288911819458 + ], + [ + -0.7867128252983093, + 0.0325482040643692, + 0.6164605021476746, + 1.2374215126037598 + ], + [ + 0.03769010305404663, + -0.9942135810852051, + 0.10059225559234619, + -0.2738829255104065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 229, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_842268466", + "mask_path": "../../mask/hdr_front_00229.png" + }, + { + "file_path": "../../rgb/hdr_front_00230.png", + "transform_matrix": [ + [ + 0.6499462127685547, + 0.10329074412584305, + 0.7529282569885254, + -2.1857314109802246 + ], + [ + -0.7594188451766968, + 0.050197307020425797, + 0.6486627459526062, + 1.187214970588684 + ], + [ + 0.02920587733387947, + -0.9933837056159973, + 0.11106647551059723, + -0.2950224280357361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 230, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_942267656", + "mask_path": "../../mask/hdr_front_00230.png" + }, + { + "file_path": "../../rgb/hdr_front_00231.png", + "transform_matrix": [ + [ + 0.6825708746910095, + 0.10070687532424927, + 0.7238474488258362, + -2.222625732421875 + ], + [ + -0.7302810549736023, + 0.05597735941410065, + 0.6808496117591858, + 1.1298911571502686 + ], + [ + 0.02804715931415558, + -0.9933401346206665, + 0.11175283789634705, + -0.30531445145606995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 231, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_42267799", + "mask_path": "../../mask/hdr_front_00231.png" + }, + { + "file_path": "../../rgb/hdr_front_00232.png", + "transform_matrix": [ + [ + 0.7128629684448242, + 0.09628702700138092, + 0.6946619153022766, + -2.2707180976867676 + ], + [ + -0.7007418274879456, + 0.05816506966948509, + 0.7110398411750793, + 1.067912220954895 + ], + [ + 0.02805885672569275, + -0.9936526417732239, + 0.10893607139587402, + -0.3160177767276764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 232, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_142267465", + "mask_path": "../../mask/hdr_front_00232.png" + }, + { + "file_path": "../../rgb/hdr_front_00233.png", + "transform_matrix": [ + [ + 0.7384403944015503, + 0.0927458181977272, + 0.6679102182388306, + -2.3266615867614746 + ], + [ + -0.673964262008667, + 0.06940010190010071, + 0.7354969382286072, + 1.0100398063659668 + ], + [ + 0.021861230954527855, + -0.9932682514190674, + 0.11375521868467331, + -0.32456380128860474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 233, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_242267370", + "mask_path": "../../mask/hdr_front_00233.png" + }, + { + "file_path": "../../rgb/hdr_front_00234.png", + "transform_matrix": [ + [ + 0.7589240074157715, + 0.08644848316907883, + 0.6454154253005981, + -2.370725154876709 + ], + [ + -0.6509807109832764, + 0.07624784111976624, + 0.7552551627159119, + 0.9564419388771057 + ], + [ + 0.016079131513834, + -0.9933342337608337, + 0.11414261162281036, + -0.3270195424556732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 234, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_342267990", + "mask_path": "../../mask/hdr_front_00234.png" + }, + { + "file_path": "../../rgb/hdr_front_00235.png", + "transform_matrix": [ + [ + 0.7796371579170227, + 0.07716603577136993, + 0.6214589476585388, + -2.405758857727051 + ], + [ + -0.6261128783226013, + 0.0767427608370781, + 0.7759466767311096, + 0.9014469385147095 + ], + [ + 0.012184240855276585, + -0.9940603971481323, + 0.10814616084098816, + -0.3354058861732483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 235, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_442267417", + "mask_path": "../../mask/hdr_front_00235.png" + }, + { + "file_path": "../../rgb/hdr_front_00236.png", + "transform_matrix": [ + [ + 0.8033127784729004, + 0.06704161316156387, + 0.5917719006538391, + -2.446769952774048 + ], + [ + -0.5955176949501038, + 0.07896195352077484, + 0.7994521856307983, + 0.8367877006530762 + ], + [ + 0.006869100034236908, + -0.9946208000183105, + 0.10335562378168106, + -0.3521173894405365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 236, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_542268276", + "mask_path": "../../mask/hdr_front_00236.png" + }, + { + "file_path": "../../rgb/hdr_front_00237.png", + "transform_matrix": [ + [ + 0.831032395362854, + 0.0639347955584526, + 0.5525373816490173, + -2.486628532409668 + ], + [ + -0.5562117695808411, + 0.0889415517449379, + 0.8262675404548645, + 0.760972261428833 + ], + [ + 0.003683713963255286, + -0.9939828515052795, + 0.10947459191083908, + -0.3728615343570709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 237, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_642266988", + "mask_path": "../../mask/hdr_front_00237.png" + }, + { + "file_path": "../../rgb/hdr_front_00238.png", + "transform_matrix": [ + [ + 0.8588502407073975, + 0.06326797604560852, + 0.5083045363426208, + -2.5101842880249023 + ], + [ + -0.5122004151344299, + 0.09599664807319641, + 0.8534842729568481, + 0.6869891881942749 + ], + [ + 0.005202692933380604, + -0.9933689832687378, + 0.11485262215137482, + -0.3906556963920593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 238, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_742267370", + "mask_path": "../../mask/hdr_front_00238.png" + }, + { + "file_path": "../../rgb/hdr_front_00239.png", + "transform_matrix": [ + [ + 0.8848338723182678, + 0.06615711003541946, + 0.4611855745315552, + -2.5265231132507324 + ], + [ + -0.4656667411327362, + 0.09381788223981857, + 0.8799732327461243, + 0.6071864366531372 + ], + [ + 0.01494902279227972, + -0.9933888912200928, + 0.11382041871547699, + -0.4049426317214966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 239, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_842267274", + "mask_path": "../../mask/hdr_front_00239.png" + }, + { + "file_path": "../../rgb/hdr_front_00240.png", + "transform_matrix": [ + [ + 0.9064750075340271, + 0.07293811440467834, + 0.4159124791622162, + -2.5580649375915527 + ], + [ + -0.421456903219223, + 0.09557773917913437, + 0.9017976522445679, + 0.5201235413551331 + ], + [ + 0.026023441925644875, + -0.9927462339401245, + 0.1173790991306305, + -0.42116600275039673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 240, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_942267417", + "mask_path": "../../mask/hdr_front_00240.png" + }, + { + "file_path": "../../rgb/hdr_front_00241.png", + "transform_matrix": [ + [ + 0.9231662750244141, + 0.07282013446092606, + 0.377440482378006, + -2.588303804397583 + ], + [ + -0.3832351267337799, + 0.09793750196695328, + 0.9184438586235046, + 0.4410470128059387 + ], + [ + 0.02991562709212303, + -0.9925248622894287, + 0.11831983178853989, + -0.42641785740852356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 241, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_42266368", + "mask_path": "../../mask/hdr_front_00241.png" + }, + { + "file_path": "../../rgb/hdr_front_00242.png", + "transform_matrix": [ + [ + 0.936120867729187, + 0.07199174165725708, + 0.3442308306694031, + -2.598358392715454 + ], + [ + -0.3499530255794525, + 0.09385395795106888, + 0.9320538640022278, + 0.3742083013057709 + ], + [ + 0.03479275107383728, + -0.9929797053337097, + 0.1130523681640625, + -0.429356187582016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 242, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_142267227", + "mask_path": "../../mask/hdr_front_00242.png" + }, + { + "file_path": "../../rgb/hdr_front_00243.png", + "transform_matrix": [ + [ + 0.9480934143066406, + 0.0602208711206913, + 0.3122375011444092, + -2.609100341796875 + ], + [ + -0.3167373538017273, + 0.09170661121606827, + 0.9440696835517883, + 0.29528018832206726 + ], + [ + 0.02821844257414341, + -0.9939635396003723, + 0.10602063685655594, + -0.4483741223812103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 243, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_242267608", + "mask_path": "../../mask/hdr_front_00243.png" + }, + { + "file_path": "../../rgb/hdr_front_00244.png", + "transform_matrix": [ + [ + 0.958942174911499, + 0.05107162520289421, + 0.2789655327796936, + -2.6255571842193604 + ], + [ + -0.28290435671806335, + 0.10331262648105621, + 0.9535678625106812, + 0.1989344358444214 + ], + [ + 0.019879603758454323, + -0.9933369159698486, + 0.11351920664310455, + -0.4659651219844818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 244, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_342268466", + "mask_path": "../../mask/hdr_front_00244.png" + }, + { + "file_path": "../../rgb/hdr_front_00245.png", + "transform_matrix": [ + [ + 0.9676766395568848, + 0.046773914247751236, + 0.24781842529773712, + -2.6218760013580322 + ], + [ + -0.2515893280506134, + 0.11104266345500946, + 0.9614428877830505, + 0.12539175152778625 + ], + [ + 0.017452029511332512, + -0.9927143454551697, + 0.11922122538089752, + -0.47990238666534424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 245, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_442267417", + "mask_path": "../../mask/hdr_front_00245.png" + }, + { + "file_path": "../../rgb/hdr_front_00246.png", + "transform_matrix": [ + [ + 0.9711530208587646, + 0.04556906223297119, + 0.23406240344047546, + -2.622344493865967 + ], + [ + -0.237775519490242, + 0.11090099066495895, + 0.9649682641029358, + 0.05657261610031128 + ], + [ + 0.018014948815107346, + -0.9927862286567688, + 0.1185370460152626, + -0.4892778992652893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 246, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_542268753", + "mask_path": "../../mask/hdr_front_00246.png" + }, + { + "file_path": "../../rgb/hdr_front_00247.png", + "transform_matrix": [ + [ + 0.9716193675994873, + 0.04709282144904137, + 0.23181475698947906, + -2.632248640060425 + ], + [ + -0.23586682975292206, + 0.11845821142196655, + 0.9645384550094604, + -0.022325634956359863 + ], + [ + 0.01796247810125351, + -0.9918416738510132, + 0.12620392441749573, + -0.5117340087890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 247, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_642268180", + "mask_path": "../../mask/hdr_front_00247.png" + }, + { + "file_path": "../../rgb/hdr_front_00248.png", + "transform_matrix": [ + [ + 0.9715999960899353, + 0.044516049325466156, + 0.23240455985069275, + -2.642589569091797 + ], + [ + -0.2362842559814453, + 0.1294756829738617, + 0.9630191326141357, + -0.08989804983139038 + ], + [ + 0.01277906820178032, + -0.9905829429626465, + 0.13631699979305267, + -0.5302389860153198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 248, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_742268085", + "mask_path": "../../mask/hdr_front_00248.png" + }, + { + "file_path": "../../rgb/hdr_front_00249.png", + "transform_matrix": [ + [ + 0.9706095457077026, + 0.043603163212537766, + 0.2366766780614853, + -2.644132375717163 + ], + [ + -0.24042585492134094, + 0.1323438584804535, + 0.9616031646728516, + -0.1466694474220276 + ], + [ + 0.010606231167912483, + -0.9902443289756775, + 0.13893751800060272, + -0.5383535623550415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 249, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_842267751", + "mask_path": "../../mask/hdr_front_00249.png" + }, + { + "file_path": "../../rgb/hdr_front_00250.png", + "transform_matrix": [ + [ + 0.9693925976753235, + 0.03207521140575409, + 0.24341142177581787, + -2.6462337970733643 + ], + [ + -0.2455146610736847, + 0.12382864952087402, + 0.961451530456543, + -0.2475663125514984 + ], + [ + 0.000697457289788872, + -0.9917850494384766, + 0.12791350483894348, + -0.5422356724739075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 250, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_942267417", + "mask_path": "../../mask/hdr_front_00250.png" + }, + { + "file_path": "../../rgb/hdr_front_00251.png", + "transform_matrix": [ + [ + 0.9701375961303711, + 0.02395142987370491, + 0.24136991798877716, + -2.6416497230529785 + ], + [ + -0.2424790859222412, + 0.12072167545557022, + 0.9626163840293884, + -0.3327656090259552 + ], + [ + -0.006082541309297085, + -0.9923973679542542, + 0.12292435020208359, + -0.5505585670471191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 251, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_42267322", + "mask_path": "../../mask/hdr_front_00251.png" + }, + { + "file_path": "../../rgb/hdr_front_00254.png", + "transform_matrix": [ + [ + 0.9740378856658936, + 0.02868206612765789, + 0.22456078231334686, + -2.6084542274475098 + ], + [ + -0.22638432681560516, + 0.12594588100910187, + 0.9658612012863159, + -0.4958937466144562 + ], + [ + -0.0005796087789349258, + -0.9916224479675293, + 0.12916922569274902, + -0.5938475728034973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 254, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_342267513", + "mask_path": "../../mask/hdr_front_00254.png" + }, + { + "file_path": "../../rgb/hdr_front_00255.png", + "transform_matrix": [ + [ + 0.9734314680099487, + 0.025088880211114883, + 0.22760029137134552, + -2.613266706466675 + ], + [ + -0.22891098260879517, + 0.1308334618806839, + 0.9646151661872864, + -0.5544767379760742 + ], + [ + -0.00557662034407258, + -0.9910869002342224, + 0.1331005096435547, + -0.595349133014679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 255, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_442268133", + "mask_path": "../../mask/hdr_front_00255.png" + }, + { + "file_path": "../../rgb/hdr_front_00256.png", + "transform_matrix": [ + [ + 0.971501350402832, + 0.02455521933734417, + 0.23575854301452637, + -2.627408027648926 + ], + [ + -0.23695088922977448, + 0.12692350149154663, + 0.9631950259208679, + -0.60492342710495 + ], + [ + -0.0062718321569263935, + -0.9916085004806519, + 0.1291247308254242, + -0.5946435928344727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 256, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_542268276", + "mask_path": "../../mask/hdr_front_00256.png" + }, + { + "file_path": "../../rgb/hdr_front_00257.png", + "transform_matrix": [ + [ + 0.9687709808349609, + 0.021125679835677147, + 0.2470560222864151, + -2.6442229747772217 + ], + [ + -0.24776309728622437, + 0.12192981690168381, + 0.9611173272132874, + -0.6712826490402222 + ], + [ + -0.009819232858717442, + -0.9923139214515686, + 0.12335621565580368, + -0.6048840284347534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 257, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_642267465", + "mask_path": "../../mask/hdr_front_00257.png" + }, + { + "file_path": "../../rgb/hdr_front_00258.png", + "transform_matrix": [ + [ + 0.9669796824455261, + 0.005308390595018864, + 0.2547980844974518, + -2.670933485031128 + ], + [ + -0.2532123923301697, + 0.13328640162944794, + 0.9581848978996277, + -0.7456333637237549 + ], + [ + -0.028874697163701057, + -0.9910633563995361, + 0.1302293837070465, + -0.6214213967323303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 258, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_742268085", + "mask_path": "../../mask/hdr_front_00258.png" + }, + { + "file_path": "../../rgb/hdr_front_00259.png", + "transform_matrix": [ + [ + 0.9642841815948486, + -0.0038743531331419945, + 0.26484161615371704, + -2.694361925125122 + ], + [ + -0.2616543173789978, + 0.14139893651008606, + 0.9547478556632996, + -0.7957922220230103 + ], + [ + -0.04114735499024391, + -0.9899451732635498, + 0.13533499836921692, + -0.6349815130233765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 259, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_842267513", + "mask_path": "../../mask/hdr_front_00259.png" + }, + { + "file_path": "../../rgb/hdr_front_00261.png", + "transform_matrix": [ + [ + 0.9558469653129578, + 0.004246309865266085, + 0.29383447766304016, + -2.7637925148010254 + ], + [ + -0.29115504026412964, + 0.14916719496250153, + 0.9449750781059265, + -0.90107262134552 + ], + [ + -0.03981780633330345, + -0.9888029098510742, + 0.14381733536720276, + -0.6699146032333374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 261, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_42268514", + "mask_path": "../../mask/hdr_front_00261.png" + }, + { + "file_path": "../../rgb/hdr_front_00262.png", + "transform_matrix": [ + [ + 0.9499078989028931, + 0.004092385061085224, + 0.3125033974647522, + -2.798672914505005 + ], + [ + -0.3092610836029053, + 0.15655696392059326, + 0.938001811504364, + -0.9455991983413696 + ], + [ + -0.04508591815829277, + -0.9876604676246643, + 0.1499803066253662, + -0.6721206307411194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 262, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_142267227", + "mask_path": "../../mask/hdr_front_00262.png" + }, + { + "file_path": "../../rgb/hdr_front_00264.png", + "transform_matrix": [ + [ + 0.9387181401252747, + 0.009856411255896091, + 0.3445446789264679, + -2.8359596729278564 + ], + [ + -0.3421227037906647, + 0.1483127921819687, + 0.9278768301010132, + -1.035096526145935 + ], + [ + -0.04195484146475792, + -0.9888913631439209, + 0.14259600639343262, + -0.6900410056114197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 264, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_342268943", + "mask_path": "../../mask/hdr_front_00264.png" + }, + { + "file_path": "../../rgb/hdr_front_00265.png", + "transform_matrix": [ + [ + 0.9365469813346863, + 0.008729739114642143, + 0.3504332900047302, + -2.857468605041504 + ], + [ + -0.3477112352848053, + 0.1499255746603012, + 0.9255372881889343, + -1.1027565002441406 + ], + [ + -0.04445921629667282, + -0.9886588454246521, + 0.14344778656959534, + -0.6988345980644226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 265, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_442268371", + "mask_path": "../../mask/hdr_front_00265.png" + }, + { + "file_path": "../../rgb/hdr_front_00266.png", + "transform_matrix": [ + [ + 0.936893880367279, + 0.007603386417031288, + 0.3495312035083771, + -2.8689122200012207 + ], + [ + -0.3465937376022339, + 0.15132847428321838, + 0.9257281422615051, + -1.1611055135726929 + ], + [ + -0.045855361968278885, + -0.9884543418884277, + 0.1444140076637268, + -0.714393138885498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 266, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_542266607", + "mask_path": "../../mask/hdr_front_00266.png" + }, + { + "file_path": "../../rgb/hdr_front_00267.png", + "transform_matrix": [ + [ + 0.9375038743019104, + 0.011399447917938232, + 0.347788006067276, + -2.8755764961242676 + ], + [ + -0.34555432200431824, + 0.14817725121974945, + 0.9266259670257568, + -1.2148150205612183 + ], + [ + -0.04097125306725502, + -0.9888951778411865, + 0.14285588264465332, + -0.7283959984779358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 267, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_642266988", + "mask_path": "../../mask/hdr_front_00267.png" + }, + { + "file_path": "../../rgb/hdr_front_00268.png", + "transform_matrix": [ + [ + 0.9378481507301331, + 0.017375405877828598, + 0.34661048650741577, + -2.883709669113159 + ], + [ + -0.3453497886657715, + 0.1453438103199005, + 0.9271509051322937, + -1.275504231452942 + ], + [ + -0.03426806628704071, + -0.9892286062240601, + 0.14231102168560028, + -0.7446610927581787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 268, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_742269277", + "mask_path": "../../mask/hdr_front_00268.png" + }, + { + "file_path": "../../rgb/hdr_front_00269.png", + "transform_matrix": [ + [ + 0.93506920337677, + 0.0232514850795269, + 0.3537016808986664, + -2.8971970081329346 + ], + [ + -0.35285696387290955, + 0.15600000321865082, + 0.9225811958312988, + -1.333145022392273 + ], + [ + -0.033726077526807785, + -0.9874834418296814, + 0.1540752649307251, + -0.7591838240623474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 269, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_842267990", + "mask_path": "../../mask/hdr_front_00269.png" + }, + { + "file_path": "../../rgb/hdr_front_00270.png", + "transform_matrix": [ + [ + 0.9296141862869263, + 0.025528108701109886, + 0.3676493167877197, + -2.9192731380462646 + ], + [ + -0.3666524887084961, + 0.1647559255361557, + 0.9156535863876343, + -1.3809788227081299 + ], + [ + -0.03719748929142952, + -0.9860039949417114, + 0.16251936554908752, + -0.7665367722511292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 270, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_942268848", + "mask_path": "../../mask/hdr_front_00270.png" + }, + { + "file_path": "../../rgb/hdr_front_00271.png", + "transform_matrix": [ + [ + 0.921360433101654, + 0.025056250393390656, + 0.3879010081291199, + -2.942260503768921 + ], + [ + -0.3865843713283539, + 0.1632714718580246, + 0.9076866507530212, + -1.427915334701538 + ], + [ + -0.040589943528175354, + -0.9862629771232605, + 0.1601182222366333, + -0.7739704847335815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 271, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_42267799", + "mask_path": "../../mask/hdr_front_00271.png" + }, + { + "file_path": "../../rgb/hdr_front_00272.png", + "transform_matrix": [ + [ + 0.9119451642036438, + 0.016886187717318535, + 0.4099644720554352, + -2.975372076034546 + ], + [ + -0.4072013199329376, + 0.16004543006420135, + 0.8992066383361816, + -1.4909451007843018 + ], + [ + -0.050428759306669235, + -0.9869652390480042, + 0.15282872319221497, + -0.7891827821731567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 272, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_142267227", + "mask_path": "../../mask/hdr_front_00272.png" + }, + { + "file_path": "../../rgb/hdr_front_00273.png", + "transform_matrix": [ + [ + 0.9059649705886841, + 0.01062482874840498, + 0.4232192039489746, + -3.006343126296997 + ], + [ + -0.41903752088546753, + 0.16487149894237518, + 0.8928745985031128, + -1.5607326030731201 + ], + [ + -0.0602901354432106, + -0.9862578511238098, + 0.15382002294063568, + -0.7986265420913696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 273, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_242267608", + "mask_path": "../../mask/hdr_front_00273.png" + }, + { + "file_path": "../../rgb/hdr_front_00274.png", + "transform_matrix": [ + [ + 0.901642918586731, + 0.01052401214838028, + 0.43235334753990173, + -3.0312659740448 + ], + [ + -0.42791038751602173, + 0.16667236387729645, + 0.8883203864097595, + -1.6155705451965332 + ], + [ + -0.062712661921978, + -0.9859561920166016, + 0.1547822803258896, + -0.8152917623519897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 274, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_342267274", + "mask_path": "../../mask/hdr_front_00274.png" + }, + { + "file_path": "../../rgb/hdr_front_00275.png", + "transform_matrix": [ + [ + 0.897484302520752, + 0.01478669699281454, + 0.4407985210418701, + -3.0583808422088623 + ], + [ + -0.43714186549186707, + 0.16251645982265472, + 0.884587824344635, + -1.6704821586608887 + ], + [ + -0.05855688080191612, + -0.9865950345993042, + 0.15231984853744507, + -0.8296450972557068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 275, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_442268133", + "mask_path": "../../mask/hdr_front_00275.png" + }, + { + "file_path": "../../rgb/hdr_front_00276.png", + "transform_matrix": [ + [ + 0.8936771154403687, + 0.02353200502693653, + 0.44809308648109436, + -3.0975842475891113 + ], + [ + -0.44573307037353516, + 0.1614086776971817, + 0.8804937601089478, + -1.730940818786621 + ], + [ + -0.051606327295303345, + -0.986607015132904, + 0.1547362506389618, + -0.8492019772529602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 276, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_542267084", + "mask_path": "../../mask/hdr_front_00276.png" + }, + { + "file_path": "../../rgb/hdr_front_00277.png", + "transform_matrix": [ + [ + 0.8888198733329773, + 0.02715146914124489, + 0.45745161175727844, + -3.138162851333618 + ], + [ + -0.455318421125412, + 0.1651848703622818, + 0.8748708963394165, + -1.7831701040267944 + ], + [ + -0.05181004852056503, + -0.9858888983726501, + 0.15918216109275818, + -0.8589128255844116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 277, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_642267704", + "mask_path": "../../mask/hdr_front_00277.png" + }, + { + "file_path": "../../rgb/hdr_front_00278.png", + "transform_matrix": [ + [ + 0.8818293809890747, + 0.028188956901431084, + 0.47072547674179077, + -3.169879913330078 + ], + [ + -0.4685318171977997, + 0.16547846794128418, + 0.8678103089332581, + -1.8272801637649536 + ], + [ + -0.05343225970864296, + -0.9858104586601257, + 0.15913118422031403, + -0.8635433912277222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 278, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_742268085", + "mask_path": "../../mask/hdr_front_00278.png" + }, + { + "file_path": "../../rgb/hdr_front_00279.png", + "transform_matrix": [ + [ + 0.8730521202087402, + 0.029135333374142647, + 0.4867556095123291, + -3.1967406272888184 + ], + [ + -0.4848095178604126, + 0.15901009738445282, + 0.8600439429283142, + -1.8752483129501343 + ], + [ + -0.052341390401124954, + -0.9868469834327698, + 0.15294918417930603, + -0.8721961975097656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 279, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_842267274", + "mask_path": "../../mask/hdr_front_00279.png" + }, + { + "file_path": "../../rgb/hdr_front_00280.png", + "transform_matrix": [ + [ + 0.8658668398857117, + 0.02729210816323757, + 0.4995296001434326, + -3.2321932315826416 + ], + [ + -0.4974626898765564, + 0.152690589427948, + 0.8539417386054993, + -1.935188889503479 + ], + [ + -0.052967581897974014, + -0.9878970980644226, + 0.14578653872013092, + -0.8821620345115662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 280, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_942267179", + "mask_path": "../../mask/hdr_front_00280.png" + }, + { + "file_path": "../../rgb/hdr_front_00281.png", + "transform_matrix": [ + [ + 0.8625859618186951, + 0.025933489203453064, + 0.5052454471588135, + -3.2604758739471436 + ], + [ + -0.5029186606407166, + 0.15240901708602905, + 0.8507905006408691, + -1.9884710311889648 + ], + [ + -0.05494000390172005, + -0.9879772663116455, + 0.14450831711292267, + -0.8903141021728516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 281, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_42268514", + "mask_path": "../../mask/hdr_front_00281.png" + }, + { + "file_path": "../../rgb/hdr_front_00283.png", + "transform_matrix": [ + [ + 0.8586385846138, + 0.031154552474617958, + 0.5116340517997742, + -3.307326316833496 + ], + [ + -0.5101636648178101, + 0.1487802118062973, + 0.8471112847328186, + -2.077460289001465 + ], + [ + -0.04972965642809868, + -0.9883794784545898, + 0.1436423361301422, + -0.9148695468902588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 283, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_242268085", + "mask_path": "../../mask/hdr_front_00283.png" + }, + { + "file_path": "../../rgb/hdr_front_00284.png", + "transform_matrix": [ + [ + 0.8570818901062012, + 0.038354188203811646, + 0.5137504935264587, + -3.3426995277404785 + ], + [ + -0.5132331252098083, + 0.15018440783023834, + 0.8450067043304443, + -2.1286113262176514 + ], + [ + -0.04474775865674019, + -0.9879138469696045, + 0.14840497076511383, + -0.9321605563163757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 284, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_342267274", + "mask_path": "../../mask/hdr_front_00284.png" + }, + { + "file_path": "../../rgb/hdr_front_00285.png", + "transform_matrix": [ + [ + 0.853702962398529, + 0.04012715443968773, + 0.519212007522583, + -3.382035732269287 + ], + [ + -0.5185377597808838, + 0.1575164794921875, + 0.8404208421707153, + -2.1750619411468506 + ], + [ + -0.04806074500083923, + -0.9867007732391357, + 0.1552797257900238, + -0.9406871795654297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 285, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_442268848", + "mask_path": "../../mask/hdr_front_00285.png" + }, + { + "file_path": "../../rgb/hdr_front_00286.png", + "transform_matrix": [ + [ + 0.8480040431022644, + 0.0382353737950325, + 0.5286087989807129, + -3.419340133666992 + ], + [ + -0.5273868441581726, + 0.15960794687271118, + 0.834498941898346, + -2.2170097827911377 + ], + [ + -0.05246278643608093, + -0.9864397644996643, + 0.1555130034685135, + -0.9459057450294495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 286, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_542267322", + "mask_path": "../../mask/hdr_front_00286.png" + }, + { + "file_path": "../../rgb/hdr_front_00287.png", + "transform_matrix": [ + [ + 0.8398424386978149, + 0.03791968524456024, + 0.5415040254592896, + -3.4591732025146484 + ], + [ + -0.5402979850769043, + 0.15463437139987946, + 0.8271434307098389, + -2.2574024200439453 + ], + [ + -0.05237011983990669, + -0.9872438311576843, + 0.1503564417362213, + -0.9566813707351685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 287, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_642267227", + "mask_path": "../../mask/hdr_front_00287.png" + }, + { + "file_path": "../../rgb/hdr_front_00288.png", + "transform_matrix": [ + [ + 0.8330972790718079, + 0.03316650167107582, + 0.552131175994873, + -3.506355047225952 + ], + [ + -0.5499486327171326, + 0.15651308000087738, + 0.8204023838043213, + -2.3097095489501953 + ], + [ + -0.059205859899520874, + -0.9871188998222351, + 0.14863049983978271, + -0.9727981090545654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 288, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_742266893", + "mask_path": "../../mask/hdr_front_00288.png" + }, + { + "file_path": "../../rgb/hdr_front_00289.png", + "transform_matrix": [ + [ + 0.8314424753189087, + 0.030652308836579323, + 0.5547648668289185, + -3.548722743988037 + ], + [ + -0.5518634915351868, + 0.1613326221704483, + 0.8181799650192261, + -2.3648247718811035 + ], + [ + -0.06442254036664963, + -0.9864240288734436, + 0.15105463564395905, + -0.9832475781440735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 289, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_842267036", + "mask_path": "../../mask/hdr_front_00289.png" + }, + { + "file_path": "../../rgb/hdr_front_00290.png", + "transform_matrix": [ + [ + 0.8314539790153503, + 0.03081466443836689, + 0.554738461971283, + -3.576508045196533 + ], + [ + -0.5521227121353149, + 0.15725836157798767, + 0.8187980651855469, + -2.414151191711426 + ], + [ + -0.06200626492500305, + -0.9870766997337341, + 0.147766575217247, + -0.9926955103874207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 290, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_942266941", + "mask_path": "../../mask/hdr_front_00290.png" + }, + { + "file_path": "../../rgb/hdr_front_00291.png", + "transform_matrix": [ + [ + 0.8321782350540161, + 0.03261120989918709, + 0.5535486340522766, + -3.607407331466675 + ], + [ + -0.5515952110290527, + 0.15087713301181793, + 0.8203529715538025, + -2.4725043773651123 + ], + [ + -0.0567651204764843, + -0.9880144596099854, + 0.14354483783245087, + -1.00686514377594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 291, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_42265653", + "mask_path": "../../mask/hdr_front_00291.png" + }, + { + "file_path": "../../rgb/hdr_front_00292.png", + "transform_matrix": [ + [ + 0.8311495184898376, + 0.03857572376728058, + 0.5547093749046326, + -3.649871826171875 + ], + [ + -0.5535351037979126, + 0.15215431153774261, + 0.8188088536262512, + -2.535824775695801 + ], + [ + -0.0528152734041214, + -0.9876037240028381, + 0.14781597256660461, + -1.0230324268341064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 292, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_142267227", + "mask_path": "../../mask/hdr_front_00292.png" + }, + { + "file_path": "../../rgb/hdr_front_00293.png", + "transform_matrix": [ + [ + 0.8267065286636353, + 0.04268583282828331, + 0.5610118508338928, + -3.6951863765716553 + ], + [ + -0.5601339340209961, + 0.15632575750350952, + 0.8135184645652771, + -2.5935893058776855 + ], + [ + -0.0529748797416687, + -0.9867827892303467, + 0.15314531326293945, + -1.0296398401260376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 293, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_242267370", + "mask_path": "../../mask/hdr_front_00293.png" + }, + { + "file_path": "../../rgb/hdr_front_00294.png", + "transform_matrix": [ + [ + 0.8196909427642822, + 0.04406411200761795, + 0.5711085796356201, + -3.737152099609375 + ], + [ + -0.5703234076499939, + 0.1555071920156479, + 0.8065659999847412, + -2.6473214626312256 + ], + [ + -0.05327088013291359, + -0.9868515133857727, + 0.15259864926338196, + -1.0421249866485596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 294, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_342267274", + "mask_path": "../../mask/hdr_front_00294.png" + }, + { + "file_path": "../../rgb/hdr_front_00295.png", + "transform_matrix": [ + [ + 0.8104127049446106, + 0.0385679230093956, + 0.584588348865509, + -3.783520460128784 + ], + [ + -0.5829564929008484, + 0.15229521691799164, + 0.7981027364730835, + -2.705420732498169 + ], + [ + -0.0582488514482975, + -0.987582266330719, + 0.14590542018413544, + -1.0618879795074463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 295, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_442267417", + "mask_path": "../../mask/hdr_front_00295.png" + }, + { + "file_path": "../../rgb/hdr_front_00296.png", + "transform_matrix": [ + [ + 0.8055235743522644, + 0.03597746044397354, + 0.5914705991744995, + -3.840639591217041 + ], + [ + -0.5890214443206787, + 0.15759269893169403, + 0.7926021814346313, + -2.7796854972839355 + ], + [ + -0.06469563394784927, + -0.9868486523628235, + 0.14813612401485443, + -1.0796071290969849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 296, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_542267084", + "mask_path": "../../mask/hdr_front_00296.png" + }, + { + "file_path": "../../rgb/hdr_front_00297.png", + "transform_matrix": [ + [ + 0.8034816384315491, + 0.03653901815414429, + 0.594207227230072, + -3.889451503753662 + ], + [ + -0.591526985168457, + 0.1616324633359909, + 0.7899182438850403, + -2.8538897037506104 + ], + [ + -0.067180335521698, + -0.9861743450164795, + 0.15148252248764038, + -1.1040900945663452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 297, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_642266750", + "mask_path": "../../mask/hdr_front_00297.png" + }, + { + "file_path": "../../rgb/hdr_front_00298.png", + "transform_matrix": [ + [ + 0.802092969417572, + 0.03852148354053497, + 0.595955491065979, + -3.9276676177978516 + ], + [ + -0.5939111709594727, + 0.15602631866931915, + 0.7892561554908752, + -2.9226620197296143 + ], + [ + -0.06258141249418259, + -0.9870015382766724, + 0.14802594482898712, + -1.1185189485549927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 298, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_742267608", + "mask_path": "../../mask/hdr_front_00298.png" + }, + { + "file_path": "../../rgb/hdr_front_00299.png", + "transform_matrix": [ + [ + 0.8002707362174988, + 0.04523617774248123, + 0.5979301929473877, + -3.9818296432495117 + ], + [ + -0.5969036817550659, + 0.15522915124893188, + 0.7871530055999756, + -2.9939522743225098 + ], + [ + -0.05720840021967888, + -0.9868422746658325, + 0.15122701227664948, + -1.137778878211975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 299, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_842267990", + "mask_path": "../../mask/hdr_front_00299.png" + }, + { + "file_path": "../../rgb/hdr_front_00300.png", + "transform_matrix": [ + [ + 0.7969638705253601, + 0.046456772834062576, + 0.6022379398345947, + -4.038415908813477 + ], + [ + -0.6012440919876099, + 0.15661415457725525, + 0.7835672497749329, + -3.055536985397339 + ], + [ + -0.05791698768734932, + -0.9865666627883911, + 0.15274767577648163, + -1.1489149332046509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 300, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_942267656", + "mask_path": "../../mask/hdr_front_00300.png" + }, + { + "file_path": "../../rgb/hdr_front_00301.png", + "transform_matrix": [ + [ + 0.7915683388710022, + 0.04246177151799202, + 0.6096037030220032, + -4.076288223266602 + ], + [ + -0.6081079840660095, + 0.15301461517810822, + 0.7789679765701294, + -3.1008381843566895 + ], + [ + -0.06020191311836243, + -0.9873113036155701, + 0.1469428688287735, + -1.148222804069519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 301, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_42267799", + "mask_path": "../../mask/hdr_front_00301.png" + }, + { + "file_path": "../../rgb/hdr_front_00302.png", + "transform_matrix": [ + [ + 0.7837988138198853, + 0.03657256066799164, + 0.6199368834495544, + -4.124678134918213 + ], + [ + -0.6175698637962341, + 0.1509043127298355, + 0.7719037532806396, + -3.1566672325134277 + ], + [ + -0.06532066315412521, + -0.9878715872764587, + 0.14086474478244781, + -1.167618989944458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 302, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_142267227", + "mask_path": "../../mask/hdr_front_00302.png" + }, + { + "file_path": "../../rgb/hdr_front_00303.png", + "transform_matrix": [ + [ + 0.7796372175216675, + 0.03592803701758385, + 0.6252000331878662, + -4.194243431091309 + ], + [ + -0.6223602890968323, + 0.15528938174247742, + 0.7671719789505005, + -3.228864908218384 + ], + [ + -0.06952393800020218, + -0.9872154593467712, + 0.14342954754829407, + -1.1936923265457153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 303, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_242267847", + "mask_path": "../../mask/hdr_front_00303.png" + }, + { + "file_path": "../../rgb/hdr_front_00304.png", + "transform_matrix": [ + [ + 0.7796397805213928, + 0.037256237119436264, + 0.625119149684906, + -4.249309539794922 + ], + [ + -0.6222531795501709, + 0.15838420391082764, + 0.7666260004043579, + -3.299201250076294 + ], + [ + -0.07044738531112671, + -0.986674427986145, + 0.14666543900966644, + -1.2013055086135864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 304, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_342267513", + "mask_path": "../../mask/hdr_front_00304.png" + }, + { + "file_path": "../../rgb/hdr_front_00305.png", + "transform_matrix": [ + [ + 0.7814580202102661, + 0.03872499242424965, + 0.6227549314498901, + -4.297330379486084 + ], + [ + -0.6204413771629333, + 0.15403884649276733, + 0.7689762711524963, + -3.370455503463745 + ], + [ + -0.06614983826875687, + -0.9873056411743164, + 0.14440149068832397, + -1.2152490615844727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 305, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_442267894", + "mask_path": "../../mask/hdr_front_00305.png" + }, + { + "file_path": "../../rgb/hdr_front_00306.png", + "transform_matrix": [ + [ + 0.7844873070716858, + 0.049440138041973114, + 0.6181710958480835, + -4.35793924331665 + ], + [ + -0.6176841855049133, + 0.15100638568401337, + 0.7717922925949097, + -3.4475314617156982 + ], + [ + -0.055190250277519226, + -0.9872957468032837, + 0.14900097250938416, + -1.2406775951385498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 306, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_542267799", + "mask_path": "../../mask/hdr_front_00306.png" + }, + { + "file_path": "../../rgb/hdr_front_00307.png", + "transform_matrix": [ + [ + 0.7863408923149109, + 0.056412070989608765, + 0.6152119636535645, + -4.41851282119751 + ], + [ + -0.6158194541931152, + 0.15110382437705994, + 0.7732619643211365, + -3.517033100128174 + ], + [ + -0.04933955520391464, + -0.9869070053100586, + 0.15355874598026276, + -1.2556548118591309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 307, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_642268180", + "mask_path": "../../mask/hdr_front_00307.png" + }, + { + "file_path": "../../rgb/hdr_front_00308.png", + "transform_matrix": [ + [ + 0.7866714000701904, + 0.05485358461737633, + 0.6149302124977112, + -4.46146821975708 + ], + [ + -0.615501344203949, + 0.14716091752052307, + 0.774275004863739, + -3.575164318084717 + ], + [ + -0.04802193492650986, + -0.9875903725624084, + 0.14952974021434784, + -1.2562202215194702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 308, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_742268323", + "mask_path": "../../mask/hdr_front_00308.png" + }, + { + "file_path": "../../rgb/hdr_front_00309.png", + "transform_matrix": [ + [ + 0.7889717221260071, + 0.04719388112425804, + 0.6126143932342529, + -4.512211799621582 + ], + [ + -0.6122554540634155, + 0.14418689906597137, + 0.7774017453193665, + -3.6464619636535645 + ], + [ + -0.05164237692952156, + -0.9884244799613953, + 0.14265412092208862, + -1.2806590795516968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 309, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_842269897", + "mask_path": "../../mask/hdr_front_00309.png" + }, + { + "file_path": "../../rgb/hdr_front_00310.png", + "transform_matrix": [ + [ + 0.7993714809417725, + 0.043582212179899216, + 0.599254310131073, + -4.568241119384766 + ], + [ + -0.5982441902160645, + 0.15029020607471466, + 0.7870938777923584, + -3.7366104125976562 + ], + [ + -0.0557587556540966, + -0.9876809120178223, + 0.14621052145957947, + -1.2986632585525513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 310, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_942267894", + "mask_path": "../../mask/hdr_front_00310.png" + }, + { + "file_path": "../../rgb/hdr_front_00311.png", + "transform_matrix": [ + [ + 0.8128691911697388, + 0.04371153935790062, + 0.5808036923408508, + -4.608466148376465 + ], + [ + -0.5800012350082397, + 0.15202361345291138, + 0.8003045320510864, + -3.8147871494293213 + ], + [ + -0.05331333354115486, + -0.9874098300933838, + 0.14892804622650146, + -1.3152011632919312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 311, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_42269229", + "mask_path": "../../mask/hdr_front_00311.png" + }, + { + "file_path": "../../rgb/hdr_front_00312.png", + "transform_matrix": [ + [ + 0.8284467458724976, + 0.04920605942606926, + 0.5579020380973816, + -4.645131587982178 + ], + [ + -0.5586689114570618, + 0.14296604692935944, + 0.816976010799408, + -3.8936986923217773 + ], + [ + -0.03956087306141853, + -0.988503634929657, + 0.14592964947223663, + -1.3314181566238403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 312, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_142267465", + "mask_path": "../../mask/hdr_front_00312.png" + }, + { + "file_path": "../../rgb/hdr_front_00313.png", + "transform_matrix": [ + [ + 0.8428246378898621, + 0.06484857201576233, + 0.5342671871185303, + -4.689300537109375 + ], + [ + -0.5376984477043152, + 0.14380505681037903, + 0.8307830095291138, + -3.9785468578338623 + ], + [ + -0.022955216467380524, + -0.9874789714813232, + 0.15607142448425293, + -1.3499184846878052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 313, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_242267847", + "mask_path": "../../mask/hdr_front_00313.png" + }, + { + "file_path": "../../rgb/hdr_front_00314.png", + "transform_matrix": [ + [ + 0.85523521900177, + 0.07391290366649628, + 0.5129420161247253, + -4.731201648712158 + ], + [ + -0.5180460810661316, + 0.14899927377700806, + 0.8422752022743225, + -4.053958892822266 + ], + [ + -0.014172985218465328, + -0.9860711097717285, + 0.16571973264217377, + -1.3699477910995483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 314, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_342268228", + "mask_path": "../../mask/hdr_front_00314.png" + }, + { + "file_path": "../../rgb/hdr_front_00315.png", + "transform_matrix": [ + [ + 0.8661115765571594, + 0.07514641433954239, + 0.4941699206829071, + -4.756782531738281 + ], + [ + -0.49979233741760254, + 0.1453271061182022, + 0.8538663387298584, + -4.120247840881348 + ], + [ + -0.0076512848027050495, + -0.9865257143974304, + 0.16342708468437195, + -1.3810310363769531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 315, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_442267417", + "mask_path": "../../mask/hdr_front_00315.png" + }, + { + "file_path": "../../rgb/hdr_front_00316.png", + "transform_matrix": [ + [ + 0.8756329417228699, + 0.07015597820281982, + 0.4778546094894409, + -4.791005611419678 + ], + [ + -0.48293840885162354, + 0.13970792293548584, + 0.8644375205039978, + -4.204253196716309 + ], + [ + -0.006114612799137831, + -0.987704336643219, + 0.15621386468410492, + -1.405371904373169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 316, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_542267560", + "mask_path": "../../mask/hdr_front_00316.png" + }, + { + "file_path": "../../rgb/hdr_front_00317.png", + "transform_matrix": [ + [ + 0.886658787727356, + 0.06464092433452606, + 0.4578841030597687, + -4.8325018882751465 + ], + [ + -0.46227648854255676, + 0.14894632995128632, + 0.8741369247436523, + -4.307364463806152 + ], + [ + -0.01169513538479805, + -0.9867302775382996, + 0.16194655001163483, + -1.4279834032058716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 317, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_642267942", + "mask_path": "../../mask/hdr_front_00317.png" + }, + { + "file_path": "../../rgb/hdr_front_00318.png", + "transform_matrix": [ + [ + 0.8929819464683533, + 0.0606725849211216, + 0.44598451256752014, + -4.857635498046875 + ], + [ + -0.44987112283706665, + 0.1513950377702713, + 0.8801679611206055, + -4.3860063552856445 + ], + [ + -0.014117779210209846, + -0.9866095185279846, + 0.16248789429664612, + -1.4386745691299438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 318, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_742267847", + "mask_path": "../../mask/hdr_front_00318.png" + }, + { + "file_path": "../../rgb/hdr_front_00319.png", + "transform_matrix": [ + [ + 0.8962852954864502, + 0.06332726031541824, + 0.4389331042766571, + -4.87935733795166 + ], + [ + -0.4434272348880768, + 0.14292877912521362, + 0.8848410248756409, + -4.464958190917969 + ], + [ + -0.006701615173369646, + -0.9877049922943115, + 0.15618599951267242, + -1.4506250619888306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 319, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_842268228", + "mask_path": "../../mask/hdr_front_00319.png" + }, + { + "file_path": "../../rgb/hdr_front_00320.png", + "transform_matrix": [ + [ + 0.8960539698600769, + 0.06841407716274261, + 0.4386420249938965, + -4.917483806610107 + ], + [ + -0.443922758102417, + 0.1479988545179367, + 0.8837584257125854, + -4.553923606872559 + ], + [ + -0.004456988535821438, + -0.9866183996200562, + 0.16298550367355347, + -1.4762775897979736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 320, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_942268133", + "mask_path": "../../mask/hdr_front_00320.png" + }, + { + "file_path": "../../rgb/hdr_front_00321.png", + "transform_matrix": [ + [ + 0.8927130699157715, + 0.06646071374416351, + 0.44569769501686096, + -4.963732719421387 + ], + [ + -0.4505150616168976, + 0.1535358428955078, + 0.8794674277305603, + -4.634321212768555 + ], + [ + -0.009980539791285992, + -0.9859055876731873, + 0.1670050024986267, + -1.4842700958251953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 321, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_42267560", + "mask_path": "../../mask/hdr_front_00321.png" + }, + { + "file_path": "../../rgb/hdr_front_00322.png", + "transform_matrix": [ + [ + 0.8878228068351746, + 0.06505045294761658, + 0.4555645287036896, + -4.999999046325684 + ], + [ + -0.46006545424461365, + 0.14806883037090302, + 0.8754515647888184, + -4.7032060623168945 + ], + [ + -0.01050638873130083, + -0.9868354201316833, + 0.16138634085655212, + -1.4926702976226807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 322, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_142266988", + "mask_path": "../../mask/hdr_front_00322.png" + }, + { + "file_path": "../../rgb/hdr_front_00323.png", + "transform_matrix": [ + [ + 0.8824144601821899, + 0.052748747169971466, + 0.46750643849372864, + -5.044997215270996 + ], + [ + -0.4699832499027252, + 0.14415529370307922, + 0.8708243370056152, + -4.78838586807251 + ], + [ + -0.021458636969327927, + -0.9881482124328613, + 0.15199574828147888, + -1.5132673978805542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 323, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_242268085", + "mask_path": "../../mask/hdr_front_00323.png" + }, + { + "file_path": "../../rgb/hdr_front_00324.png", + "transform_matrix": [ + [ + 0.8804395794868469, + 0.04339005798101425, + 0.47216886281967163, + -5.0931077003479 + ], + [ + -0.47290995717048645, + 0.1525692343711853, + 0.8678012490272522, + -4.88266658782959 + ], + [ + -0.03438449278473854, + -0.9873399138450623, + 0.15484759211540222, + -1.5293059349060059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 324, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_342267274", + "mask_path": "../../mask/hdr_front_00324.png" + }, + { + "file_path": "../../rgb/hdr_front_00325.png", + "transform_matrix": [ + [ + 0.8813983201980591, + 0.04418789967894554, + 0.4703027009963989, + -5.12306547164917 + ], + [ + -0.4711173474788666, + 0.1548023819923401, + 0.8683804869651794, + -4.962838172912598 + ], + [ + -0.0344320572912693, + -0.986956775188446, + 0.1572602093219757, + -1.5490615367889404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 325, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_442268610", + "mask_path": "../../mask/hdr_front_00325.png" + }, + { + "file_path": "../../rgb/hdr_front_00326.png", + "transform_matrix": [ + [ + 0.883237898349762, + 0.05045461654663086, + 0.46620291471481323, + -5.150577545166016 + ], + [ + -0.4682920277118683, + 0.14655187726020813, + 0.8713353276252747, + -5.043175220489502 + ], + [ + -0.02436003088951111, + -0.9879155158996582, + 0.1530676782131195, + -1.5678048133850098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 326, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_542268037", + "mask_path": "../../mask/hdr_front_00326.png" + }, + { + "file_path": "../../rgb/hdr_front_00327.png", + "transform_matrix": [ + [ + 0.8822553753852844, + 0.05805610492825508, + 0.4671775698661804, + -5.1924872398376465 + ], + [ + -0.470324844121933, + 0.1518958956003189, + 0.8693228363990784, + -5.126825332641602 + ], + [ + -0.020492861047387123, + -0.9866899847984314, + 0.16131621599197388, + -1.5908403396606445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 327, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_642268896", + "mask_path": "../../mask/hdr_front_00327.png" + }, + { + "file_path": "../../rgb/hdr_front_00328.png", + "transform_matrix": [ + [ + 0.8796793818473816, + 0.0610123947262764, + 0.4716373383998871, + -5.240817070007324 + ], + [ + -0.47506457567214966, + 0.15832708775997162, + 0.8655900359153748, + -5.204365253448486 + ], + [ + -0.0218612439930439, + -0.9854998588562012, + 0.16826190054416656, + -1.6062839031219482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 328, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_742268800", + "mask_path": "../../mask/hdr_front_00328.png" + }, + { + "file_path": "../../rgb/hdr_left_00116.png", + "transform_matrix": [ + [ + 0.17303802073001862, + -0.02145272307097912, + -0.9846814870834351, + 0.11857525259256363 + ], + [ + 0.9847370982170105, + -0.015241023153066635, + 0.1733798384666443, + -0.0039813220500946045 + ], + [ + -0.018727023154497147, + -0.9996537566184998, + 0.018488015979528427, + 0.11507377028465271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 116, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638811_42267560", + "mask_path": "../../mask/hdr_left_00116.png" + }, + { + "file_path": "../../rgb/hdr_left_00208.png", + "transform_matrix": [ + [ + 0.1369839757680893, + -0.03878744691610336, + -0.9898135662078857, + 0.07163909077644348 + ], + [ + 0.9894828796386719, + -0.04151356592774391, + 0.13856501877307892, + 0.0616951584815979 + ], + [ + -0.046465273946523666, + -0.9983848333358765, + 0.03269282355904579, + 0.11156811565160751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 208, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_242267608", + "mask_path": "../../mask/hdr_left_00208.png" + }, + { + "file_path": "../../rgb/hdr_left_00210.png", + "transform_matrix": [ + [ + 0.14064843952655792, + -0.04957965388894081, + -0.9888173937797546, + 0.04438266158103943 + ], + [ + 0.9883444309234619, + -0.0517311617732048, + 0.14317499101161957, + 0.14298683404922485 + ], + [ + -0.05825124308466911, + -0.997429609298706, + 0.04172586649656296, + 0.11488524824380875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 210, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_442267656", + "mask_path": "../../mask/hdr_left_00210.png" + }, + { + "file_path": "../../rgb/hdr_left_00211.png", + "transform_matrix": [ + [ + 0.15093670785427094, + -0.045426759868860245, + -0.9874991178512573, + 0.045498430728912354 + ], + [ + 0.9870985150337219, + -0.0470651239156723, + 0.1530405431985855, + 0.19506973028182983 + ], + [ + -0.05342889949679375, + -0.9978584051132202, + 0.037736836820840836, + 0.11243685334920883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 211, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_542267084", + "mask_path": "../../mask/hdr_left_00211.png" + }, + { + "file_path": "../../rgb/hdr_left_00212.png", + "transform_matrix": [ + [ + 0.1586020588874817, + -0.031764138489961624, + -0.986831545829773, + 0.04964521527290344 + ], + [ + 0.9857274889945984, + -0.052050236612558365, + 0.16010001301765442, + 0.2696477174758911 + ], + [ + -0.056450255215168, + -0.9981392025947571, + 0.023055514320731163, + 0.09771785140037537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 212, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_642267704", + "mask_path": "../../mask/hdr_left_00212.png" + }, + { + "file_path": "../../rgb/hdr_left_00213.png", + "transform_matrix": [ + [ + 0.15788573026657104, + -0.01647370681166649, + -0.9873199462890625, + 0.04884918034076691 + ], + [ + 0.9852330684661865, + -0.06444495916366577, + 0.15862728655338287, + 0.34570398926734924 + ], + [ + -0.06624096632003784, + -0.9977853298187256, + 0.006055502220988274, + 0.08745919167995453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 213, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_742268562", + "mask_path": "../../mask/hdr_left_00213.png" + }, + { + "file_path": "../../rgb/hdr_left_00214.png", + "transform_matrix": [ + [ + 0.1542283445596695, + -0.004936910700052977, + -0.9880229234695435, + 0.04879886656999588 + ], + [ + 0.9855961203575134, + -0.06945177167654037, + 0.1541965752840042, + 0.41452866792678833 + ], + [ + -0.06938119977712631, + -0.9975731372833252, + -0.0058456286787986755, + 0.07709270715713501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 214, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_842267513", + "mask_path": "../../mask/hdr_left_00214.png" + }, + { + "file_path": "../../rgb/hdr_left_00215.png", + "transform_matrix": [ + [ + 0.15163330733776093, + -0.00046897237189114094, + -0.9884366989135742, + 0.056880027055740356 + ], + [ + 0.986276388168335, + -0.06600864231586456, + 0.15133319795131683, + 0.4985675811767578 + ], + [ + -0.0653163343667984, + -0.9978190064430237, + -0.009546567685902119, + 0.06375837326049805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 215, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_942267179", + "mask_path": "../../mask/hdr_left_00215.png" + }, + { + "file_path": "../../rgb/hdr_left_00216.png", + "transform_matrix": [ + [ + 0.15467014908790588, + 0.0004524538526311517, + -0.9879661202430725, + 0.07177653908729553 + ], + [ + 0.9857027530670166, + -0.06772152334451675, + 0.1542847901582718, + 0.5950872898101807 + ], + [ + -0.06683674454689026, + -0.9977041482925415, + -0.010920479893684387, + 0.06606454402208328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 216, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_42268276", + "mask_path": "../../mask/hdr_left_00216.png" + }, + { + "file_path": "../../rgb/hdr_left_00217.png", + "transform_matrix": [ + [ + 0.15741632878780365, + 0.0053129643201828, + -0.9875180125236511, + 0.08086086809635162 + ], + [ + 0.9854370355606079, + -0.06595077365636826, + 0.1567297875881195, + 0.6645861864089966 + ], + [ + -0.06429487466812134, + -0.9978087544441223, + -0.015617314726114273, + 0.06816448271274567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 217, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_142268180", + "mask_path": "../../mask/hdr_left_00217.png" + }, + { + "file_path": "../../rgb/hdr_left_00218.png", + "transform_matrix": [ + [ + 0.15213225781917572, + 0.011973598971962929, + -0.988287627696991, + 0.08336483687162399 + ], + [ + 0.986695408821106, + -0.0598502978682518, + 0.1511620581150055, + 0.7200635671615601 + ], + [ + -0.057339347898960114, + -0.9981355667114258, + -0.020919455215334892, + 0.0642242357134819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 218, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_242268800", + "mask_path": "../../mask/hdr_left_00218.png" + }, + { + "file_path": "../../rgb/hdr_left_00219.png", + "transform_matrix": [ + [ + 0.13387224078178406, + 0.016254400834441185, + -0.9908652305603027, + 0.08368995785713196 + ], + [ + 0.9891868233680725, + -0.06262414902448654, + 0.13261817395687103, + 0.7954715490341187 + ], + [ + -0.05989646166563034, + -0.9979048371315002, + -0.024462275207042694, + 0.05291639268398285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 219, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_342267990", + "mask_path": "../../mask/hdr_left_00219.png" + }, + { + "file_path": "../../rgb/hdr_left_00220.png", + "transform_matrix": [ + [ + 0.09759493172168732, + 0.025677891448140144, + -0.9948948621749878, + 0.07389336824417114 + ], + [ + 0.992649495601654, + -0.07440005242824554, + 0.09545440971851349, + 0.8787276744842529 + ], + [ + -0.07156915962696075, + -0.99689781665802, + -0.0327502079308033, + 0.04297592490911484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 220, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_442268371", + "mask_path": "../../mask/hdr_left_00220.png" + }, + { + "file_path": "../../rgb/hdr_left_00221.png", + "transform_matrix": [ + [ + 0.04617512226104736, + 0.0337224006652832, + -0.9983639717102051, + 0.05554669350385666 + ], + [ + 0.9958657622337341, + -0.07981779426336288, + 0.0433635376393795, + 0.9522502422332764 + ], + [ + -0.07822487503290176, + -0.9962389469146729, + -0.03726857528090477, + 0.033724427223205566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 221, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_542267799", + "mask_path": "../../mask/hdr_left_00221.png" + }, + { + "file_path": "../../rgb/hdr_left_00222.png", + "transform_matrix": [ + [ + -0.0235398318618536, + 0.02551487274467945, + -0.9993972778320312, + 0.02510877698659897 + ], + [ + 0.9964646697044373, + -0.08004447817802429, + -0.025514336302876472, + 1.0375244617462158 + ], + [ + -0.08064722269773483, + -0.996464729309082, + -0.0235404334962368, + 0.022361554205417633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 222, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_642268419", + "mask_path": "../../mask/hdr_left_00222.png" + }, + { + "file_path": "../../rgb/hdr_left_00223.png", + "transform_matrix": [ + [ + -0.0918431431055069, + 0.01560028176754713, + -0.9956512451171875, + -0.008351922035217285 + ], + [ + 0.9923381209373474, + -0.08154898881912231, + -0.09281528741121292, + 1.1291502714157104 + ], + [ + -0.08264228701591492, + -0.996547281742096, + -0.007991034537553787, + 0.02365671843290329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 223, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_742268085", + "mask_path": "../../mask/hdr_left_00223.png" + }, + { + "file_path": "../../rgb/hdr_left_00224.png", + "transform_matrix": [ + [ + -0.14869602024555206, + 0.011660013347864151, + -0.9888142347335815, + -0.033290963619947433 + ], + [ + 0.9855459928512573, + -0.08032918721437454, + -0.14915180206298828, + 1.1972458362579346 + ], + [ + -0.08116975426673889, + -0.9967003464698792, + 0.0004531540907919407, + 0.020945601165294647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 224, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_842267751", + "mask_path": "../../mask/hdr_left_00224.png" + }, + { + "file_path": "../../rgb/hdr_left_00225.png", + "transform_matrix": [ + [ + -0.20348860323429108, + 0.009821359068155289, + -0.9790279865264893, + -0.057917773723602295 + ], + [ + 0.975890576839447, + -0.07857812941074371, + -0.20362477004528046, + 1.2570112943649292 + ], + [ + -0.07893005013465881, + -0.9968596696853638, + 0.006405188236385584, + 0.011758148670196533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 225, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_942268133", + "mask_path": "../../mask/hdr_left_00225.png" + }, + { + "file_path": "../../rgb/hdr_left_00226.png", + "transform_matrix": [ + [ + -0.26394522190093994, + 0.021367987617850304, + -0.9643009305000305, + -0.09678157418966293 + ], + [ + 0.9607543349266052, + -0.08263784646987915, + -0.2648056447505951, + 1.3341033458709717 + ], + [ + -0.08534611761569977, + -0.9963505864143372, + 0.0012824772857129574, + -0.0036248043179512024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 226, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_42268753", + "mask_path": "../../mask/hdr_left_00226.png" + }, + { + "file_path": "../../rgb/hdr_left_00227.png", + "transform_matrix": [ + [ + -0.32642194628715515, + 0.03063877485692501, + -0.9447274208068848, + -0.15173912048339844 + ], + [ + 0.9406075477600098, + -0.08813264966011047, + -0.32785677909851074, + 1.4084278345108032 + ], + [ + -0.09330645203590393, + -0.9956375360488892, + -5.062240961706266e-05, + -0.015135928988456726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 227, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_142267704", + "mask_path": "../../mask/hdr_left_00227.png" + }, + { + "file_path": "../../rgb/hdr_left_00228.png", + "transform_matrix": [ + [ + -0.3900794982910156, + 0.03344147652387619, + -0.920173704624176, + -0.21246138215065002 + ], + [ + 0.9158542156219482, + -0.08915087580680847, + -0.39148834347724915, + 1.470374584197998 + ], + [ + -0.09512624144554138, + -0.9954566359519958, + 0.004148418083786964, + -0.02320830523967743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 228, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_242267131", + "mask_path": "../../mask/hdr_left_00228.png" + }, + { + "file_path": "../../rgb/hdr_left_00229.png", + "transform_matrix": [ + [ + -0.4547903835773468, + 0.03118356131017208, + -0.8900523781776428, + -0.2832193970680237 + ], + [ + 0.8852097392082214, + -0.09394460171461105, + -0.4556073844432831, + 1.5419806241989136 + ], + [ + -0.09782307595014572, + -0.9950889945030212, + 0.01512111909687519, + -0.03952764719724655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 229, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_342267036", + "mask_path": "../../mask/hdr_left_00229.png" + }, + { + "file_path": "../../rgb/hdr_left_00230.png", + "transform_matrix": [ + [ + -0.5087133646011353, + 0.033794283866882324, + -0.8602724075317383, + -0.3523848354816437 + ], + [ + 0.8553747534751892, + -0.09355096518993378, + -0.5094920992851257, + 1.6077346801757812 + ], + [ + -0.09769724309444427, + -0.9950408935546875, + 0.018683847039937973, + -0.04110277444124222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 230, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_442265033", + "mask_path": "../../mask/hdr_left_00230.png" + }, + { + "file_path": "../../rgb/hdr_left_00231.png", + "transform_matrix": [ + [ + -0.5539131760597229, + 0.03392954170703888, + -0.8318828344345093, + -0.40539395809173584 + ], + [ + 0.8273730278015137, + -0.08908021450042725, + -0.5545436143875122, + 1.6560194492340088 + ], + [ + -0.09291969984769821, + -0.9954464435577393, + 0.021270323544740677, + -0.040390536189079285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 231, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_542266845", + "mask_path": "../../mask/hdr_left_00231.png" + }, + { + "file_path": "../../rgb/hdr_left_00232.png", + "transform_matrix": [ + [ + -0.5967103242874146, + 0.031793467700481415, + -0.8018265962600708, + -0.4562908411026001 + ], + [ + 0.7977532744407654, + -0.08452344685792923, + -0.5970304608345032, + 1.6983603239059448 + ], + [ + -0.08675480633974075, + -0.9959141612052917, + 0.02507266402244568, + -0.05101340264081955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 232, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_642268180", + "mask_path": "../../mask/hdr_left_00232.png" + }, + { + "file_path": "../../rgb/hdr_left_00233.png", + "transform_matrix": [ + [ + -0.6436321139335632, + 0.040957704186439514, + -0.7642383575439453, + -0.5346763134002686 + ], + [ + 0.7603718042373657, + -0.07931754738092422, + -0.6446266174316406, + 1.7466778755187988 + ], + [ + -0.0870199203491211, + -0.9960076212882996, + 0.019908232614398003, + -0.06395092606544495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 233, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_742266178", + "mask_path": "../../mask/hdr_left_00233.png" + }, + { + "file_path": "../../rgb/hdr_left_00234.png", + "transform_matrix": [ + [ + -0.6979647278785706, + 0.051572758704423904, + -0.7142726182937622, + -0.6230999827384949 + ], + [ + 0.7103356719017029, + -0.07678704708814621, + -0.6996620893478394, + 1.784193754196167 + ], + [ + -0.09093037247657776, + -0.9957128167152405, + 0.016960686072707176, + -0.07214472442865372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 234, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_842267751", + "mask_path": "../../mask/hdr_left_00234.png" + }, + { + "file_path": "../../rgb/hdr_left_00235.png", + "transform_matrix": [ + [ + -0.7554920315742493, + 0.055892784148454666, + -0.6527693867683411, + -0.7000614404678345 + ], + [ + 0.648666501045227, + -0.07609455287456512, + -0.7572590708732605, + 1.8096082210540771 + ], + [ + -0.09199751168489456, + -0.9955328702926636, + 0.021233046427369118, + -0.08546110987663269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 235, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_942267179", + "mask_path": "../../mask/hdr_left_00235.png" + }, + { + "file_path": "../../rgb/hdr_left_00236.png", + "transform_matrix": [ + [ + -0.8110569715499878, + 0.05772624909877777, + -0.5821118950843811, + -0.7977111339569092 + ], + [ + 0.577380895614624, + -0.0807448998093605, + -0.8124724626541138, + 1.8406963348388672 + ], + [ + -0.093903549015522, + -0.9950618743896484, + 0.03215868026018143, + -0.09606892615556717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 236, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_42267560", + "mask_path": "../../mask/hdr_left_00236.png" + }, + { + "file_path": "../../rgb/hdr_left_00237.png", + "transform_matrix": [ + [ + -0.8551004528999329, + 0.05734337493777275, + -0.5152813792228699, + -0.8922970294952393 + ], + [ + 0.5109848380088806, + -0.07497263699769974, + -0.856313943862915, + 1.8678662776947021 + ], + [ + -0.08773594349622726, + -0.9955355525016785, + 0.034807540476322174, + -0.09149472415447235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 237, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_142267704", + "mask_path": "../../mask/hdr_left_00237.png" + }, + { + "file_path": "../../rgb/hdr_left_00238.png", + "transform_matrix": [ + [ + -0.8913432359695435, + 0.0531073734164238, + -0.4502074718475342, + -0.9617888927459717 + ], + [ + 0.44654685258865356, + -0.06828496605157852, + -0.89215087890625, + 1.878793478012085 + ], + [ + -0.07812218368053436, + -0.9962514042854309, + 0.037150412797927856, + -0.09110471606254578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 238, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_242267608", + "mask_path": "../../mask/hdr_left_00238.png" + }, + { + "file_path": "../../rgb/hdr_left_00239.png", + "transform_matrix": [ + [ + -0.9230470657348633, + 0.05037112534046173, + -0.3813748359680176, + -1.0341384410858154 + ], + [ + 0.3779959976673126, + -0.06533744931221008, + -0.923498809337616, + 1.8750295639038086 + ], + [ + -0.07143572717905045, + -0.9965911507606506, + 0.0412694588303566, + -0.10070186108350754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 239, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_342266798", + "mask_path": "../../mask/hdr_left_00239.png" + }, + { + "file_path": "../../rgb/hdr_left_00240.png", + "transform_matrix": [ + [ + -0.9498134255409241, + 0.06875263899564743, + -0.30516812205314636, + -1.1276205778121948 + ], + [ + 0.3017212450504303, + -0.05617063492536545, + -0.951740026473999, + 1.8671528100967407 + ], + [ + -0.08257611840963364, + -0.9960511922836304, + 0.03260749205946922, + -0.11593171954154968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 240, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_442267656", + "mask_path": "../../mask/hdr_left_00240.png" + }, + { + "file_path": "../../rgb/hdr_left_00241.png", + "transform_matrix": [ + [ + -0.9711857438087463, + 0.08144433051347733, + -0.22397556900978088, + -1.212864637374878 + ], + [ + 0.22064362466335297, + -0.04795270785689354, + -0.9741750359535217, + 1.8490393161773682 + ], + [ + -0.09008126705884933, + -0.9955236911773682, + 0.02860081195831299, + -0.12687447667121887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 241, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_542268514", + "mask_path": "../../mask/hdr_left_00241.png" + }, + { + "file_path": "../../rgb/hdr_left_00242.png", + "transform_matrix": [ + [ + -0.9850558638572693, + 0.08375510573387146, + -0.15049906075000763, + -1.281364917755127 + ], + [ + 0.14718250930309296, + -0.044491246342659, + -0.988108217716217, + 1.8224213123321533 + ], + [ + -0.0894550010561943, + -0.995492696762085, + 0.03149908035993576, + -0.1377381980419159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 242, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_642267704", + "mask_path": "../../mask/hdr_left_00242.png" + }, + { + "file_path": "../../rgb/hdr_left_00243.png", + "transform_matrix": [ + [ + -0.9915424585342407, + 0.09156861901283264, + -0.09197139739990234, + -1.3615115880966187 + ], + [ + 0.08840034157037735, + -0.042327795177698135, + -0.9951851963996887, + 1.796154260635376 + ], + [ + -0.09502068161964417, + -0.994898796081543, + 0.03387511149048805, + -0.15048348903656006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 243, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_742267847", + "mask_path": "../../mask/hdr_left_00243.png" + }, + { + "file_path": "../../rgb/hdr_left_00244.png", + "transform_matrix": [ + [ + -0.9936487078666687, + 0.10139468312263489, + -0.04879976436495781, + -1.44095778465271 + ], + [ + 0.0452011339366436, + -0.03749211132526398, + -0.9982740879058838, + 1.7720813751220703 + ], + [ + -0.10304927825927734, + -0.994139552116394, + 0.03267083689570427, + -0.15685924887657166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 244, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_842267990", + "mask_path": "../../mask/hdr_left_00244.png" + }, + { + "file_path": "../../rgb/hdr_left_00245.png", + "transform_matrix": [ + [ + -0.994556725025177, + 0.10370755195617676, + -0.010079951956868172, + -1.5100444555282593 + ], + [ + 0.006669396534562111, + -0.03318062052130699, + -0.9994271397590637, + 1.7464176416397095 + ], + [ + -0.1039825826883316, + -0.9940543174743652, + 0.032308343797922134, + -0.16273313760757446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 245, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_942268133", + "mask_path": "../../mask/hdr_left_00245.png" + }, + { + "file_path": "../../rgb/hdr_left_00246.png", + "transform_matrix": [ + [ + -0.9947302937507629, + 0.09769836813211441, + 0.031090963631868362, + -1.5882927179336548 + ], + [ + -0.03412093222141266, + -0.029497290030121803, + -0.998982310295105, + 1.711449146270752 + ], + [ + -0.09668182581663132, + -0.9947788715362549, + 0.03267541155219078, + -0.17747613787651062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 246, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_42267084", + "mask_path": "../../mask/hdr_left_00246.png" + }, + { + "file_path": "../../rgb/hdr_left_00247.png", + "transform_matrix": [ + [ + -0.9916990995407104, + 0.10011972486972809, + 0.08067818731069565, + -1.692385196685791 + ], + [ + -0.0826902687549591, + -0.01610536500811577, + -0.9964451789855957, + 1.6662755012512207 + ], + [ + -0.09846444427967072, + -0.9948450922966003, + 0.02425060048699379, + -0.19683411717414856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 247, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_142267465", + "mask_path": "../../mask/hdr_left_00247.png" + }, + { + "file_path": "../../rgb/hdr_left_00248.png", + "transform_matrix": [ + [ + -0.9836720824241638, + 0.10343324393033981, + 0.14727702736854553, + -1.7718755006790161 + ], + [ + -0.148581862449646, + -0.004983571358025074, + -0.9888875484466553, + 1.6175451278686523 + ], + [ + -0.10154987871646881, + -0.9946239590644836, + 0.02027050592005253, + -0.20905424654483795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 248, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_242268085", + "mask_path": "../../mask/hdr_left_00248.png" + }, + { + "file_path": "../../rgb/hdr_left_00249.png", + "transform_matrix": [ + [ + -0.9699152708053589, + 0.1048683226108551, + 0.21969757974147797, + -1.824853539466858 + ], + [ + -0.22119151055812836, + -0.002689620014280081, + -0.9752267003059387, + 1.5697815418243408 + ], + [ + -0.1016794741153717, + -0.9944825172424316, + 0.025804685428738594, + -0.22016683220863342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 249, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_342266082", + "mask_path": "../../mask/hdr_left_00249.png" + }, + { + "file_path": "../../rgb/hdr_left_00250.png", + "transform_matrix": [ + [ + -0.9513579607009888, + 0.11613765358924866, + 0.285359650850296, + -1.8974902629852295 + ], + [ + -0.2875466048717499, + -0.0021739723160862923, + -0.9577641487121582, + 1.523464560508728 + ], + [ + -0.11061210930347443, + -0.9932308197021484, + 0.03546321019530296, + -0.23224569857120514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 250, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_442268371", + "mask_path": "../../mask/hdr_left_00250.png" + }, + { + "file_path": "../../rgb/hdr_left_00251.png", + "transform_matrix": [ + [ + -0.9326619505882263, + 0.11815491318702698, + 0.34085342288017273, + -1.966992974281311 + ], + [ + -0.34275346994400024, + 0.004482366610318422, + -0.9394147396087646, + 1.4821176528930664 + ], + [ + -0.11252427846193314, + -0.9929850697517395, + 0.03631747141480446, + -0.2347729504108429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 251, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_542268514", + "mask_path": "../../mask/hdr_left_00251.png" + }, + { + "file_path": "../../rgb/hdr_left_00252.png", + "transform_matrix": [ + [ + -0.9145821928977966, + 0.11464349925518036, + 0.387809693813324, + -2.0150070190429688 + ], + [ + -0.3894850015640259, + 0.008327847346663475, + -0.9209952354431152, + 1.4447649717330933 + ], + [ + -0.10881571471691132, + -0.9933719038963318, + 0.037035420536994934, + -0.23922944068908691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 252, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_642268180", + "mask_path": "../../mask/hdr_left_00252.png" + }, + { + "file_path": "../../rgb/hdr_left_00253.png", + "transform_matrix": [ + [ + -0.8963226079940796, + 0.11352744698524475, + 0.4286225736141205, + -2.0611660480499268 + ], + [ + -0.4304236173629761, + 0.009398212656378746, + -0.9025779962539673, + 1.4074087142944336 + ], + [ + -0.10649565607309341, + -0.99349045753479, + 0.040441058576107025, + -0.24997928738594055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 253, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_742267608", + "mask_path": "../../mask/hdr_left_00253.png" + }, + { + "file_path": "../../rgb/hdr_left_00254.png", + "transform_matrix": [ + [ + -0.8791946768760681, + 0.11155305802822113, + 0.4632195830345154, + -2.130676746368408 + ], + [ + -0.4637194573879242, + 0.023004354909062386, + -0.8856833577156067, + 1.3668887615203857 + ], + [ + -0.10945674777030945, + -0.9934921860694885, + 0.03150402009487152, + -0.27092117071151733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 254, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_842268466", + "mask_path": "../../mask/hdr_left_00254.png" + }, + { + "file_path": "../../rgb/hdr_left_00255.png", + "transform_matrix": [ + [ + -0.8577641844749451, + 0.11287961155176163, + 0.5014966726303101, + -2.1927971839904785 + ], + [ + -0.5002648830413818, + 0.04105575755238533, + -0.8648985624313354, + 1.3164466619491577 + ], + [ + -0.11821871250867844, + -0.9927600622177124, + 0.021253550425171852, + -0.29036155343055725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 255, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_942267656", + "mask_path": "../../mask/hdr_left_00255.png" + }, + { + "file_path": "../../rgb/hdr_left_00256.png", + "transform_matrix": [ + [ + -0.8350802063941956, + 0.11068685352802277, + 0.5388780236244202, + -2.235339403152466 + ], + [ + -0.537173330783844, + 0.047263454645872116, + -0.8421465754508972, + 1.258683443069458 + ], + [ + -0.11868379265069962, + -0.9927309155464172, + 0.019989248365163803, + -0.3004803955554962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 256, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_42267799", + "mask_path": "../../mask/hdr_left_00256.png" + }, + { + "file_path": "../../rgb/hdr_left_00257.png", + "transform_matrix": [ + [ + -0.8118777871131897, + 0.10662735998630524, + 0.5740078687667847, + -2.288851261138916 + ], + [ + -0.5722042322158813, + 0.0498817153275013, + -0.8185927271842957, + 1.1960622072219849 + ], + [ + -0.11591687798500061, + -0.9930469989776611, + 0.020514773204922676, + -0.3114078640937805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 257, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_142267465", + "mask_path": "../../mask/hdr_left_00257.png" + }, + { + "file_path": "../../rgb/hdr_left_00258.png", + "transform_matrix": [ + [ + -0.7902120351791382, + 0.10338753461837769, + 0.604049563407898, + -2.349536895751953 + ], + [ + -0.6010629534721375, + 0.06150226667523384, + -0.7968316674232483, + 1.1373878717422485 + ], + [ + -0.11953287571668625, + -0.992737889289856, + 0.013542591594159603, + -0.3189367651939392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 258, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_242267370", + "mask_path": "../../mask/hdr_left_00258.png" + }, + { + "file_path": "../../rgb/hdr_left_00259.png", + "transform_matrix": [ + [ + -0.7718210816383362, + 0.09733041375875473, + 0.62834632396698, + -2.397486686706543 + ], + [ + -0.6246300339698792, + 0.06867947429418564, + -0.7778947949409485, + 1.0830011367797852 + ], + [ + -0.11886731535196304, + -0.9928796291351318, + 0.007787240203469992, + -0.3207687437534332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 259, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_342267990", + "mask_path": "../../mask/hdr_left_00259.png" + }, + { + "file_path": "../../rgb/hdr_left_00260.png", + "transform_matrix": [ + [ + -0.752045214176178, + 0.08828948438167572, + 0.6531714200973511, + -2.436549186706543 + ], + [ + -0.6494798064231873, + 0.06953055411577225, + -0.7571932077407837, + 1.0270904302597046 + ], + [ + -0.11226755380630493, + -0.9936652183532715, + 0.005052113905549049, + -0.3292301893234253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 260, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_442267417", + "mask_path": "../../mask/hdr_left_00260.png" + }, + { + "file_path": "../../rgb/hdr_left_00261.png", + "transform_matrix": [ + [ + -0.7271729111671448, + 0.07843794673681259, + 0.6819581985473633, + -2.482346773147583 + ], + [ + -0.6781274676322937, + 0.07218512892723083, + -0.7313907742500305, + 0.961152195930481 + ], + [ + -0.10659603029489517, + -0.9943022131919861, + 0.0006998584140092134, + -0.3457756042480469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 261, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_542268276", + "mask_path": "../../mask/hdr_left_00261.png" + }, + { + "file_path": "../../rgb/hdr_left_00262.png", + "transform_matrix": [ + [ + -0.6936169862747192, + 0.07564377039670944, + 0.7163612842559814, + -2.52815318107605 + ], + [ + -0.711578369140625, + 0.0827188491821289, + -0.697720468044281, + 0.8834344148635864 + ], + [ + -0.11203478276729584, + -0.9936980605125427, + -0.0035487269051373005, + -0.3657086491584778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 262, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_642266988", + "mask_path": "../../mask/hdr_left_00262.png" + }, + { + "file_path": "../../rgb/hdr_left_00263.png", + "transform_matrix": [ + [ + -0.6551541090011597, + 0.07528388500213623, + 0.7517349720001221, + -2.5580594539642334 + ], + [ + -0.7462868690490723, + 0.09039095789194107, + -0.659458339214325, + 0.8070947527885437 + ], + [ + -0.11759661883115768, + -0.9930568933486938, + -0.003036628942936659, + -0.3832329511642456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 263, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_742267370", + "mask_path": "../../mask/hdr_left_00263.png" + }, + { + "file_path": "../../rgb/hdr_left_00264.png", + "transform_matrix": [ + [ + -0.6135075092315674, + 0.07845151424407959, + 0.7857822775840759, + -2.580784320831299 + ], + [ + -0.7807705402374268, + 0.08886228501796722, + -0.6184665560722351, + 0.7246086597442627 + ], + [ + -0.11834605038166046, + -0.9929496049880981, + 0.006734945811331272, + -0.3986014127731323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 264, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_842267274", + "mask_path": "../../mask/hdr_left_00264.png" + }, + { + "file_path": "../../rgb/hdr_left_00265.png", + "transform_matrix": [ + [ + -0.5728754997253418, + 0.08545588701963425, + 0.8151754140853882, + -2.618116617202759 + ], + [ + -0.8102315068244934, + 0.09123490005731583, + -0.5789654850959778, + 0.6347366571426392 + ], + [ + -0.12384843826293945, + -0.9921560883522034, + 0.01697281189262867, + -0.41567903757095337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 265, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_942267417", + "mask_path": "../../mask/hdr_left_00265.png" + }, + { + "file_path": "../../rgb/hdr_left_00266.png", + "transform_matrix": [ + [ + -0.5380618572235107, + 0.08550583571195602, + 0.838557243347168, + -2.653108596801758 + ], + [ + -0.8335134983062744, + 0.09412133693695068, + -0.54442298412323, + 0.5530567765235901 + ], + [ + -0.12547744810581207, + -0.9918820858001709, + 0.02062716893851757, + -0.4212556481361389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 266, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_42266368", + "mask_path": "../../mask/hdr_left_00266.png" + }, + { + "file_path": "../../rgb/hdr_left_00267.png", + "transform_matrix": [ + [ + -0.5077496767044067, + 0.0848032757639885, + 0.8573206067085266, + -2.6671173572540283 + ], + [ + -0.8529391884803772, + 0.09049572795629501, + -0.514106273651123, + 0.4838743507862091 + ], + [ + -0.12118173390626907, + -0.9922797083854675, + 0.026382869109511375, + -0.4251111149787903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 267, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_142267227", + "mask_path": "../../mask/hdr_left_00267.png" + }, + { + "file_path": "../../rgb/hdr_left_00268.png", + "transform_matrix": [ + [ + -0.47849664092063904, + 0.07314790785312653, + 0.8750373125076294, + -2.681629180908203 + ], + [ + -0.8707777857780457, + 0.08880311250686646, + -0.4835908114910126, + 0.40248554944992065 + ], + [ + -0.11307968944311142, + -0.9933597445487976, + 0.021203581243753433, + -0.4440113604068756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 268, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_242267608", + "mask_path": "../../mask/hdr_left_00268.png" + }, + { + "file_path": "../../rgb/hdr_left_00269.png", + "transform_matrix": [ + [ + -0.4477728605270386, + 0.06409736722707748, + 0.8918470144271851, + -2.701838970184326 + ], + [ + -0.8862009644508362, + 0.100867360830307, + -0.45218750834465027, + 0.3034323453903198 + ], + [ + -0.1189422681927681, + -0.9928330183029175, + 0.011637493036687374, + -0.4601535201072693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 269, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_342268466", + "mask_path": "../../mask/hdr_left_00269.png" + }, + { + "file_path": "../../rgb/hdr_left_00270.png", + "transform_matrix": [ + [ + -0.4187380075454712, + 0.059872932732105255, + 0.9061310887336731, + -2.7015199661254883 + ], + [ + -0.8995863795280457, + 0.10902055352926254, + -0.42291712760925293, + 0.22730785608291626 + ], + [ + -0.1241082102060318, + -0.9922347664833069, + 0.008209826424717903, + -0.4733904004096985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 270, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_442267417", + "mask_path": "../../mask/hdr_left_00270.png" + }, + { + "file_path": "../../rgb/hdr_left_00271.png", + "transform_matrix": [ + [ + -0.40584325790405273, + 0.05869535356760025, + 0.9120559692382812, + -2.7034337520599365 + ], + [ + -0.9055548906326294, + 0.10906592756509781, + -0.40996935963630676, + 0.15734991431236267 + ], + [ + -0.12353753298521042, + -0.9923001527786255, + 0.00888819433748722, + -0.48287785053253174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 271, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_542268753", + "mask_path": "../../mask/hdr_left_00271.png" + }, + { + "file_path": "../../rgb/hdr_left_00272.png", + "transform_matrix": [ + [ + -0.4037114977836609, + 0.0602220743894577, + 0.9129021167755127, + -2.713561534881592 + ], + [ + -0.905449628829956, + 0.11664708703756332, + -0.40811076760292053, + 0.07823038101196289 + ], + [ + -0.13106463849544525, + -0.9913459420204163, + 0.007436288520693779, + -0.5047215819358826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 272, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_642268180", + "mask_path": "../../mask/hdr_left_00272.png" + }, + { + "file_path": "../../rgb/hdr_left_00273.png", + "transform_matrix": [ + [ + -0.4042976498603821, + 0.057646073400974274, + 0.9128090739250183, + -2.7238569259643555 + ], + [ + -0.9038386940956116, + 0.1276560127735138, + -0.40838637948036194, + 0.010593116283416748 + ], + [ + -0.14006741344928741, + -0.9901419281959534, + 0.0004917363985441625, + -0.5218941569328308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 273, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_742268085", + "mask_path": "../../mask/hdr_left_00273.png" + }, + { + "file_path": "../../rgb/hdr_left_00274.png", + "transform_matrix": [ + [ + -0.4083232283592224, + 0.05672600865364075, + 0.9110731482505798, + -2.724961519241333 + ], + [ + -0.9016856551170349, + 0.13046737015247345, + -0.4122392535209656, + -0.04586198925971985 + ], + [ + -0.14224998652935028, + -0.9898284673690796, + -0.002123827114701271, + -0.5295783281326294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 274, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_842267751", + "mask_path": "../../mask/hdr_left_00274.png" + }, + { + "file_path": "../../rgb/hdr_left_00275.png", + "transform_matrix": [ + [ + -0.4147692620754242, + 0.0451921708881855, + 0.9088036417961121, + -2.7264187335968018 + ], + [ + -0.9006470441818237, + 0.12188556790351868, + -0.4171076714992523, + -0.14625835418701172 + ], + [ + -0.1296200454235077, + -0.9915148019790649, + -0.009852188639342785, + -0.5333167910575867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 275, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_942267417", + "mask_path": "../../mask/hdr_left_00275.png" + }, + { + "file_path": "../../rgb/hdr_left_00276.png", + "transform_matrix": [ + [ + -0.41292664408683777, + 0.037076156586408615, + 0.9100093245506287, + -2.7220816612243652 + ], + [ + -0.9023537635803223, + 0.11882049590349197, + -0.41429391503334045, + -0.2316805124282837 + ], + [ + -0.1234881728887558, + -0.9922232627868652, + -0.015608341433107853, + -0.5413390398025513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 276, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_42267322", + "mask_path": "../../mask/hdr_left_00276.png" + }, + { + "file_path": "../../rgb/hdr_left_00279.png", + "transform_matrix": [ + [ + -0.39708390831947327, + 0.041834983974695206, + 0.9168283343315125, + -2.6906092166900635 + ], + [ + -0.9084392786026001, + 0.12426098436117172, + -0.39912059903144836, + -0.3961976170539856 + ], + [ + -0.13062317669391632, + -0.9913673400878906, + -0.011337487027049065, + -0.5846982598304749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 279, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_342267513", + "mask_path": "../../mask/hdr_left_00279.png" + }, + { + "file_path": "../../rgb/hdr_left_00280.png", + "transform_matrix": [ + [ + -0.3999767601490021, + 0.038238245993852615, + 0.9157273173332214, + -2.6951234340667725 + ], + [ + -0.9067382216453552, + 0.1291131228208542, + -0.40144187211990356, + -0.4546143412590027 + ], + [ + -0.13358281552791595, + -0.9908924102783203, + -0.016970163211226463, + -0.5853758454322815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 280, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_442268133", + "mask_path": "../../mask/hdr_left_00280.png" + }, + { + "file_path": "../../rgb/hdr_left_00281.png", + "transform_matrix": [ + [ + -0.40765270590782166, + 0.037690259516239166, + 0.912358820438385, + -2.7084226608276367 + ], + [ + -0.9039005637168884, + 0.12509550154209137, + -0.40904125571250916, + -0.504352867603302 + ], + [ + -0.1295488476753235, + -0.991428554058075, + -0.016927266493439674, + -0.5849137306213379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 281, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_542268276", + "mask_path": "../../mask/hdr_left_00281.png" + }, + { + "file_path": "../../rgb/hdr_left_00282.png", + "transform_matrix": [ + [ + -0.4182818531990051, + 0.03424035385251045, + 0.9076717495918274, + -2.7240684032440186 + ], + [ + -0.8999183773994446, + 0.11995678395032883, + -0.4192340672016144, + -0.5697726011276245 + ], + [ + -0.12323609739542007, + -0.9921885132789612, + -0.01936221867799759, + -0.5952469110488892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 282, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_642267465", + "mask_path": "../../mask/hdr_left_00282.png" + }, + { + "file_path": "../../rgb/hdr_left_00283.png", + "transform_matrix": [ + [ + -0.4256305694580078, + 0.01841134764254093, + 0.9047096967697144, + -2.7500009536743164 + ], + [ + -0.8960055708885193, + 0.1312364935874939, + -0.424206405878067, + -0.6437830924987793 + ], + [ + -0.1265411078929901, + -0.9911801218986511, + -0.03936159238219261, + -0.6092846393585205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 283, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_742268085", + "mask_path": "../../mask/hdr_left_00283.png" + }, + { + "file_path": "../../rgb/hdr_left_00284.png", + "transform_matrix": [ + [ + -0.4350542724132538, + 0.009207501076161861, + 0.9003571271896362, + -2.772369623184204 + ], + [ + -0.8910667300224304, + 0.13923227787017822, + -0.43198898434638977, + -0.6933382749557495 + ], + [ + -0.12933631241321564, + -0.9902170300483704, + -0.052369095385074615, + -0.6211808919906616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 284, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_842267513", + "mask_path": "../../mask/hdr_left_00284.png" + }, + { + "file_path": "../../rgb/hdr_left_00286.png", + "transform_matrix": [ + [ + -0.46201005578041077, + 0.017255548387765884, + 0.8867068290710449, + -2.838634490966797 + ], + [ + -0.8760856986045837, + 0.14659737050533295, + -0.45932886004447937, + -0.7963556051254272 + ], + [ + -0.13791486620903015, + -0.9890457987785339, + -0.05261211842298508, + -0.6555787920951843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 286, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_42268514", + "mask_path": "../../mask/hdr_left_00286.png" + }, + { + "file_path": "../../rgb/hdr_left_00287.png", + "transform_matrix": [ + [ + -0.4792957305908203, + 0.017048658803105354, + 0.8774879574775696, + -2.8714301586151123 + ], + [ + -0.8659222722053528, + 0.1537381410598755, + -0.4759654700756073, + -0.8395673036575317 + ], + [ + -0.1430179327726364, + -0.9879645705223083, + -0.05892322212457657, + -0.6567559838294983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 287, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_142267227", + "mask_path": "../../mask/hdr_left_00287.png" + }, + { + "file_path": "../../rgb/hdr_left_00289.png", + "transform_matrix": [ + [ + -0.5087599754333496, + 0.02270810678601265, + 0.8606088161468506, + -2.9050304889678955 + ], + [ + -0.850045919418335, + 0.1450473964214325, + -0.5063428282737732, + -0.926502525806427 + ], + [ + -0.13632714748382568, + -0.9891641139984131, + -0.05449137091636658, + -0.6755825281143188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 289, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_342268943", + "mask_path": "../../mask/hdr_left_00289.png" + }, + { + "file_path": "../../rgb/hdr_left_00290.png", + "transform_matrix": [ + [ + -0.5141624212265015, + 0.021560892462730408, + 0.8574217557907104, + -2.9258525371551514 + ], + [ + -0.8467273712158203, + 0.14658313989639282, + -0.5114353895187378, + -0.9937721490859985 + ], + [ + -0.13671056926250458, + -0.9889634251594543, + -0.057111334055662155, + -0.6840516328811646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 290, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_442268371", + "mask_path": "../../mask/hdr_left_00290.png" + }, + { + "file_path": "../../rgb/hdr_left_00291.png", + "transform_matrix": [ + [ + -0.5133422017097473, + 0.020437991246581078, + 0.8579405546188354, + -2.937404155731201 + ], + [ + -0.8471120595932007, + 0.14800091087818146, + -0.5103888511657715, + -1.052219271659851 + ], + [ + -0.1374073028564453, + -0.9887760877609253, + -0.05866185575723648, + -0.6993903517723083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 291, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_542266607", + "mask_path": "../../mask/hdr_left_00291.png" + }, + { + "file_path": "../../rgb/hdr_left_00292.png", + "transform_matrix": [ + [ + -0.5117241740226746, + 0.024239394813776016, + 0.8588078022003174, + -2.9442644119262695 + ], + [ + -0.84819495677948, + 0.14486490190029144, + -0.5094892382621765, + -1.1059679985046387 + ], + [ + -0.13676080107688904, + -0.9891545176506042, + -0.05357113108038902, + -0.714017927646637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 292, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_642266988", + "mask_path": "../../mask/hdr_left_00292.png" + }, + { + "file_path": "../../rgb/hdr_left_00293.png", + "transform_matrix": [ + [ + -0.5106061100959778, + 0.030217768624424934, + 0.859283447265625, + -2.952519416809082 + ], + [ + -0.8487588763237, + 0.1420351266860962, + -0.5093470811843872, + -1.166639804840088 + ], + [ + -0.1374397575855255, + -0.9894002676010132, + -0.04687640443444252, + -0.7310141921043396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 293, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_742269277", + "mask_path": "../../mask/hdr_left_00293.png" + }, + { + "file_path": "../../rgb/hdr_left_00294.png", + "transform_matrix": [ + [ + -0.517055094242096, + 0.03606630861759186, + 0.8551918864250183, + -2.9651546478271484 + ], + [ + -0.8428658843040466, + 0.15258511900901794, + -0.5160377025604248, + -1.2238595485687256 + ], + [ + -0.1491011381149292, + -0.9876320958137512, + -0.04849584773182869, + -0.7446608543395996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 294, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_842267990", + "mask_path": "../../mask/hdr_left_00294.png" + }, + { + "file_path": "../../rgb/hdr_left_00295.png", + "transform_matrix": [ + [ + -0.5297760963439941, + 0.03828972205519676, + 0.8472729325294495, + -2.9855661392211914 + ], + [ + -0.8335225582122803, + 0.16114886105060577, + -0.5284610390663147, + -1.2708156108856201 + ], + [ + -0.15677165985107422, + -0.9861871600151062, + -0.05345744639635086, + -0.7509887218475342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 295, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_942268848", + "mask_path": "../../mask/hdr_left_00295.png" + }, + { + "file_path": "../../rgb/hdr_left_00296.png", + "transform_matrix": [ + [ + -0.5482004880905151, + 0.03773654252290726, + 0.8354951739311218, + -3.0061068534851074 + ], + [ + -0.822084367275238, + 0.15939076244831085, + -0.5466002821922302, + -1.3163384199142456 + ], + [ + -0.1537970006465912, + -0.9864940643310547, + -0.05635545775294304, + -0.7582643628120422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 296, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_42267799", + "mask_path": "../../mask/hdr_left_00296.png" + }, + { + "file_path": "../../rgb/hdr_left_00297.png", + "transform_matrix": [ + [ + -0.5682250261306763, + 0.029472975060343742, + 0.8223451972007751, + -3.0365183353424072 + ], + [ + -0.8100240230560303, + 0.15588147938251495, + -0.5652981400489807, + -1.3779265880584717 + ], + [ + -0.14484937489032745, + -0.9873360395431519, + -0.06470192223787308, + -0.7730441093444824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 297, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_142267227", + "mask_path": "../../mask/hdr_left_00297.png" + }, + { + "file_path": "../../rgb/hdr_left_00298.png", + "transform_matrix": [ + [ + -0.580201268196106, + 0.02315128780901432, + 0.8141440153121948, + -3.065835475921631 + ], + [ + -0.8016358017921448, + 0.16054236888885498, + -0.5758525729179382, + -1.4469949007034302 + ], + [ + -0.14403633773326874, + -0.9867574572563171, + -0.07458797842264175, + -0.7813969850540161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 298, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_242267608", + "mask_path": "../../mask/hdr_left_00298.png" + }, + { + "file_path": "../../rgb/hdr_left_00299.png", + "transform_matrix": [ + [ + -0.5884023904800415, + 0.023005874827504158, + 0.8082410097122192, + -3.0895931720733643 + ], + [ + -0.7955437898635864, + 0.1622198224067688, + -0.5837762355804443, + -1.5012803077697754 + ], + [ + -0.14454297721385956, + -0.9864864945411682, + -0.07714834809303284, + -0.7977373003959656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 299, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_342267274", + "mask_path": "../../mask/hdr_left_00299.png" + }, + { + "file_path": "../../rgb/hdr_left_00300.png", + "transform_matrix": [ + [ + -0.5959390997886658, + 0.027224799618124962, + 0.8025680184364319, + -3.1156089305877686 + ], + [ + -0.7902171015739441, + 0.1579374223947525, + -0.5921255946159363, + -1.555544376373291 + ], + [ + -0.14287598431110382, + -0.9870737791061401, + -0.07260756939649582, + -0.8127123117446899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 300, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_442268133", + "mask_path": "../../mask/hdr_left_00300.png" + }, + { + "file_path": "../../rgb/hdr_left_00301.png", + "transform_matrix": [ + [ + -0.6023913025856018, + 0.03592902794480324, + 0.7973918914794922, + -3.1538355350494385 + ], + [ + -0.7846395373344421, + 0.15671081840991974, + -0.5998186469078064, + -1.6154464483261108 + ], + [ + -0.14651083946228027, + -0.9869908094406128, + -0.06620989739894867, + -0.8327913284301758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 301, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_542267084", + "mask_path": "../../mask/hdr_left_00301.png" + }, + { + "file_path": "../../rgb/hdr_left_00302.png", + "transform_matrix": [ + [ + -0.6107022166252136, + 0.03949681296944618, + 0.7908746600151062, + -3.1931722164154053 + ], + [ + -0.7773602604866028, + 0.16035258769989014, + -0.6082746982574463, + -1.6671323776245117 + ], + [ + -0.15084370970726013, + -0.9862693548202515, + -0.06722442060709, + -0.8421291708946228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 302, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_642267704", + "mask_path": "../../mask/hdr_left_00302.png" + }, + { + "file_path": "../../rgb/hdr_left_00303.png", + "transform_matrix": [ + [ + -0.6224871873855591, + 0.04046002775430679, + 0.7815834283828735, + -3.2231218814849854 + ], + [ + -0.7680231332778931, + 0.16046224534511566, + -0.6199937462806702, + -1.710444450378418 + ], + [ + -0.15049958229064941, + -0.9862123727798462, + -0.06881144642829895, + -0.8465971946716309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 303, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_742268085", + "mask_path": "../../mask/hdr_left_00303.png" + }, + { + "file_path": "../../rgb/hdr_left_00304.png", + "transform_matrix": [ + [ + -0.6366597414016724, + 0.041312314569950104, + 0.7700373530387878, + -3.247814178466797 + ], + [ + -0.757462203502655, + 0.1537691354751587, + -0.6345123648643494, + -1.7573635578155518 + ], + [ + -0.14462116360664368, + -0.9872428178787231, + -0.06660610437393188, + -0.8558516502380371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 304, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_842267274", + "mask_path": "../../mask/hdr_left_00304.png" + }, + { + "file_path": "../../rgb/hdr_left_00305.png", + "transform_matrix": [ + [ + -0.6479285359382629, + 0.03939181938767433, + 0.7606819272041321, + -3.281522274017334 + ], + [ + -0.7491937279701233, + 0.1472749561071396, + -0.6457699537277222, + -1.8164952993392944 + ], + [ + -0.13746744394302368, + -0.9883108735084534, + -0.06591153889894485, + -0.8663204312324524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 305, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_942267179", + "mask_path": "../../mask/hdr_left_00305.png" + }, + { + "file_path": "../../rgb/hdr_left_00306.png", + "transform_matrix": [ + [ + -0.6529610753059387, + 0.03799780458211899, + 0.7564377188682556, + -3.309018135070801 + ], + [ + -0.7451078295707703, + 0.14691714942455292, + -0.6505611538887024, + -1.86946702003479 + ], + [ + -0.13585355877876282, + -0.9884187579154968, + -0.0676187202334404, + -0.8743712902069092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 306, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_42268514", + "mask_path": "../../mask/hdr_left_00306.png" + }, + { + "file_path": "../../rgb/hdr_left_00308.png", + "transform_matrix": [ + [ + -0.6585098505020142, + 0.04317501559853554, + 0.751332700252533, + -3.354952812194824 + ], + [ + -0.7401913404464722, + 0.14318807423114777, + -0.6569733023643494, + -1.9580078125 + ], + [ + -0.13594670593738556, + -0.9887534379959106, + -0.06233300268650055, + -0.8995301723480225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 308, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_242268085", + "mask_path": "../../mask/hdr_left_00308.png" + }, + { + "file_path": "../../rgb/hdr_left_00309.png", + "transform_matrix": [ + [ + -0.6602827310562134, + 0.05035635828971863, + 0.7493269443511963, + -3.389991044998169 + ], + [ + -0.7375606298446655, + 0.14454880356788635, + -0.6596286296844482, + -2.0090086460113525 + ], + [ + -0.1415308117866516, + -0.9882155656814575, + -0.058302197605371475, + -0.9169553518295288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 309, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_342267274", + "mask_path": "../../mask/hdr_left_00309.png" + }, + { + "file_path": "../../rgb/hdr_left_00310.png", + "transform_matrix": [ + [ + -0.665035605430603, + 0.052092015743255615, + 0.7449926733970642, + -3.428546905517578 + ], + [ + -0.7320628762245178, + 0.15180400013923645, + -0.6641080379486084, + -2.055269241333008 + ], + [ + -0.14768758416175842, + -0.9870370030403137, + -0.0628204345703125, + -0.924597442150116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 310, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_442268848", + "mask_path": "../../mask/hdr_left_00310.png" + }, + { + "file_path": "../../rgb/hdr_left_00311.png", + "transform_matrix": [ + [ + -0.6732524037361145, + 0.05013798922300339, + 0.7377110123634338, + -3.4645261764526367 + ], + [ + -0.7246290445327759, + 0.15377049148082733, + -0.6717644333839417, + -2.0967748165130615 + ], + [ + -0.14711907505989075, + -0.9868337512016296, + -0.06719490885734558, + -0.9293457269668579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 311, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_542267322", + "mask_path": "../../mask/hdr_left_00311.png" + }, + { + "file_path": "../../rgb/hdr_left_00312.png", + "transform_matrix": [ + [ + -0.6844580173492432, + 0.049732182174921036, + 0.7273539900779724, + -3.502502918243408 + ], + [ + -0.715076208114624, + 0.14861702919006348, + -0.6830658912658691, + -2.136429786682129 + ], + [ + -0.1420675367116928, + -0.9876435399055481, + -0.06615982204675674, + -0.9405391812324524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 312, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_642267227", + "mask_path": "../../mask/hdr_left_00312.png" + }, + { + "file_path": "../../rgb/hdr_left_00313.png", + "transform_matrix": [ + [ + -0.6937059164047241, + 0.04490487277507782, + 0.7188571095466614, + -3.5481584072113037 + ], + [ + -0.7066923975944519, + 0.15035909414291382, + -0.6913594603538513, + -2.188277244567871 + ], + [ + -0.13913209736347198, + -0.9876111745834351, + -0.07257106155157089, + -0.9560909271240234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 313, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_742266893", + "mask_path": "../../mask/hdr_left_00313.png" + }, + { + "file_path": "../../rgb/hdr_left_00314.png", + "transform_matrix": [ + [ + -0.6960059404373169, + 0.042372651398181915, + 0.7167847752571106, + -3.590151071548462 + ], + [ + -0.7041420340538025, + 0.1551499366760254, + -0.6929013729095459, + -2.243366003036499 + ], + [ + -0.14056913554668427, + -0.9869818687438965, + -0.07814887166023254, + -0.9658127427101135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 314, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_842267036", + "mask_path": "../../mask/hdr_left_00314.png" + }, + { + "file_path": "../../rgb/hdr_left_00315.png", + "transform_matrix": [ + [ + -0.6959813833236694, + 0.04253510758280754, + 0.7167988419532776, + -3.6179394721984863 + ], + [ + -0.7047182321548462, + 0.15107344090938568, + -0.6932164430618286, + -2.2926218509674072 + ], + [ + -0.13777531683444977, + -0.9876070618629456, + -0.07516904175281525, + -0.9757691621780396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 315, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_942266941", + "mask_path": "../../mask/hdr_left_00315.png" + }, + { + "file_path": "../../rgb/hdr_left_00316.png", + "transform_matrix": [ + [ + -0.69493567943573, + 0.04433942958712578, + 0.717703640460968, + -3.649005174636841 + ], + [ + -0.7063666582107544, + 0.14470185339450836, + -0.6928979754447937, + -2.3509135246276855 + ], + [ + -0.1345757395029068, + -0.9884814023971558, + -0.0692385733127594, + -0.9908111691474915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 316, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_42265653", + "mask_path": "../../mask/hdr_left_00316.png" + }, + { + "file_path": "../../rgb/hdr_left_00317.png", + "transform_matrix": [ + [ + -0.695868730545044, + 0.05029142647981644, + 0.7164059281349182, + -3.69126558303833 + ], + [ + -0.7044921517372131, + 0.14595122635364532, + -0.6945422887802124, + -2.4141554832458496 + ], + [ + -0.13948982954025269, + -0.9880127310752869, + -0.06613298505544662, + -1.0070457458496094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 317, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_142267227", + "mask_path": "../../mask/hdr_left_00317.png" + }, + { + "file_path": "../../rgb/hdr_left_00318.png", + "transform_matrix": [ + [ + -0.7012473344802856, + 0.05435112491250038, + 0.7108432054519653, + -3.735621690750122 + ], + [ + -0.698078989982605, + 0.1500280648469925, + -0.7001266479492188, + -2.471656322479248 + ], + [ + -0.1446991115808487, + -0.9871867299079895, + -0.06726539880037308, + -1.0132147073745728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 318, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_242267370", + "mask_path": "../../mask/hdr_left_00318.png" + }, + { + "file_path": "../../rgb/hdr_left_00319.png", + "transform_matrix": [ + [ + -0.7099019289016724, + 0.05565045401453972, + 0.7020983695983887, + -3.7760682106018066 + ], + [ + -0.6893997192382812, + 0.14906568825244904, + -0.7088775038719177, + -2.524893283843994 + ], + [ + -0.1441081315279007, + -0.987260103225708, + -0.06745661795139313, + -1.0257128477096558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 319, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_342267274", + "mask_path": "../../mask/hdr_left_00319.png" + }, + { + "file_path": "../../rgb/hdr_left_00320.png", + "transform_matrix": [ + [ + -0.7214996814727783, + 0.05005066469311714, + 0.6906033754348755, + -3.820425510406494 + ], + [ + -0.6788012981414795, + 0.14567583799362183, + -0.7197273373603821, + -2.582368850708008 + ], + [ + -0.13662704825401306, + -0.9880656003952026, + -0.07113061100244522, + -1.045494794845581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 320, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_442267417", + "mask_path": "../../mask/hdr_left_00320.png" + }, + { + "file_path": "../../rgb/hdr_left_00321.png", + "transform_matrix": [ + [ + -0.7273925542831421, + 0.04740528389811516, + 0.6845821738243103, + -3.87650203704834 + ], + [ + -0.6722738146781921, + 0.15088534355163574, + -0.7247629165649414, + -2.656440019607544 + ], + [ + -0.1376510113477707, + -0.9874140024185181, + -0.07788354903459549, + -1.0623754262924194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 321, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_542267084", + "mask_path": "../../mask/hdr_left_00321.png" + }, + { + "file_path": "../../rgb/hdr_left_00322.png", + "transform_matrix": [ + [ + -0.7297122478485107, + 0.04794357344508171, + 0.6820715069770813, + -3.9248876571655273 + ], + [ + -0.6691656112670898, + 0.15488804876804352, + -0.7267923355102539, + -2.7305948734283447 + ], + [ + -0.14048974215984344, + -0.9867680668830872, + -0.08094151318073273, + -1.0863382816314697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 322, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_642266750", + "mask_path": "../../mask/hdr_left_00322.png" + }, + { + "file_path": "../../rgb/hdr_left_00323.png", + "transform_matrix": [ + [ + -0.7311727404594421, + 0.04990991950035095, + 0.6803641319274902, + -3.9628207683563232 + ], + [ + -0.668103814125061, + 0.14925004541873932, + -0.7289456129074097, + -2.7991812229156494 + ], + [ + -0.13792598247528076, + -0.9875391721725464, + -0.07578255981206894, + -1.101513147354126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 323, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_742267608", + "mask_path": "../../mask/hdr_left_00323.png" + }, + { + "file_path": "../../rgb/hdr_left_00324.png", + "transform_matrix": [ + [ + -0.7327598333358765, + 0.05660266429185867, + 0.6781290769577026, + -4.016632080078125 + ], + [ + -0.6654965877532959, + 0.1484106332063675, + -0.7314974665641785, + -2.8703315258026123 + ], + [ + -0.1420462727546692, + -0.9873046875, + -0.07108047604560852, + -1.1210711002349854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 324, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_842267990", + "mask_path": "../../mask/hdr_left_00324.png" + }, + { + "file_path": "../../rgb/hdr_left_00325.png", + "transform_matrix": [ + [ + -0.73639315366745, + 0.05778538063168526, + 0.6740816235542297, + -4.072537422180176 + ], + [ + -0.6611791253089905, + 0.14973336458206177, + -0.7351340055465698, + -2.931752920150757 + ], + [ + -0.1434125006198883, + -0.987036406993866, + -0.07205614447593689, + -1.1320139169692993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 325, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_942267656", + "mask_path": "../../mask/hdr_left_00325.png" + }, + { + "file_path": "../../rgb/hdr_left_00326.png", + "transform_matrix": [ + [ + -0.742675244808197, + 0.05372956395149231, + 0.6674927473068237, + -4.109278678894043 + ], + [ + -0.6554266810417175, + 0.14603734016418457, + -0.7410053014755249, + -2.976717233657837 + ], + [ + -0.1372927576303482, + -0.9878189563751221, + -0.07324253022670746, + -1.131546974182129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 326, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_42267799", + "mask_path": "../../mask/hdr_left_00326.png" + }, + { + "file_path": "../../rgb/hdr_left_00327.png", + "transform_matrix": [ + [ + -0.7514529228210449, + 0.047752413898706436, + 0.6580563187599182, + -4.15606164932251 + ], + [ + -0.6467740535736084, + 0.1437927931547165, + -0.7490040063858032, + -3.0321362018585205 + ], + [ + -0.1303904801607132, + -0.988455057144165, + -0.07716850191354752, + -1.1508989334106445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 327, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_142267227", + "mask_path": "../../mask/hdr_left_00327.png" + }, + { + "file_path": "../../rgb/hdr_left_00328.png", + "transform_matrix": [ + [ + -0.7558780908584595, + 0.047060199081897736, + 0.6530190110206604, + -4.224784851074219 + ], + [ + -0.6412369608879089, + 0.1481078416109085, + -0.752913773059845, + -3.1042113304138184 + ], + [ + -0.13214948773384094, + -0.9878509044647217, + -0.08177471905946732, + -1.1763375997543335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 328, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_242267847", + "mask_path": "../../mask/hdr_left_00328.png" + }, + { + "file_path": "../../rgb/hdr_left_00329.png", + "transform_matrix": [ + [ + -0.7557939291000366, + 0.04838820546865463, + 0.6530192494392395, + -4.279855728149414 + ], + [ + -0.6407079100608826, + 0.15120306611061096, + -0.752748966217041, + -3.174598217010498 + ], + [ + -0.13516266644001007, + -0.9873177409172058, + -0.08327565342187881, + -1.1835997104644775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 329, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_342267513", + "mask_path": "../../mask/hdr_left_00329.png" + }, + { + "file_path": "../../rgb/hdr_left_00330.png", + "transform_matrix": [ + [ + -0.7537925839424133, + 0.049877606332302094, + 0.655216634273529, + -4.328248500823975 + ], + [ + -0.6433635354042053, + 0.14688518643379211, + -0.7513375878334045, + -3.2458574771881104 + ], + [ + -0.13371652364730835, + -0.9878952503204346, + -0.07863152772188187, + -1.1981637477874756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 330, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_442267894", + "mask_path": "../../mask/hdr_left_00330.png" + }, + { + "file_path": "../../rgb/hdr_left_00331.png", + "transform_matrix": [ + [ + -0.7497929334640503, + 0.06062554195523262, + 0.6588892340660095, + -4.3895182609558105 + ], + [ + -0.6466434001922607, + 0.14389319717884064, + -0.7490975260734558, + -3.3229973316192627 + ], + [ + -0.14022411406040192, + -0.9877344965934753, + -0.06868699938058853, + -1.224353313446045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 331, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_542267799", + "mask_path": "../../mask/hdr_left_00331.png" + }, + { + "file_path": "../../rgb/hdr_left_00332.png", + "transform_matrix": [ + [ + -0.7471924424171448, + 0.06761729717254639, + 0.6611591577529907, + -4.450508117675781 + ], + [ + -0.6484259366989136, + 0.14401723444461823, + -0.7475310564041138, + -3.3925740718841553 + ], + [ + -0.1457643210887909, + -0.9872624278068542, + -0.06376375257968903, + -1.239570140838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 332, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_642268180", + "mask_path": "../../mask/hdr_left_00332.png" + }, + { + "file_path": "../../rgb/hdr_left_00333.png", + "transform_matrix": [ + [ + -0.7469809651374817, + 0.06606291979551315, + 0.6615550518035889, + -4.493521213531494 + ], + [ + -0.6494945287704468, + 0.14008024334907532, + -0.7473515272140503, + -3.450662136077881 + ], + [ + -0.14204300940036774, + -0.9879338145256042, + -0.06172976642847061, + -1.2405898571014404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 333, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_742268323", + "mask_path": "../../mask/hdr_left_00333.png" + }, + { + "file_path": "../../rgb/hdr_left_00334.png", + "transform_matrix": [ + [ + -0.7451484799385071, + 0.05843109264969826, + 0.6643339991569519, + -4.544692039489746 + ], + [ + -0.6531683206558228, + 0.13715356588363647, + -0.7446879148483276, + -3.5220491886138916 + ], + [ + -0.13462869822978973, + -0.9888249635696411, + -0.06403443217277527, + -1.2652015686035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 334, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_842269897", + "mask_path": "../../mask/hdr_left_00334.png" + }, + { + "file_path": "../../rgb/hdr_left_00335.png", + "transform_matrix": [ + [ + -0.7339054942131042, + 0.05493878573179245, + 0.6770261526107788, + -4.602849006652832 + ], + [ + -0.6652141809463501, + 0.14345434308052063, + -0.7327421307563782, + -3.6128623485565186 + ], + [ + -0.1373782902956009, + -0.9881309270858765, + -0.06873586773872375, + -1.2825015783309937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 335, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_942267894", + "mask_path": "../../mask/hdr_left_00335.png" + }, + { + "file_path": "../../rgb/hdr_left_00336.png", + "transform_matrix": [ + [ + -0.7182031273841858, + 0.05522109195590019, + 0.6936389207839966, + -4.64591646194458 + ], + [ + -0.6815027594566345, + 0.14544622600078583, + -0.717216432094574, + -3.6918647289276123 + ], + [ + -0.14049260318279266, + -0.9878239035606384, + -0.06682660430669785, + -1.2990753650665283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 336, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_42269229", + "mask_path": "../../mask/hdr_left_00336.png" + }, + { + "file_path": "../../rgb/hdr_left_00337.png", + "transform_matrix": [ + [ + -0.6984797716140747, + 0.060889508575201035, + 0.7130346298217773, + -4.685983657836914 + ], + [ + -0.7017943859100342, + 0.1366935521364212, + -0.6991419792175293, + -3.771657943725586 + ], + [ + -0.1400376260280609, + -0.9887402653694153, + -0.052745748311281204, + -1.316941499710083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 337, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_142267465", + "mask_path": "../../mask/hdr_left_00337.png" + }, + { + "file_path": "../../rgb/hdr_left_00338.png", + "transform_matrix": [ + [ + -0.677780270576477, + 0.07668820768594742, + 0.7312542796134949, + -4.73347806930542 + ], + [ + -0.7191665768623352, + 0.13782790303230286, + -0.6810307502746582, + -3.857565402984619 + ], + [ + -0.15301428735256195, + -0.9874828457832336, + -0.038265444338321686, + -1.3363428115844727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 338, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_242267847", + "mask_path": "../../mask/hdr_left_00338.png" + }, + { + "file_path": "../../rgb/hdr_left_00339.png", + "transform_matrix": [ + [ + -0.6590208411216736, + 0.08588648587465286, + 0.7472047805786133, + -4.778326988220215 + ], + [ + -0.7340072393417358, + 0.14329656958580017, + -0.6638519167900085, + -3.934079647064209 + ], + [ + -0.16408780217170715, + -0.9859461188316345, + -0.031394112855196, + -1.3565090894699097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 339, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_342268228", + "mask_path": "../../mask/hdr_left_00339.png" + }, + { + "file_path": "../../rgb/hdr_left_00340.png", + "transform_matrix": [ + [ + -0.6425235271453857, + 0.08723786473274231, + 0.7612838745117188, + -4.806506156921387 + ], + [ + -0.7487252354621887, + 0.13988129794597626, + -0.6479535698890686, + -4.00132942199707 + ], + [ + -0.1630154401063919, + -0.9863178133964539, + -0.024559829384088516, + -1.3684431314468384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 340, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_442267417", + "mask_path": "../../mask/hdr_left_00340.png" + }, + { + "file_path": "../../rgb/hdr_left_00341.png", + "transform_matrix": [ + [ + -0.6282203197479248, + 0.08235129714012146, + 0.7736649513244629, + -4.843000888824463 + ], + [ + -0.7621938586235046, + 0.13449931144714355, + -0.6332222819328308, + -4.086235046386719 + ], + [ + -0.15620407462120056, + -0.9874858260154724, + -0.0217275433242321, + -1.3935130834579468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 341, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_542267560", + "mask_path": "../../mask/hdr_left_00341.png" + }, + { + "file_path": "../../rgb/hdr_left_00342.png", + "transform_matrix": [ + [ + -0.6105966567993164, + 0.07695505023002625, + 0.7881940007209778, + -4.887212753295898 + ], + [ + -0.7754392027854919, + 0.14402268826961517, + -0.6147775650024414, + -4.1906890869140625 + ], + [ + -0.16082803905010223, + -0.9865776896476746, + -0.028265804052352905, + -1.4150978326797485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 342, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_642267942", + "mask_path": "../../mask/hdr_left_00342.png" + }, + { + "file_path": "../../rgb/hdr_left_00343.png", + "transform_matrix": [ + [ + -0.6000533699989319, + 0.07305430620908737, + 0.7966172695159912, + -4.9139404296875 + ], + [ + -0.7836072444915771, + 0.1466430425643921, + -0.6037015318870544, + -4.270124435424805 + ], + [ + -0.1609213650226593, + -0.9864881634712219, + -0.030747758224606514, + -1.4254976511001587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 343, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_742267847", + "mask_path": "../../mask/hdr_left_00343.png" + }, + { + "file_path": "../../rgb/hdr_left_00344.png", + "transform_matrix": [ + [ + -0.5937066674232483, + 0.07574274390935898, + 0.8011088967323303, + -4.9365553855896 + ], + [ + -0.7894012331962585, + 0.13826888799667358, + -0.5981030464172363, + -4.349377632141113 + ], + [ + -0.15607038140296936, + -0.9874942302703857, + -0.022299740463495255, + -1.4387081861495972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 344, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_842268228", + "mask_path": "../../mask/hdr_left_00344.png" + }, + { + "file_path": "../../rgb/hdr_left_00345.png", + "transform_matrix": [ + [ + -0.5933595299720764, + 0.08082566410303116, + 0.800869345664978, + -4.974675178527832 + ], + [ + -0.788227915763855, + 0.14333049952983856, + -0.5984588861465454, + -4.4383721351623535 + ], + [ + -0.1631598174571991, + -0.9863688945770264, + -0.02133745700120926, + -1.464052438735962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 345, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_942268133", + "mask_path": "../../mask/hdr_left_00345.png" + }, + { + "file_path": "../../rgb/hdr_left_00346.png", + "transform_matrix": [ + [ + -0.5997009873390198, + 0.07883798331022263, + 0.7963311076164246, + -5.020025730133057 + ], + [ + -0.7827937602996826, + 0.148774191737175, + -0.6042351722717285, + -4.518426418304443 + ], + [ + -0.16611020267009735, + -0.9857235550880432, + -0.027506152167916298, + -1.471159815788269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 346, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_42267560", + "mask_path": "../../mask/hdr_left_00346.png" + }, + { + "file_path": "../../rgb/hdr_left_00347.png", + "transform_matrix": [ + [ + -0.6085246205329895, + 0.07737674564123154, + 0.7897534966468811, + -5.055012226104736 + ], + [ + -0.7771356105804443, + 0.14317621290683746, + -0.6128301024436951, + -4.5866546630859375 + ], + [ + -0.1604926884174347, + -0.9866678714752197, + -0.026994027197360992, + -1.4799511432647705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 347, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_142266988", + "mask_path": "../../mask/hdr_left_00347.png" + }, + { + "file_path": "../../rgb/hdr_left_00348.png", + "transform_matrix": [ + [ + -0.6193358898162842, + 0.06502100080251694, + 0.7824291586875916, + -5.0985260009765625 + ], + [ + -0.7708039879798889, + 0.13912589848041534, + -0.6216954588890076, + -4.671186923980713 + ], + [ + -0.1492794156074524, + -0.9881377816200256, + -0.03604720160365105, + -1.5001680850982666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 348, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_242268085", + "mask_path": "../../mask/hdr_left_00348.png" + }, + { + "file_path": "../../rgb/hdr_left_00349.png", + "transform_matrix": [ + [ + -0.6235985159873962, + 0.05564342066645622, + 0.7797619700431824, + -5.146076202392578 + ], + [ + -0.7672695517539978, + 0.14749637246131897, + -0.6241332292556763, + -4.765397071838379 + ], + [ + -0.14974094927310944, + -0.9874961972236633, + -0.049285005778074265, + -1.514654278755188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 349, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_342267274", + "mask_path": "../../mask/hdr_left_00349.png" + }, + { + "file_path": "../../rgb/hdr_left_00350.png", + "transform_matrix": [ + [ + -0.6219338178634644, + 0.05645130202174187, + 0.7810325026512146, + -5.176278591156006 + ], + [ + -0.7681554555892944, + 0.14975376427173615, + -0.6225036978721619, + -4.845704078674316 + ], + [ + -0.15210367739200592, + -0.9871104955673218, + -0.049773525446653366, + -1.5342137813568115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 350, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_442268610", + "mask_path": "../../mask/hdr_left_00350.png" + }, + { + "file_path": "../../rgb/hdr_left_00351.png", + "transform_matrix": [ + [ + -0.6182115077972412, + 0.0627361610531807, + 0.7835041284561157, + -5.204296112060547 + ], + [ + -0.7716037034988403, + 0.14154528081417084, + -0.6201553344726562, + -4.926106929779053 + ], + [ + -0.14980748295783997, + -0.9879419803619385, + -0.03909745812416077, + -1.5543228387832642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 351, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_542268037", + "mask_path": "../../mask/hdr_left_00351.png" + }, + { + "file_path": "../../rgb/hdr_left_00352.png", + "transform_matrix": [ + [ + -0.6189638376235962, + 0.0703253448009491, + 0.782264769077301, + -5.24601936340332 + ], + [ + -0.7692366242408752, + 0.14685925841331482, + -0.6218580603599548, + -5.009701251983643 + ], + [ + -0.15861521661281586, + -0.9866543412208557, + -0.03680374100804329, + -1.5771019458770752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 352, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_642268896", + "mask_path": "../../mask/hdr_left_00352.png" + }, + { + "file_path": "../../rgb/hdr_left_00353.png", + "transform_matrix": [ + [ + -0.6228724718093872, + 0.07325345277786255, + 0.7788863182067871, + -5.293729305267334 + ], + [ + -0.7646834254264832, + 0.15322229266166687, + -0.6259249448776245, + -5.087042808532715 + ], + [ + -0.16519390046596527, + -0.9854729175567627, + -0.03942224010825157, + -1.5918549299240112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 353, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_742268800", + "mask_path": "../../mask/hdr_left_00353.png" + }, + { + "file_path": "../../rgb/hdr_right_00103.png", + "transform_matrix": [ + [ + 0.17323291301727295, + -0.011883239261806011, + 0.9848092794418335, + -0.08852559328079224 + ], + [ + -0.9848469495773315, + -0.010394961573183537, + 0.1731141209602356, + -0.003039717674255371 + ], + [ + 0.008179898373782635, + -0.9998753666877747, + -0.013503923080861568, + 0.11846574395895004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 103, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638811_42267560", + "mask_path": "../../mask/hdr_right_00103.png" + }, + { + "file_path": "../../rgb/hdr_right_00195.png", + "transform_matrix": [ + [ + 0.2088203728199005, + -0.02940480411052704, + 0.9775118827819824, + -0.13526660203933716 + ], + [ + -0.9775117039680481, + -0.036336518824100494, + 0.20772725343704224, + 0.05533599853515625 + ], + [ + 0.02941119857132435, + -0.9989069104194641, + -0.03633134812116623, + 0.11883145570755005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 195, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_242267608", + "mask_path": "../../mask/hdr_right_00195.png" + }, + { + "file_path": "../../rgb/hdr_right_00197.png", + "transform_matrix": [ + [ + 0.2050023078918457, + -0.040181368589401245, + 0.9779364466667175, + -0.16245901584625244 + ], + [ + -0.9780462384223938, + -0.04660043492913246, + 0.20311060547828674, + 0.1375979483127594 + ], + [ + 0.037411000579595566, + -0.9981051087379456, + -0.04885243996977806, + 0.12440589815378189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 197, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_442267656", + "mask_path": "../../mask/hdr_right_00197.png" + }, + { + "file_path": "../../rgb/hdr_right_00198.png", + "transform_matrix": [ + [ + 0.19489459693431854, + -0.03597386181354523, + 0.9801643490791321, + -0.16142961382865906 + ], + [ + -0.980226457118988, + -0.042027391493320465, + 0.1933644562959671, + 0.1917433738708496 + ], + [ + 0.03423767536878586, + -0.9984685778617859, + -0.04345344379544258, + 0.12097402662038803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 198, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_542267084", + "mask_path": "../../mask/hdr_right_00198.png" + }, + { + "file_path": "../../rgb/hdr_right_00199.png", + "transform_matrix": [ + [ + 0.18750402331352234, + -0.02226845547556877, + 0.9820114970207214, + -0.15740042924880981 + ], + [ + -0.9813618659973145, + -0.047081656754016876, + 0.18631233274936676, + 0.2678053677082062 + ], + [ + 0.042085833847522736, + -0.9986428022384644, + -0.030681412667036057, + 0.10336314886808395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 199, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_642267704", + "mask_path": "../../mask/hdr_right_00199.png" + }, + { + "file_path": "../../rgb/hdr_right_00200.png", + "transform_matrix": [ + [ + 0.18839167058467865, + -0.006979316473007202, + 0.982069194316864, + -0.15825526416301727 + ], + [ + -0.9804332256317139, + -0.05946619436144829, + 0.1876552253961563, + 0.3435654044151306 + ], + [ + 0.057090211659669876, + -0.9982059597969055, + -0.018045688048005104, + 0.08997663110494614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 200, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_742268562", + "mask_path": "../../mask/hdr_right_00200.png" + }, + { + "file_path": "../../rgb/hdr_right_00201.png", + "transform_matrix": [ + [ + 0.19210536777973175, + 0.00453932536765933, + 0.9813638925552368, + -0.1583091914653778 + ], + [ + -0.9792785048484802, + -0.06443233788013458, + 0.19199517369270325, + 0.41146764159202576 + ], + [ + 0.06410310417413712, + -0.9979117512702942, + -0.00793253444135189, + 0.07729052007198334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 201, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_842267513", + "mask_path": "../../mask/hdr_right_00201.png" + }, + { + "file_path": "../../rgb/hdr_right_00202.png", + "transform_matrix": [ + [ + 0.19469980895519257, + 0.00899386778473854, + 0.9808217287063599, + -0.15021711587905884 + ], + [ + -0.9789302945137024, + -0.060960445553064346, + 0.1948833167552948, + 0.49490177631378174 + ], + [ + 0.061544083058834076, + -0.998099684715271, + -0.003064619842916727, + 0.06305821239948273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 202, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638820_942267179", + "mask_path": "../../mask/hdr_right_00202.png" + }, + { + "file_path": "../../rgb/hdr_right_00203.png", + "transform_matrix": [ + [ + 0.19168749451637268, + 0.00993073359131813, + 0.9814058542251587, + -0.13532978296279907 + ], + [ + -0.9794033765792847, + -0.06270226091146469, + 0.1919308304786682, + 0.5920423269271851 + ], + [ + 0.06344237178564072, + -0.9979828596115112, + -0.002293042605742812, + 0.06513718515634537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 203, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_42268276", + "mask_path": "../../mask/hdr_right_00203.png" + }, + { + "file_path": "../../rgb/hdr_right_00204.png", + "transform_matrix": [ + [ + 0.18896837532520294, + 0.014804781414568424, + 0.9818715453147888, + -0.12624497711658478 + ], + [ + -0.9799822568893433, + -0.060954321175813675, + 0.1895238310098648, + 0.6620514988899231 + ], + [ + 0.06265517324209213, + -0.9980307221412659, + 0.002989982720464468, + 0.066189244389534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 204, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_142268180", + "mask_path": "../../mask/hdr_right_00204.png" + }, + { + "file_path": "../../rgb/hdr_right_00205.png", + "transform_matrix": [ + [ + 0.1942186951637268, + 0.02143765240907669, + 0.9807239770889282, + -0.12370642274618149 + ], + [ + -0.9792465567588806, + -0.05479829013347626, + 0.19512392580509186, + 0.7163546085357666 + ], + [ + 0.05792499706149101, + -0.9982672333717346, + 0.010349896736443043, + 0.06092295050621033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 205, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_242268800", + "mask_path": "../../mask/hdr_right_00205.png" + }, + { + "file_path": "../../rgb/hdr_right_00206.png", + "transform_matrix": [ + [ + 0.21227575838565826, + 0.025622891262173653, + 0.9768738746643066, + -0.12326449155807495 + ], + [ + -0.9752702116966248, + -0.05739672854542732, + 0.21343277394771576, + 0.7878866195678711 + ], + [ + 0.061538126319646835, + -0.9980226159095764, + 0.012805312871932983, + 0.04898148775100708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 206, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_342267990", + "mask_path": "../../mask/hdr_right_00206.png" + }, + { + "file_path": "../../rgb/hdr_right_00207.png", + "transform_matrix": [ + [ + 0.24778036773204803, + 0.03484709933400154, + 0.9681893587112427, + -0.13260525465011597 + ], + [ + -0.9658823013305664, + -0.06883056461811066, + 0.24966731667518616, + 0.8634223937988281 + ], + [ + 0.07534120231866837, + -0.9970195293426514, + 0.016603335738182068, + 0.03775826841592789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 207, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_442268371", + "mask_path": "../../mask/hdr_right_00207.png" + }, + { + "file_path": "../../rgb/hdr_right_00208.png", + "transform_matrix": [ + [ + 0.2973232567310333, + 0.0425901934504509, + 0.9538264870643616, + -0.14985352754592896 + ], + [ + -0.9511500597000122, + -0.07378000766038895, + 0.2997833490371704, + 0.9261922836303711 + ], + [ + 0.08314115554094315, + -0.9963647127151489, + 0.018573153764009476, + 0.02781778573989868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 208, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_542267799", + "mask_path": "../../mask/hdr_right_00208.png" + }, + { + "file_path": "../../rgb/hdr_right_00209.png", + "transform_matrix": [ + [ + 0.3631817698478699, + 0.033943597227334976, + 0.9310998320579529, + -0.17807281017303467 + ], + [ + -0.9282140135765076, + -0.07341139018535614, + 0.3647323548793793, + 0.9973835349082947 + ], + [ + 0.08073365688323975, + -0.9967238903045654, + 0.004845242947340012, + 0.019342049956321716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 209, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_642268419", + "mask_path": "../../mask/hdr_right_00209.png" + }, + { + "file_path": "../../rgb/hdr_right_00210.png", + "transform_matrix": [ + [ + 0.4260774254798889, + 0.023558074608445168, + 0.9043799638748169, + -0.2083902657032013 + ], + [ + -0.9013779163360596, + -0.07436445355415344, + 0.42660021781921387, + 1.0754122734069824 + ], + [ + 0.07730360329151154, + -0.9969528317451477, + -0.010450286790728569, + 0.02388138324022293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 210, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_742268085", + "mask_path": "../../mask/hdr_right_00210.png" + }, + { + "file_path": "../../rgb/hdr_right_00211.png", + "transform_matrix": [ + [ + 0.47717374563217163, + 0.01919363997876644, + 0.8785994648933411, + -0.22994931042194366 + ], + [ + -0.8757686018943787, + -0.07270466536283493, + 0.4772246479988098, + 1.132245421409607 + ], + [ + 0.07303795963525772, + -0.9971688985824585, + -0.01788357086479664, + 0.02284252643585205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 211, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_842267751", + "mask_path": "../../mask/hdr_right_00211.png" + }, + { + "file_path": "../../rgb/hdr_right_00212.png", + "transform_matrix": [ + [ + 0.525333821773529, + 0.016918625682592392, + 0.8507280349731445, + -0.2506639063358307 + ], + [ + -0.8481020331382751, + -0.07054806500673294, + 0.5251151919364929, + 1.1812293529510498 + ], + [ + 0.0689014345407486, + -0.9973649382591248, + -0.02271256037056446, + 0.014791712164878845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 212, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638821_942268133", + "mask_path": "../../mask/hdr_right_00212.png" + }, + { + "file_path": "../../rgb/hdr_right_00213.png", + "transform_matrix": [ + [ + 0.5771738886833191, + 0.027949267998337746, + 0.8161427974700928, + -0.2843948006629944 + ], + [ + -0.8130130171775818, + -0.07417955994606018, + 0.5775008797645569, + 1.2463563680648804 + ], + [ + 0.07668184489011765, + -0.9968531727790833, + -0.02009139023721218, + -0.0014121457934379578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 213, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_42268753", + "mask_path": "../../mask/hdr_right_00213.png" + }, + { + "file_path": "../../rgb/hdr_right_00214.png", + "transform_matrix": [ + [ + 0.6292523741722107, + 0.036649588495492935, + 0.7763364315032959, + -0.33316171169281006 + ], + [ + -0.7725805044174194, + -0.07926222681999207, + 0.6299499273300171, + 1.3085075616836548 + ], + [ + 0.08462155610322952, + -0.9961798787117004, + -0.021561194211244583, + -0.01291629672050476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 214, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_142267704", + "mask_path": "../../mask/hdr_right_00214.png" + }, + { + "file_path": "../../rgb/hdr_right_00215.png", + "transform_matrix": [ + [ + 0.6807215213775635, + 0.038831837475299835, + 0.7315124273300171, + -0.38664206862449646 + ], + [ + -0.7276058197021484, + -0.07989322394132614, + 0.6813272833824158, + 1.3583282232284546 + ], + [ + 0.08490007370710373, + -0.996046781539917, + -0.026130765676498413, + -0.02006758749485016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 215, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_242267131", + "mask_path": "../../mask/hdr_right_00215.png" + }, + { + "file_path": "../../rgb/hdr_right_00216.png", + "transform_matrix": [ + [ + 0.7312654256820679, + 0.03589917719364166, + 0.6811476945877075, + -0.4489898979663849 + ], + [ + -0.6769389510154724, + -0.08433321118354797, + 0.731191873550415, + 1.4179108142852783 + ], + [ + 0.08369255065917969, + -0.9957907199859619, + -0.03736840933561325, + -0.03405211120843887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 216, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_342267036", + "mask_path": "../../mask/hdr_right_00216.png" + }, + { + "file_path": "../../rgb/hdr_right_00217.png", + "transform_matrix": [ + [ + 0.7718003988265991, + 0.0379071943461895, + 0.6347339749336243, + -0.5101871490478516 + ], + [ + -0.6305086612701416, + -0.0836687982082367, + 0.7716594934463501, + 1.4737077951431274 + ], + [ + 0.08235888183116913, + -0.9957724213600159, + -0.04067479446530342, + -0.034904249012470245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 217, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_442265033", + "mask_path": "../../mask/hdr_right_00217.png" + }, + { + "file_path": "../../rgb/hdr_right_00218.png", + "transform_matrix": [ + [ + 0.8046023845672607, + 0.03750794008374214, + 0.5926283001899719, + -0.5558195114135742 + ], + [ + -0.5888026356697083, + -0.07899156212806702, + 0.8044077754020691, + 1.5137791633605957 + ], + [ + 0.07698431611061096, + -0.9961694478988647, + -0.04147202894091606, + -0.03383146971464157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 218, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_542266845", + "mask_path": "../../mask/hdr_right_00218.png" + }, + { + "file_path": "../../rgb/hdr_right_00219.png", + "transform_matrix": [ + [ + 0.834570050239563, + 0.03483862802386284, + 0.5497990846633911, + -0.5990857481956482 + ], + [ + -0.5464504361152649, + -0.07426075637340546, + 0.8341925740242004, + 1.5484867095947266 + ], + [ + 0.06989061832427979, + -0.9966301321983337, + -0.04293821379542351, + -0.04389416426420212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 219, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_642268180", + "mask_path": "../../mask/hdr_right_00219.png" + }, + { + "file_path": "../../rgb/hdr_right_00220.png", + "transform_matrix": [ + [ + 0.8658803701400757, + 0.04337776452302933, + 0.4983670115470886, + -0.6681469678878784 + ], + [ + -0.49505698680877686, + -0.068886898458004, + 0.8661254048347473, + 1.5884000062942505 + ], + [ + 0.07190153002738953, + -0.9966809749603271, + -0.03817334398627281, + -0.05787684768438339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 220, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_742266178", + "mask_path": "../../mask/hdr_right_00220.png" + }, + { + "file_path": "../../rgb/hdr_right_00221.png", + "transform_matrix": [ + [ + 0.8999384045600891, + 0.0532136894762516, + 0.4327576160430908, + -0.7444586753845215 + ], + [ + -0.4292384386062622, + -0.06620580703020096, + 0.9007614850997925, + 1.6164326667785645 + ], + [ + 0.07658389955759048, + -0.9963859915733337, + -0.036739785224199295, + -0.0665353387594223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 221, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_842267751", + "mask_path": "../../mask/hdr_right_00221.png" + }, + { + "file_path": "../../rgb/hdr_right_00222.png", + "transform_matrix": [ + [ + 0.9330434203147888, + 0.056635331362485886, + 0.35527825355529785, + -0.8068476319313049 + ], + [ + -0.351616770029068, + -0.06541544944047928, + 0.9338556528091431, + 1.6322460174560547 + ], + [ + 0.07612991333007812, + -0.9962496161460876, + -0.04112151637673378, + -0.07894199341535568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 222, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638822_942267179", + "mask_path": "../../mask/hdr_right_00222.png" + }, + { + "file_path": "../../rgb/hdr_right_00223.png", + "transform_matrix": [ + [ + 0.9611727595329285, + 0.0575045682489872, + 0.26988914608955383, + -0.8881270885467529 + ], + [ + -0.2657856047153473, + -0.07004993408918381, + 0.9614837765693665, + 1.6545501947402954 + ], + [ + 0.07419542223215103, + -0.9958846569061279, + -0.05204620584845543, + -0.08725214749574661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 223, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_42267560", + "mask_path": "../../mask/hdr_right_00223.png" + }, + { + "file_path": "../../rgb/hdr_right_00224.png", + "transform_matrix": [ + [ + 0.979770839214325, + 0.05626456439495087, + 0.19205045700073242, + -0.9675293564796448 + ], + [ + -0.18839795887470245, + -0.0643286183476448, + 0.9799836874008179, + 1.6750978231430054 + ], + [ + 0.06749270856380463, + -0.9963414072990417, + -0.052427180111408234, + -0.08235335350036621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 224, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_142267704", + "mask_path": "../../mask/hdr_right_00224.png" + }, + { + "file_path": "../../rgb/hdr_right_00225.png", + "transform_matrix": [ + [ + 0.99162358045578, + 0.05123691260814667, + 0.11856350302696228, + -1.0224730968475342 + ], + [ + -0.11557897925376892, + -0.057748083025217056, + 0.9916183352470398, + 1.6809691190719604 + ], + [ + 0.05765426531434059, + -0.9970155358314514, + -0.05134245380759239, + -0.0818220004439354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 225, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_242267608", + "mask_path": "../../mask/hdr_right_00225.png" + }, + { + "file_path": "../../rgb/hdr_right_00226.png", + "transform_matrix": [ + [ + 0.9979321360588074, + 0.04770584776997566, + 0.0430765375494957, + -1.0796642303466797 + ], + [ + -0.04043720290064812, + -0.054972484707832336, + 0.9976687431335449, + 1.6732059717178345 + ], + [ + 0.04996265470981598, + -0.9973475933074951, + -0.052929721772670746, + -0.09081242233514786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 226, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_342266798", + "mask_path": "../../mask/hdr_right_00226.png" + }, + { + "file_path": "../../rgb/hdr_right_00227.png", + "transform_matrix": [ + [ + 0.9971493482589722, + 0.06525976955890656, + -0.037874240428209305, + -1.1566331386566162 + ], + [ + 0.04092445969581604, + -0.046054303646087646, + 0.9981002807617188, + 1.6622406244277954 + ], + [ + 0.06339150667190552, + -0.99680495262146, + -0.04859374091029167, + -0.10742048174142838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 227, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_442267656", + "mask_path": "../../mask/hdr_right_00227.png" + }, + { + "file_path": "../../rgb/hdr_right_00228.png", + "transform_matrix": [ + [ + 0.9895774126052856, + 0.07711607217788696, + -0.1216130182147026, + -1.2245407104492188 + ], + [ + 0.12481681257486343, + -0.03816571086645126, + 0.9914455413818359, + 1.6423909664154053 + ], + [ + 0.07181493937969208, + -0.9962913393974304, + -0.0473933070898056, + -0.11891820281744003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 228, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_542268514", + "mask_path": "../../mask/hdr_right_00228.png" + }, + { + "file_path": "../../rgb/hdr_right_00229.png", + "transform_matrix": [ + [ + 0.97755366563797, + 0.07870657742023468, + -0.19543319940567017, + -1.2775530815124512 + ], + [ + 0.19863423705101013, + -0.03505731746554375, + 0.979446530342102, + 1.6155011653900146 + ], + [ + 0.07023751735687256, + -0.9962812066078186, + -0.0499042347073555, + -0.12921211123466492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 229, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_642267704", + "mask_path": "../../mask/hdr_right_00229.png" + }, + { + "file_path": "../../rgb/hdr_right_00230.png", + "transform_matrix": [ + [ + 0.9637068510055542, + 0.08597534894943237, + -0.2527397871017456, + -1.3455162048339844 + ], + [ + 0.2563103139400482, + -0.033211320638656616, + 0.9660238027572632, + 1.5898473262786865 + ], + [ + 0.07466041296720505, + -0.9957435727119446, + -0.05404234677553177, + -0.14127705991268158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 230, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_742267847", + "mask_path": "../../mask/hdr_right_00230.png" + }, + { + "file_path": "../../rgb/hdr_right_00231.png", + "transform_matrix": [ + [ + 0.9509879350662231, + 0.0954165905714035, + -0.29413869976997375, + -1.416064739227295 + ], + [ + 0.2979862093925476, + -0.02862725406885147, + 0.954140841960907, + 1.566659688949585 + ], + [ + 0.08262048661708832, + -0.9950256943702698, + -0.05565700680017471, + -0.14761710166931152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 231, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_842267990", + "mask_path": "../../mask/hdr_right_00231.png" + }, + { + "file_path": "../../rgb/hdr_right_00232.png", + "transform_matrix": [ + [ + 0.9386383295059204, + 0.09739100933074951, + -0.3308672308921814, + -1.4772124290466309 + ], + [ + 0.33461257815361023, + -0.024553950875997543, + 0.9420358538627625, + 1.5421125888824463 + ], + [ + 0.08362171798944473, + -0.9949433207511902, + -0.05563553422689438, + -0.1535322666168213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 232, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638823_942268133", + "mask_path": "../../mask/hdr_right_00232.png" + }, + { + "file_path": "../../rgb/hdr_right_00233.png", + "transform_matrix": [ + [ + 0.9247360229492188, + 0.09102753549814224, + -0.3695637285709381, + -1.5470556020736694 + ], + [ + 0.3728148937225342, + -0.021137021481990814, + 0.9276649951934814, + 1.5086652040481567 + ], + [ + 0.0766315758228302, + -0.9956240057945251, + -0.05348258838057518, + -0.16845640540122986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 233, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_42267084", + "mask_path": "../../mask/hdr_right_00233.png" + }, + { + "file_path": "../../rgb/hdr_right_00234.png", + "transform_matrix": [ + [ + 0.9049760699272156, + 0.09304245561361313, + -0.4151644706726074, + -1.6411281824111938 + ], + [ + 0.41764581203460693, + -0.008080056868493557, + 0.9085740447044373, + 1.4657220840454102 + ], + [ + 0.08118139952421188, + -0.9956293106079102, + -0.04617104306817055, + -0.18947207927703857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 234, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_142267465", + "mask_path": "../../mask/hdr_right_00234.png" + }, + { + "file_path": "../../rgb/hdr_right_00235.png", + "transform_matrix": [ + [ + 0.8747188448905945, + 0.09583554416894913, + -0.475060373544693, + -1.7072993516921997 + ], + [ + 0.4770396053791046, + 0.0025523772928863764, + 0.8788781762123108, + 1.4208505153656006 + ], + [ + 0.08544029295444489, + -0.9953939318656921, + -0.04348473250865936, + -0.20239663124084473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 235, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_242268085", + "mask_path": "../../mask/hdr_right_00235.png" + }, + { + "file_path": "../../rgb/hdr_right_00236.png", + "transform_matrix": [ + [ + 0.8370834589004517, + 0.09673716872930527, + -0.5384544730186462, + -1.7459721565246582 + ], + [ + 0.5406384468078613, + 0.004261859226971865, + 0.8412442803382874, + 1.3784176111221313 + ], + [ + 0.08367440104484558, + -0.995300829410553, + -0.04873229190707207, + -0.2123747020959854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 236, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_342266082", + "mask_path": "../../mask/hdr_right_00236.png" + }, + { + "file_path": "../../rgb/hdr_right_00237.png", + "transform_matrix": [ + [ + 0.7972722053527832, + 0.1075613796710968, + -0.5939592123031616, + -1.8058408498764038 + ], + [ + 0.5970554947853088, + 0.004200725816190243, + 0.8021889925003052, + 1.3379868268966675 + ], + [ + 0.08877961337566376, + -0.9941896200180054, + -0.06087098643183708, + -0.22216804325580597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 237, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_442268371", + "mask_path": "../../mask/hdr_right_00237.png" + }, + { + "file_path": "../../rgb/hdr_right_00238.png", + "transform_matrix": [ + [ + 0.7607710361480713, + 0.10922227054834366, + -0.6397639513015747, + -1.8646661043167114 + ], + [ + 0.6427097916603088, + 0.010344020090997219, + 0.7660399675369263, + 1.3023236989974976 + ], + [ + 0.09028635174036026, + -0.9939634799957275, + -0.06232878565788269, + -0.22445374727249146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 238, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_542268514", + "mask_path": "../../mask/hdr_right_00238.png" + }, + { + "file_path": "../../rgb/hdr_right_00239.png", + "transform_matrix": [ + [ + 0.7277447581291199, + 0.10542415082454681, + -0.6776972413063049, + -1.9037296772003174 + ], + [ + 0.6803646683692932, + 0.013730533421039581, + 0.7327452898025513, + 1.2703697681427002 + ], + [ + 0.08655416965484619, + -0.9943326115608215, + -0.06173453852534294, + -0.22889377176761627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 239, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_642268180", + "mask_path": "../../mask/hdr_right_00239.png" + }, + { + "file_path": "../../rgb/hdr_right_00240.png", + "transform_matrix": [ + [ + 0.6966527104377747, + 0.10407515615224838, + -0.7098192572593689, + -1.9421963691711426 + ], + [ + 0.7125664949417114, + 0.014379368163645267, + 0.7014572620391846, + 1.2382062673568726 + ], + [ + 0.0832110270857811, + -0.9944655299186707, + -0.06414303183555603, + -0.23902961611747742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 240, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_742267608", + "mask_path": "../../mask/hdr_right_00240.png" + }, + { + "file_path": "../../rgb/hdr_right_00241.png", + "transform_matrix": [ + [ + 0.6687425971031189, + 0.10191397368907928, + -0.7364758253097534, + -2.0052449703216553 + ], + [ + 0.7381425499916077, + 0.027625493705272675, + 0.6740790009498596, + 1.202314019203186 + ], + [ + 0.08904356509447098, + -0.9944095611572266, + -0.05675270035862923, + -0.26169246435165405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 241, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_842268466", + "mask_path": "../../mask/hdr_right_00241.png" + }, + { + "file_path": "../../rgb/hdr_right_00242.png", + "transform_matrix": [ + [ + 0.6355428695678711, + 0.1030496209859848, + -0.7651575803756714, + -2.0602989196777344 + ], + [ + 0.7654599547386169, + 0.04526231437921524, + 0.6418898701667786, + 1.157412052154541 + ], + [ + 0.10077929496765137, + -0.9936457872390747, + -0.05011419951915741, + -0.2829183340072632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 242, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638824_942267656", + "mask_path": "../../mask/hdr_right_00242.png" + }, + { + "file_path": "../../rgb/hdr_right_00243.png", + "transform_matrix": [ + [ + 0.6014594435691833, + 0.10068190097808838, + -0.7925337553024292, + -2.096005439758301 + ], + [ + 0.7924104332923889, + 0.05103689432144165, + 0.6078495383262634, + 1.1055909395217896 + ], + [ + 0.10164790600538254, + -0.9936087131500244, + -0.04908476024866104, + -0.2932790219783783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 243, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_42267799", + "mask_path": "../../mask/hdr_right_00243.png" + }, + { + "file_path": "../../rgb/hdr_right_00244.png", + "transform_matrix": [ + [ + 0.5676510334014893, + 0.09647023677825928, + -0.8175975680351257, + -2.143160820007324 + ], + [ + 0.81731116771698, + 0.05322742462158203, + 0.5737327337265015, + 1.0490062236785889 + ], + [ + 0.09886673837900162, + -0.9939115643501282, + -0.04863160103559494, + -0.304196298122406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 244, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_142267465", + "mask_path": "../../mask/hdr_right_00244.png" + }, + { + "file_path": "../../rgb/hdr_right_00245.png", + "transform_matrix": [ + [ + 0.5370257496833801, + 0.09311199188232422, + -0.8384113311767578, + -2.198474407196045 + ], + [ + 0.8370499610900879, + 0.06447482854127884, + 0.5433141589164734, + 0.995795726776123 + ], + [ + 0.1046455055475235, + -0.9935658574104309, + -0.043314751237630844, + -0.31302183866500854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 245, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_242267370", + "mask_path": "../../mask/hdr_right_00245.png" + }, + { + "file_path": "../../rgb/hdr_right_00246.png", + "transform_matrix": [ + [ + 0.5114299058914185, + 0.08696488291025162, + -0.8549132347106934, + -2.2421133518218994 + ], + [ + 0.8527643084526062, + 0.07133743166923523, + 0.5174010992050171, + 0.9461066722869873 + ], + [ + 0.10598304867744446, + -0.9936538338661194, + -0.03767646104097366, + -0.3160521984100342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 246, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_342267990", + "mask_path": "../../mask/hdr_right_00246.png" + }, + { + "file_path": "../../rgb/hdr_right_00247.png", + "transform_matrix": [ + [ + 0.48434269428253174, + 0.07783850282430649, + -0.8714088797569275, + -2.276808738708496 + ], + [ + 0.8690625429153442, + 0.07185085862874985, + 0.4894566535949707, + 0.8952922821044922 + ], + [ + 0.10071004182100296, + -0.9943735003471375, + -0.03284608572721481, + -0.3253036439418793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 247, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_442267417", + "mask_path": "../../mask/hdr_right_00247.png" + }, + { + "file_path": "../../rgb/hdr_right_00248.png", + "transform_matrix": [ + [ + 0.45111072063446045, + 0.06790032982826233, + -0.8898812532424927, + -2.3176095485687256 + ], + [ + 0.8871961236000061, + 0.07409945875406265, + 0.45540350675582886, + 0.8356263637542725 + ], + [ + 0.09686177968978882, + -0.9949365854263306, + -0.026813853532075882, + -0.34293657541275024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 248, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_542268276", + "mask_path": "../../mask/hdr_right_00248.png" + }, + { + "file_path": "../../rgb/hdr_right_00249.png", + "transform_matrix": [ + [ + 0.40782198309898376, + 0.06502674520015717, + -0.9107429385185242, + -2.3575687408447266 + ], + [ + 0.907184898853302, + 0.08412829041481018, + 0.41223540902137756, + 0.7659633159637451 + ], + [ + 0.10342557728290558, + -0.9943310022354126, + -0.024681907147169113, + -0.3635461926460266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 249, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_642266988", + "mask_path": "../../mask/hdr_right_00249.png" + }, + { + "file_path": "../../rgb/hdr_right_00250.png", + "transform_matrix": [ + [ + 0.35959723591804504, + 0.06461052596569061, + -0.9308680891990662, + -2.381598949432373 + ], + [ + 0.9267802834510803, + 0.09124815464019775, + 0.36435163021087646, + 0.6986568570137024 + ], + [ + 0.10848094522953033, + -0.9937300086021423, + -0.027067171409726143, + -0.380770742893219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 250, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_742267370", + "mask_path": "../../mask/hdr_right_00250.png" + }, + { + "file_path": "../../rgb/hdr_right_00251.png", + "transform_matrix": [ + [ + 0.3088434040546417, + 0.06775349378585815, + -0.9486965537071228, + -2.3988261222839355 + ], + [ + 0.9452043175697327, + 0.08914578706026077, + 0.3140731155872345, + 0.6257437467575073 + ], + [ + 0.10585185885429382, + -0.9937114715576172, + -0.03650880604982376, + -0.3941180109977722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 251, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_842267274", + "mask_path": "../../mask/hdr_right_00251.png" + }, + { + "file_path": "../../rgb/hdr_right_00252.png", + "transform_matrix": [ + [ + 0.2606430649757385, + 0.07476642727851868, + -0.9625358581542969, + -2.4315712451934814 + ], + [ + 0.9594278335571289, + 0.09098958224058151, + 0.2668692469596863, + 0.5449689030647278 + ], + [ + 0.10753358155488968, + -0.9930412769317627, + -0.04801717773079872, + -0.4089122712612152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 252, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638825_942267417", + "mask_path": "../../mask/hdr_right_00252.png" + }, + { + "file_path": "../../rgb/hdr_right_00253.png", + "transform_matrix": [ + [ + 0.219941183924675, + 0.0748395174741745, + -0.9726381897926331, + -2.4630072116851807 + ], + [ + 0.9695364832878113, + 0.09342948347330093, + 0.2264288067817688, + 0.4711582660675049 + ], + [ + 0.10781889408826828, + -0.9928091764450073, + -0.05201064795255661, + -0.41368556022644043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 253, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_42266368", + "mask_path": "../../mask/hdr_right_00253.png" + }, + { + "file_path": "../../rgb/hdr_right_00254.png", + "transform_matrix": [ + [ + 0.185044065117836, + 0.07417085766792297, + -0.9799272418022156, + -2.4742462635040283 + ], + [ + 0.9774417281150818, + 0.08941881358623505, + 0.1913428157567978, + 0.40884074568748474 + ], + [ + 0.10181599110364914, + -0.993228554725647, + -0.05595126748085022, + -0.41651663184165955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 254, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_142267227", + "mask_path": "../../mask/hdr_right_00254.png" + }, + { + "file_path": "../../rgb/hdr_right_00255.png", + "transform_matrix": [ + [ + 0.1514654904603958, + 0.06255219131708145, + -0.9864813685417175, + -2.4861764907836914 + ], + [ + 0.983793318271637, + 0.08734952658414841, + 0.15659159421920776, + 0.3343038856983185 + ], + [ + 0.09596382826566696, + -0.9942119121551514, + -0.04830797761678696, + -0.43675869703292847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 255, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_242267608", + "mask_path": "../../mask/hdr_right_00255.png" + }, + { + "file_path": "../../rgb/hdr_right_00256.png", + "transform_matrix": [ + [ + 0.11682204902172089, + 0.0535554513335228, + -0.9917079210281372, + -2.504038095474243 + ], + [ + 0.9876143336296082, + 0.09904422610998154, + 0.1216885894536972, + 0.2422136664390564 + ], + [ + 0.10474000871181488, + -0.9936407804489136, + -0.04132158309221268, + -0.4546482563018799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 256, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_342268466", + "mask_path": "../../mask/hdr_right_00256.png" + }, + { + "file_path": "../../rgb/hdr_right_00257.png", + "transform_matrix": [ + [ + 0.08464285731315613, + 0.0493953600525856, + -0.9951862096786499, + -2.5018229484558105 + ], + [ + 0.9902355074882507, + 0.10685951262712479, + 0.08952568471431732, + 0.17254149913787842 + ], + [ + 0.11076727509498596, + -0.9930464029312134, + -0.03986814245581627, + -0.4684036374092102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 257, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_442267417", + "mask_path": "../../mask/hdr_right_00257.png" + }, + { + "file_path": "../../rgb/hdr_right_00258.png", + "transform_matrix": [ + [ + 0.07049679756164551, + 0.04824991151690483, + -0.9963443875312805, + -2.502979278564453 + ], + [ + 0.9914284348487854, + 0.1067553162574768, + 0.07531879842281342, + 0.10543566942214966 + ], + [ + 0.10999918729066849, + -0.9931139349937439, + -0.04031043127179146, + -0.47777259349823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 258, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_542268753", + "mask_path": "../../mask/hdr_right_00258.png" + }, + { + "file_path": "../../rgb/hdr_right_00259.png", + "transform_matrix": [ + [ + 0.06820902973413467, + 0.04978299140930176, + -0.9964281916618347, + -2.513007164001465 + ], + [ + 0.9907190203666687, + 0.11432075500488281, + 0.07352985441684723, + 0.026699751615524292 + ], + [ + 0.11757295578718185, + -0.992195725440979, + -0.041523247957229614, + -0.4996485114097595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 259, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_642268180", + "mask_path": "../../mask/hdr_right_00259.png" + }, + { + "file_path": "../../rgb/hdr_right_00260.png", + "transform_matrix": [ + [ + 0.0687837228178978, + 0.047204166650772095, + -0.9965142607688904, + -2.523303747177124 + ], + [ + 0.9893331527709961, + 0.1253417730331421, + 0.07422544062137604, + -0.04103866219520569 + ], + [ + 0.12840859591960907, + -0.9909900426864624, + -0.03807917237281799, + -0.5179227590560913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 260, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_742268085", + "mask_path": "../../mask/hdr_right_00260.png" + }, + { + "file_path": "../../rgb/hdr_right_00261.png", + "transform_matrix": [ + [ + 0.07315713912248611, + 0.04627316817641258, + -0.9962463974952698, + -2.524622917175293 + ], + [ + 0.9886325597763062, + 0.12819990515708923, + 0.07855262607336044, + -0.09835276007652283 + ], + [ + 0.13135357201099396, + -0.9906681776046753, + -0.036368418484926224, + -0.5260642170906067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 261, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_842267751", + "mask_path": "../../mask/hdr_right_00261.png" + }, + { + "file_path": "../../rgb/hdr_right_00262.png", + "transform_matrix": [ + [ + 0.07995472103357315, + 0.034718018025159836, + -0.9961937069892883, + -2.52632999420166 + ], + [ + 0.9892905354499817, + 0.11966708302497864, + 0.08357115089893341, + -0.19978824257850647 + ], + [ + 0.12211301922798157, + -0.9922068119049072, + -0.02477825991809368, + -0.5318239331245422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 262, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638826_942267417", + "mask_path": "../../mask/hdr_right_00262.png" + }, + { + "file_path": "../../rgb/hdr_right_00263.png", + "transform_matrix": [ + [ + 0.07778600603342056, + 0.026603972539305687, + -0.9966151714324951, + -2.521819591522217 + ], + [ + 0.98992520570755, + 0.11656704545021057, + 0.0803755670785904, + -0.28457948565483093 + ], + [ + 0.11831078678369522, + -0.9928264021873474, + -0.017268653959035873, + -0.5412365198135376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 263, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_42267322", + "mask_path": "../../mask/hdr_right_00263.png" + }, + { + "file_path": "../../rgb/hdr_right_00266.png", + "transform_matrix": [ + [ + 0.06058226898312569, + 0.03140587732195854, + -0.9976691007614136, + -2.489504098892212 + ], + [ + 0.990485668182373, + 0.1218377873301506, + 0.06398144364356995, + -0.4457804262638092 + ], + [ + 0.12356317043304443, + -0.9920530915260315, + -0.023725859820842743, + -0.5834733843803406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 266, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_342267513", + "mask_path": "../../mask/hdr_right_00266.png" + }, + { + "file_path": "../../rgb/hdr_right_00267.png", + "transform_matrix": [ + [ + 0.0636659562587738, + 0.027800189331173897, + -0.9975840449333191, + -2.4941458702087402 + ], + [ + 0.9896938800811768, + 0.12672051787376404, + 0.06669382005929947, + -0.504725456237793 + ], + [ + 0.12826843559741974, + -0.9915488362312317, + -0.019445888698101044, + -0.5851969122886658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 267, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_442268133", + "mask_path": "../../mask/hdr_right_00267.png" + }, + { + "file_path": "../../rgb/hdr_right_00268.png", + "transform_matrix": [ + [ + 0.07202886790037155, + 0.027231786400079727, + -0.9970307350158691, + -2.5078647136688232 + ], + [ + 0.9896067380905151, + 0.12278664112091064, + 0.07484622299671173, + -0.5561188459396362 + ], + [ + 0.12446025013923645, + -0.9920593500137329, + -0.01810457929968834, + -0.5848677158355713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 268, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_542268276", + "mask_path": "../../mask/hdr_right_00268.png" + }, + { + "file_path": "../../rgb/hdr_right_00269.png", + "transform_matrix": [ + [ + 0.08360860496759415, + 0.02375395968556404, + -0.9962155818939209, + -2.524099349975586 + ], + [ + 0.9893250465393066, + 0.11776135861873627, + 0.08583824336528778, + -0.6237640380859375 + ], + [ + 0.11935469508171082, + -0.9927577972412109, + -0.013654528185725212, + -0.5959194898605347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 269, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_642267465", + "mask_path": "../../mask/hdr_right_00269.png" + }, + { + "file_path": "../../rgb/hdr_right_00270.png", + "transform_matrix": [ + [ + 0.09147758781909943, + 0.007904032245278358, + -0.9957758188247681, + -2.550396203994751 + ], + [ + 0.9873786568641663, + 0.129108265042305, + 0.09173101931810379, + -0.6989148855209351 + ], + [ + 0.1292879283428192, + -0.9915990233421326, + 0.004006246104836464, + -0.6139236092567444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 270, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_742268085", + "mask_path": "../../mask/hdr_right_00270.png" + }, + { + "file_path": "../../rgb/hdr_right_00271.png", + "transform_matrix": [ + [ + 0.1017921194434166, + -0.001322524854913354, + -0.994804859161377, + -2.573333263397217 + ], + [ + 0.9854162931442261, + 0.137202188372612, + 0.10064905136823654, + -0.7502233982086182 + ], + [ + 0.13635630905628204, + -0.9905421733856201, + 0.015269340015947819, + -0.6283766031265259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 271, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638827_842267513", + "mask_path": "../../mask/hdr_right_00271.png" + }, + { + "file_path": "../../rgb/hdr_right_00273.png", + "transform_matrix": [ + [ + 0.13181264698505402, + 0.006668886635452509, + -0.9912523031234741, + -2.6414337158203125 + ], + [ + 0.9806851148605347, + 0.14489799737930298, + 0.13138233125209808, + -0.8593385219573975 + ], + [ + 0.14450663328170776, + -0.9894241094589233, + 0.012559312395751476, + -0.6625229120254517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 273, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_42268514", + "mask_path": "../../mask/hdr_right_00273.png" + }, + { + "file_path": "../../rgb/hdr_right_00274.png", + "transform_matrix": [ + [ + 0.15120570361614227, + 0.006429987959563732, + -0.9884814620018005, + -2.6755073070526123 + ], + [ + 0.9768298864364624, + 0.15224656462669373, + 0.15041384100914001, + -0.906294584274292 + ], + [ + 0.15146009624004364, + -0.9883216023445129, + 0.016739554703235626, + -0.664808988571167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 274, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_142267227", + "mask_path": "../../mask/hdr_right_00274.png" + }, + { + "file_path": "../../rgb/hdr_right_00276.png", + "transform_matrix": [ + [ + 0.1846783608198166, + 0.012044528499245644, + -0.982725203037262, + -2.711517095565796 + ], + [ + 0.9722433090209961, + 0.14391928911209106, + 0.18447250127792358, + -0.9999958276748657 + ], + [ + 0.14365500211715698, + -0.9895160794258118, + 0.014868570491671562, + -0.6829659938812256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 276, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_342268943", + "mask_path": "../../mask/hdr_right_00276.png" + }, + { + "file_path": "../../rgb/hdr_right_00277.png", + "transform_matrix": [ + [ + 0.19084040820598602, + 0.010889998637139797, + -0.9815606474876404, + -2.732802152633667 + ], + [ + 0.9708661437034607, + 0.14552001655101776, + 0.19037562608718872, + -1.0684195756912231 + ], + [ + 0.14490991830825806, + -0.9892954230308533, + 0.017198367044329643, + -0.6919562816619873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 277, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_442268371", + "mask_path": "../../mask/hdr_right_00277.png" + }, + { + "file_path": "../../rgb/hdr_right_00278.png", + "transform_matrix": [ + [ + 0.18988890945911407, + 0.009767980314791203, + -0.9817570447921753, + -2.7442777156829834 + ], + [ + 0.9708752036094666, + 0.14692625403404236, + 0.18924611806869507, + -1.1266380548477173 + ], + [ + 0.1460944265127182, + -0.9890992045402527, + 0.018416186794638634, + -0.7075870037078857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 278, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_542266607", + "mask_path": "../../mask/hdr_right_00278.png" + }, + { + "file_path": "../../rgb/hdr_right_00279.png", + "transform_matrix": [ + [ + 0.18808387219905853, + 0.013572128489613533, + -0.9820591807365417, + -2.75101375579834 + ], + [ + 0.9715763926506042, + 0.14377573132514954, + 0.18806326389312744, + -1.1801685094833374 + ], + [ + 0.1437486857175827, + -0.9895172119140625, + 0.013855544850230217, + -0.721198320388794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 279, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_642266988", + "mask_path": "../../mask/hdr_right_00279.png" + }, + { + "file_path": "../../rgb/hdr_right_00280.png", + "transform_matrix": [ + [ + 0.18688933551311493, + 0.01955326460301876, + -0.9821863174438477, + -2.759204387664795 + ], + [ + 0.9720491766929626, + 0.14094126224517822, + 0.18776631355285645, + -1.2407946586608887 + ], + [ + 0.14210203289985657, + -0.9898248314857483, + 0.007333687972277403, + -0.7368043065071106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 280, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_742269277", + "mask_path": "../../mask/hdr_right_00280.png" + }, + { + "file_path": "../../rgb/hdr_right_00281.png", + "transform_matrix": [ + [ + 0.1943654865026474, + 0.025395119562745094, + -0.9806004166603088, + -2.7724432945251465 + ], + [ + 0.9688253402709961, + 0.15158601105213165, + 0.1959572583436966, + -1.2995753288269043 + ], + [ + 0.15362167358398438, + -0.9881178140640259, + 0.004859650507569313, + -0.7503719329833984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 281, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_842267990", + "mask_path": "../../mask/hdr_right_00281.png" + }, + { + "file_path": "../../rgb/hdr_right_00282.png", + "transform_matrix": [ + [ + 0.2090318650007248, + 0.027604583650827408, + -0.9775192737579346, + -2.7940244674682617 + ], + [ + 0.964307963848114, + 0.16031602025032043, + 0.21073408424854279, + -1.3493854999542236 + ], + [ + 0.16252920031547546, + -0.9866796731948853, + 0.006891838740557432, + -0.7574429512023926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 282, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638828_942268848", + "mask_path": "../../mask/hdr_right_00282.png" + }, + { + "file_path": "../../rgb/hdr_right_00283.png", + "transform_matrix": [ + [ + 0.2303672581911087, + 0.027034059166908264, + -0.9727282524108887, + -2.8163256645202637 + ], + [ + 0.9597394466400146, + 0.15878735482692719, + 0.23170419037342072, + -1.3990135192871094 + ], + [ + 0.1607208400964737, + -0.9869425892829895, + 0.010633754543960094, + -0.7654145956039429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 283, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_42267799", + "mask_path": "../../mask/hdr_right_00283.png" + }, + { + "file_path": "../../rgb/hdr_right_00284.png", + "transform_matrix": [ + [ + 0.253650963306427, + 0.018755082041025162, + -0.9671140313148499, + -2.8487300872802734 + ], + [ + 0.9547712206840515, + 0.15551641583442688, + 0.253429651260376, + -1.4648443460464478 + ], + [ + 0.15515516698360443, + -0.9876552820205688, + 0.021540073677897453, + -0.7822120785713196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 284, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_142267227", + "mask_path": "../../mask/hdr_right_00284.png" + }, + { + "file_path": "../../rgb/hdr_right_00285.png", + "transform_matrix": [ + [ + 0.26768696308135986, + 0.012427148409187794, + -0.9634258151054382, + -2.8793091773986816 + ], + [ + 0.9505017995834351, + 0.16032160818576813, + 0.26616400480270386, + -1.53635573387146 + ], + [ + 0.15776564180850983, + -0.9869865775108337, + 0.03110397607088089, + -0.7926111221313477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 285, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_242267608", + "mask_path": "../../mask/hdr_right_00285.png" + }, + { + "file_path": "../../rgb/hdr_right_00286.png", + "transform_matrix": [ + [ + 0.2774094343185425, + 0.01227968093007803, + -0.960673451423645, + -2.9039852619171143 + ], + [ + 0.947484016418457, + 0.1621062010526657, + 0.27567294239997864, + -1.5924701690673828 + ], + [ + 0.15911628305912018, + -0.9866968989372253, + 0.03333499655127525, + -0.8094561696052551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 286, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_342267274", + "mask_path": "../../mask/hdr_right_00286.png" + }, + { + "file_path": "../../rgb/hdr_right_00287.png", + "transform_matrix": [ + [ + 0.2864426076412201, + 0.016498597338795662, + -0.9579554200172424, + -2.930891513824463 + ], + [ + 0.9453122615814209, + 0.15793000161647797, + 0.28538206219673157, + -1.6486295461654663 + ], + [ + 0.15599827468395233, + -0.9873124957084656, + 0.02964155375957489, + -0.8235630393028259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 287, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_442268133", + "mask_path": "../../mask/hdr_right_00287.png" + }, + { + "file_path": "../../rgb/hdr_right_00288.png", + "transform_matrix": [ + [ + 0.2943006753921509, + 0.02520526945590973, + -0.9553804397583008, + -2.969939947128296 + ], + [ + 0.9426903128623962, + 0.1568053960800171, + 0.2945285141468048, + -1.7102985382080078 + ], + [ + 0.15723250806331635, + -0.9873077869415283, + 0.022387178614735603, + -0.842208743095398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 288, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_542267084", + "mask_path": "../../mask/hdr_right_00288.png" + }, + { + "file_path": "../../rgb/hdr_right_00289.png", + "transform_matrix": [ + [ + 0.30434757471084595, + 0.028775354847311974, + -0.9521263241767883, + -3.010312795639038 + ], + [ + 0.9387441873550415, + 0.16056638956069946, + 0.3049226701259613, + -1.7639615535736084 + ], + [ + 0.16165375709533691, + -0.9866055250167847, + 0.021855296567082405, + -0.8516014218330383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 289, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_642267704", + "mask_path": "../../mask/hdr_right_00289.png" + }, + { + "file_path": "../../rgb/hdr_right_00290.png", + "transform_matrix": [ + [ + 0.31859833002090454, + 0.029742492362856865, + -0.9474231600761414, + -3.041746139526367 + ], + [ + 0.9339660406112671, + 0.16083672642707825, + 0.3191222548484802, + -1.8099925518035889 + ], + [ + 0.16187192499637604, + -0.9865327477455139, + 0.023463841527700424, + -0.8564054369926453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 290, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_742268085", + "mask_path": "../../mask/hdr_right_00290.png" + }, + { + "file_path": "../../rgb/hdr_right_00291.png", + "transform_matrix": [ + [ + 0.3358624279499054, + 0.03060271218419075, + -0.9414137601852417, + -3.0682992935180664 + ], + [ + 0.9289714694023132, + 0.1543366014957428, + 0.3364405333995819, + -1.860252022743225 + ], + [ + 0.15559060871601105, + -0.9875442385673523, + 0.023406820371747017, + -0.8654162883758545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 291, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_842267274", + "mask_path": "../../mask/hdr_right_00291.png" + }, + { + "file_path": "../../rgb/hdr_right_00292.png", + "transform_matrix": [ + [ + 0.34964093565940857, + 0.02869017980992794, + -0.9364444613456726, + -3.103525161743164 + ], + [ + 0.9250198006629944, + 0.14799264073371887, + 0.3499095141887665, + -1.9219779968261719 + ], + [ + 0.14862586557865143, + -0.9885721802711487, + 0.025205299258232117, + -0.8759945631027222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 292, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638829_942267179", + "mask_path": "../../mask/hdr_right_00292.png" + }, + { + "file_path": "../../rgb/hdr_right_00293.png", + "transform_matrix": [ + [ + 0.3558151125907898, + 0.02730032056570053, + -0.9341576099395752, + -3.1317129135131836 + ], + [ + 0.9228125810623169, + 0.14770227670669556, + 0.3558104932308197, + -1.9760711193084717 + ], + [ + 0.14769093692302704, + -0.9886550307273865, + 0.027361631393432617, + -0.8844504952430725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 293, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_42268514", + "mask_path": "../../mask/hdr_right_00293.png" + }, + { + "file_path": "../../rgb/hdr_right_00295.png", + "transform_matrix": [ + [ + 0.3627888858318329, + 0.03248537704348564, + -0.9313051104545593, + -3.178490400314331 + ], + [ + 0.9203672409057617, + 0.14406010508537292, + 0.36355316638946533, + -2.066096782684326 + ], + [ + 0.1459740698337555, + -0.9890356659889221, + 0.022364946082234383, + -0.9085273742675781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 295, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_242268085", + "mask_path": "../../mask/hdr_right_00295.png" + }, + { + "file_path": "../../rgb/hdr_right_00296.png", + "transform_matrix": [ + [ + 0.3651620149612427, + 0.0396721288561821, + -0.930098295211792, + -3.2138686180114746 + ], + [ + 0.9188045859336853, + 0.14546047151088715, + 0.3669324815273285, + -2.1177303791046143 + ], + [ + 0.149849534034729, + -0.9885683655738831, + 0.01666570082306862, + -0.9249338507652283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 296, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_342267274", + "mask_path": "../../mask/hdr_right_00296.png" + }, + { + "file_path": "../../rgb/hdr_right_00297.png", + "transform_matrix": [ + [ + 0.3711138367652893, + 0.04141433164477348, + -0.9276634454727173, + -3.253141403198242 + ], + [ + 0.915187656879425, + 0.15278908610343933, + 0.3729439675807953, + -2.1650900840759277 + ], + [ + 0.15718208253383636, + -0.9873906970024109, + 0.018800271674990654, + -0.9332817792892456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 297, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_442268848", + "mask_path": "../../mask/hdr_right_00297.png" + }, + { + "file_path": "../../rgb/hdr_right_00298.png", + "transform_matrix": [ + [ + 0.38131585717201233, + 0.039470091462135315, + -0.9236018657684326, + -3.2903218269348145 + ], + [ + 0.9108182191848755, + 0.15486901998519897, + 0.38265636563301086, + -2.208416700363159 + ], + [ + 0.15814080834388733, + -0.987146258354187, + 0.023103944957256317, + -0.9389427900314331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 298, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_542267322", + "mask_path": "../../mask/hdr_right_00298.png" + }, + { + "file_path": "../../rgb/hdr_right_00299.png", + "transform_matrix": [ + [ + 0.39538145065307617, + 0.039081163704395294, + -0.9176852107048035, + -3.330021619796753 + ], + [ + 0.9056783318519592, + 0.14987434446811676, + 0.3965909779071808, + -2.250718355178833 + ], + [ + 0.15303672850131989, + -0.9879323244094849, + 0.023862570524215698, + -0.9501024484634399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 299, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_642267227", + "mask_path": "../../mask/hdr_right_00299.png" + }, + { + "file_path": "../../rgb/hdr_right_00300.png", + "transform_matrix": [ + [ + 0.40695834159851074, + 0.0342676118016243, + -0.9128037095069885, + -3.3770933151245117 + ], + [ + 0.9006326794624329, + 0.15174144506454468, + 0.4072287082672119, + -2.3045504093170166 + ], + [ + 0.15246489644050598, + -0.9878260493278503, + 0.03088991716504097, + -0.967065691947937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 300, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_742266893", + "mask_path": "../../mask/hdr_right_00300.png" + }, + { + "file_path": "../../rgb/hdr_right_00301.png", + "transform_matrix": [ + [ + 0.40981942415237427, + 0.031738534569740295, + -0.9116144776344299, + -3.419431209564209 + ], + [ + 0.8987764120101929, + 0.15656165778636932, + 0.4094989001750946, + -2.3600382804870605 + ], + [ + 0.15572072565555573, + -0.9871581196784973, + 0.03563614562153816, + -0.9778753519058228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 301, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_842267036", + "mask_path": "../../mask/hdr_right_00301.png" + }, + { + "file_path": "../../rgb/hdr_right_00302.png", + "transform_matrix": [ + [ + 0.40979209542274475, + 0.03190102055668831, + -0.9116209745407104, + -3.4472174644470215 + ], + [ + 0.8994128108024597, + 0.15248440206050873, + 0.4096403121948242, + -2.4093422889709473 + ], + [ + 0.15207593142986298, + -0.9877908825874329, + 0.033794719725847244, + -0.9873217940330505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 302, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638830_942266941", + "mask_path": "../../mask/hdr_right_00302.png" + }, + { + "file_path": "../../rgb/hdr_right_00303.png", + "transform_matrix": [ + [ + 0.40850600600242615, + 0.03370419517159462, + -0.9121332168579102, + -3.478132963180542 + ], + [ + 0.9008338451385498, + 0.14609983563423157, + 0.40884408354759216, + -2.467517852783203 + ], + [ + 0.14704227447509766, + -0.988695502281189, + 0.029320789501070976, + -1.0012658834457397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 303, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_42265653", + "mask_path": "../../mask/hdr_right_00303.png" + }, + { + "file_path": "../../rgb/hdr_right_00304.png", + "transform_matrix": [ + [ + 0.40984436869621277, + 0.0396609902381897, + -0.9112928509712219, + -3.5206198692321777 + ], + [ + 0.8996367454528809, + 0.14737531542778015, + 0.4110163152217865, + -2.5311598777770996 + ], + [ + 0.15060338377952576, + -0.9882851839065552, + 0.024720480665564537, + -1.0166940689086914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 304, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_142267227", + "mask_path": "../../mask/hdr_right_00304.png" + }, + { + "file_path": "../../rgb/hdr_right_00305.png", + "transform_matrix": [ + [ + 0.4168108403682709, + 0.0437336266040802, + -0.9079405665397644, + -3.5659189224243164 + ], + [ + 0.8955262899398804, + 0.1515411138534546, + 0.4184112846851349, + -2.5900208950042725 + ], + [ + 0.15588897466659546, + -0.987483024597168, + 0.02399936132133007, + -1.0229111909866333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 305, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_242267370", + "mask_path": "../../mask/hdr_right_00305.png" + }, + { + "file_path": "../../rgb/hdr_right_00306.png", + "transform_matrix": [ + [ + 0.4279336929321289, + 0.04505230113863945, + -0.9026865363121033, + -3.607846736907959 + ], + [ + 0.8903505206108093, + 0.15070977807044983, + 0.4296073317527771, + -2.6453490257263184 + ], + [ + 0.15539850294589996, + -0.9875509738922119, + 0.024381453171372414, + -1.0354690551757812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 306, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_342267274", + "mask_path": "../../mask/hdr_right_00306.png" + }, + { + "file_path": "../../rgb/hdr_right_00307.png", + "transform_matrix": [ + [ + 0.4427398145198822, + 0.039476942270994186, + -0.895780622959137, + -3.654151201248169 + ], + [ + 0.8840792775154114, + 0.14748144149780273, + 0.4434560537338257, + -2.705413818359375 + ], + [ + 0.14961731433868408, + -0.9882767200469971, + 0.030395174399018288, + -1.0562635660171509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 307, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_442267417", + "mask_path": "../../mask/hdr_right_00307.png" + }, + { + "file_path": "../../rgb/hdr_right_00308.png", + "transform_matrix": [ + [ + 0.45032522082328796, + 0.03684551268815994, + -0.8921040892601013, + -3.7112534046173096 + ], + [ + 0.8796778321266174, + 0.15277588367462158, + 0.45036253333091736, + -2.780735969543457 + ], + [ + 0.15288583934307098, + -0.9875737428665161, + 0.03638666123151779, + -1.0744863748550415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 308, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_542267084", + "mask_path": "../../mask/hdr_right_00308.png" + }, + { + "file_path": "../../rgb/hdr_right_00309.png", + "transform_matrix": [ + [ + 0.45336395502090454, + 0.03739041090011597, + -0.8905409574508667, + -3.7600700855255127 + ], + [ + 0.8774609565734863, + 0.1568157821893692, + 0.453289270401001, + -2.8554093837738037 + ], + [ + 0.15659955143928528, + -0.9869198203086853, + 0.0382860042154789, + -1.0989735126495361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 309, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_642266750", + "mask_path": "../../mask/hdr_right_00309.png" + }, + { + "file_path": "../../rgb/hdr_right_00310.png", + "transform_matrix": [ + [ + 0.45532551407814026, + 0.03936190903186798, + -0.8894545435905457, + -3.7982985973358154 + ], + [ + 0.8771799802780151, + 0.15120342373847961, + 0.45573344826698303, + -2.924478530883789 + ], + [ + 0.1524270921945572, + -0.9877187013626099, + 0.03431930020451546, + -1.1131856441497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 310, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_742267608", + "mask_path": "../../mask/hdr_right_00310.png" + }, + { + "file_path": "../../rgb/hdr_right_00311.png", + "transform_matrix": [ + [ + 0.45760074257850647, + 0.04606325179338455, + -0.8879638314247131, + -3.852504014968872 + ], + [ + 0.8755971789360046, + 0.1504027247428894, + 0.45903006196022034, + -2.996241807937622 + ], + [ + 0.15469661355018616, + -0.9875510931015015, + 0.028491554781794548, + -1.1316393613815308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 311, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_842267990", + "mask_path": "../../mask/hdr_right_00311.png" + }, + { + "file_path": "../../rgb/hdr_right_00312.png", + "transform_matrix": [ + [ + 0.4624006748199463, + 0.04725728556513786, + -0.8854109048843384, + -3.909106969833374 + ], + [ + 0.8727836608886719, + 0.15178439021110535, + 0.46390753984451294, + -3.0585551261901855 + ], + [ + 0.15631456673145294, + -0.9872832298278809, + 0.028939828276634216, + -1.1427332162857056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 312, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638831_942267656", + "mask_path": "../../mask/hdr_right_00312.png" + }, + { + "file_path": "../../rgb/hdr_right_00313.png", + "transform_matrix": [ + [ + 0.4705410897731781, + 0.043217871338129044, + -0.8813191056251526, + -3.9469778537750244 + ], + [ + 0.8693680167198181, + 0.14817598462104797, + 0.4714266359806061, + -3.1049232482910156 + ], + [ + 0.1509643793106079, + -0.9880162477493286, + 0.03215066343545914, + -1.1427233219146729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 313, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_42267799", + "mask_path": "../../mask/hdr_right_00313.png" + }, + { + "file_path": "../../rgb/hdr_right_00314.png", + "transform_matrix": [ + [ + 0.4819929897785187, + 0.037265632301568985, + -0.8753821849822998, + -3.995386838912964 + ], + [ + 0.8639566898345947, + 0.1460559070110321, + 0.4819197654724121, + -3.1622800827026367 + ], + [ + 0.14581379294395447, + -0.9885741472244263, + 0.03820204734802246, + -1.1631189584732056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 314, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_142267227", + "mask_path": "../../mask/hdr_right_00314.png" + }, + { + "file_path": "../../rgb/hdr_right_00315.png", + "transform_matrix": [ + [ + 0.4878690242767334, + 0.03658825159072876, + -0.8721497654914856, + -4.064984321594238 + ], + [ + 0.860099196434021, + 0.15043988823890686, + 0.48743945360183716, + -3.235342502593994 + ], + [ + 0.14904066920280457, + -0.9879418611526489, + 0.041925448924303055, + -1.1894357204437256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 315, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_242267847", + "mask_path": "../../mask/hdr_right_00315.png" + }, + { + "file_path": "../../rgb/hdr_right_00316.png", + "transform_matrix": [ + [ + 0.48779407143592834, + 0.037916719913482666, + -0.8721349835395813, + -4.120057106018066 + ], + [ + 0.8595552444458008, + 0.15353693068027496, + 0.48743322491645813, + -3.305711269378662 + ], + [ + 0.15238678455352783, + -0.9874151349067688, + 0.04230288788676262, + -1.1968984603881836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 316, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_342267513", + "mask_path": "../../mask/hdr_right_00316.png" + }, + { + "file_path": "../../rgb/hdr_right_00317.png", + "transform_matrix": [ + [ + 0.4851677417755127, + 0.03940003737807274, + -0.8735330104827881, + -4.168069362640381 + ], + [ + 0.8615565896034241, + 0.14919009804725647, + 0.4852449893951416, + -3.376593828201294 + ], + [ + 0.14944115281105042, + -0.9880232214927673, + 0.038436856120824814, + -1.210565447807312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 317, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_442267894", + "mask_path": "../../mask/hdr_right_00317.png" + }, + { + "file_path": "../../rgb/hdr_right_00318.png", + "transform_matrix": [ + [ + 0.48018860816955566, + 0.05014154687523842, + -0.8757310509681702, + -4.228717803955078 + ], + [ + 0.8638660311698914, + 0.14615795016288757, + 0.48205122351646423, + -3.45316481590271 + ], + [ + 0.15216584503650665, + -0.9879897832870483, + 0.02686779946088791, + -1.2344970703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 318, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_542267799", + "mask_path": "../../mask/hdr_right_00318.png" + }, + { + "file_path": "../../rgb/hdr_right_00319.png", + "transform_matrix": [ + [ + 0.4769914448261261, + 0.057130131870508194, + -0.8770492672920227, + -4.289328098297119 + ], + [ + 0.8650075793266296, + 0.14625705778598785, + 0.47996950149536133, + -3.5223591327667236 + ], + [ + 0.1556953489780426, + -0.9875956177711487, + 0.020345354452729225, + -1.2485145330429077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 319, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_642268180", + "mask_path": "../../mask/hdr_right_00319.png" + }, + { + "file_path": "../../rgb/hdr_right_00320.png", + "transform_matrix": [ + [ + 0.47665277123451233, + 0.05557380989193916, + -0.8773332834243774, + -4.332269668579102 + ], + [ + 0.8659386038780212, + 0.14231187105178833, + 0.4794766306877136, + -3.5803773403167725 + ], + [ + 0.15150128304958344, + -0.9882605075836182, + 0.01970985345542431, + -1.2492499351501465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 320, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_742268323", + "mask_path": "../../mask/hdr_right_00320.png" + }, + { + "file_path": "../../rgb/hdr_right_00321.png", + "transform_matrix": [ + [ + 0.4739583134651184, + 0.04793034493923187, + -0.8792418837547302, + -4.3829450607299805 + ], + [ + 0.8684738874435425, + 0.13933886587619781, + 0.4757497012615204, + -3.651095151901245 + ], + [ + 0.14531540870666504, + -0.9890841245651245, + 0.02441456913948059, + -1.2745922803878784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 321, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_842269897", + "mask_path": "../../mask/hdr_right_00321.png" + }, + { + "file_path": "../../rgb/hdr_right_00322.png", + "transform_matrix": [ + [ + 0.4590487778186798, + 0.04440156742930412, + -0.8873007893562317, + -4.438907623291016 + ], + [ + 0.8757408857345581, + 0.14545923471450806, + 0.4603472352027893, + -3.739041566848755 + ], + [ + 0.14950622618198395, + -0.9883674383163452, + 0.027888614684343338, + -1.2927552461624146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 322, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638832_942267894", + "mask_path": "../../mask/hdr_right_00322.png" + }, + { + "file_path": "../../rgb/hdr_right_00323.png", + "transform_matrix": [ + [ + 0.4386215806007385, + 0.04464221000671387, + -0.8975623846054077, + -4.479132175445557 + ], + [ + 0.8857611417770386, + 0.1472129225730896, + 0.44017666578292847, + -3.814302921295166 + ], + [ + 0.15178322792053223, + -0.9880968928337097, + 0.02502843178808689, + -1.3088300228118896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 323, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_42269229", + "mask_path": "../../mask/hdr_right_00323.png" + }, + { + "file_path": "../../rgb/hdr_right_00324.png", + "transform_matrix": [ + [ + 0.41348204016685486, + 0.05027061700820923, + -0.9091234803199768, + -4.515923500061035 + ], + [ + 0.8986413478851318, + 0.13817502558231354, + 0.41635510325431824, + -3.889705181121826 + ], + [ + 0.1465485543012619, + -0.9891311526298523, + 0.01195763424038887, + -1.3238383531570435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 324, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_142267465", + "mask_path": "../../mask/hdr_right_00324.png" + }, + { + "file_path": "../../rgb/hdr_right_00325.png", + "transform_matrix": [ + [ + 0.38785773515701294, + 0.06604509800672531, + -0.9193500876426697, + -4.56040620803833 + ], + [ + 0.9087952971458435, + 0.13904206454753876, + 0.39339345693588257, + -3.971306562423706 + ], + [ + 0.153810054063797, + -0.9880815744400024, + -0.0060929423198103905, + -1.3398282527923584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 325, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_242267847", + "mask_path": "../../mask/hdr_right_00325.png" + }, + { + "file_path": "../../rgb/hdr_right_00326.png", + "transform_matrix": [ + [ + 0.364810585975647, + 0.0752265453338623, + -0.9280378222465515, + -4.602645397186279 + ], + [ + 0.9169014692306519, + 0.14426742494106293, + 0.3721271753311157, + -4.043788909912109 + ], + [ + 0.1618794947862625, + -0.9866752028465271, + -0.016345040872693062, + -1.3582029342651367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 326, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_342268228", + "mask_path": "../../mask/hdr_right_00326.png" + }, + { + "file_path": "../../rgb/hdr_right_00327.png", + "transform_matrix": [ + [ + 0.3445039987564087, + 0.07656306773424149, + -0.9356576800346375, + -4.628525257110596 + ], + [ + 0.9253013134002686, + 0.14062117040157318, + 0.35219770669937134, + -4.1072821617126465 + ], + [ + 0.1585386097431183, + -0.9870986342430115, + -0.022399356588721275, + -1.3687796592712402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 327, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_442267417", + "mask_path": "../../mask/hdr_right_00327.png" + }, + { + "file_path": "../../rgb/hdr_right_00328.png", + "transform_matrix": [ + [ + 0.32681965827941895, + 0.07166247069835663, + -0.9423658847808838, + -4.662997722625732 + ], + [ + 0.9329189658164978, + 0.13502638041973114, + 0.33381155133247375, + -4.188714504241943 + ], + [ + 0.15116599202156067, + -0.9882470965385437, + -0.02272600121796131, + -1.3935106992721558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 328, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_542267560", + "mask_path": "../../mask/hdr_right_00328.png" + }, + { + "file_path": "../../rgb/hdr_right_00329.png", + "transform_matrix": [ + [ + 0.3052796721458435, + 0.0662551298737526, + -0.9499551057815552, + -4.704865455627441 + ], + [ + 0.9391062259674072, + 0.14430563151836395, + 0.31185805797576904, + -4.2889299392700195 + ], + [ + 0.1577460616827011, + -0.9873126149177551, + -0.018167026340961456, + -1.4162677526474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 329, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_642267942", + "mask_path": "../../mask/hdr_right_00329.png" + }, + { + "file_path": "../../rgb/hdr_right_00330.png", + "transform_matrix": [ + [ + 0.29248303174972534, + 0.06235009431838989, + -0.9542359113693237, + -4.730246067047119 + ], + [ + 0.9430133700370789, + 0.1467781811952591, + 0.2986336946487427, + -4.36581563949585 + ], + [ + 0.15868085622787476, + -0.9872024059295654, + -0.015866847708821297, + -1.427170753479004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 330, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_742267847", + "mask_path": "../../mask/hdr_right_00330.png" + }, + { + "file_path": "../../rgb/hdr_right_00331.png", + "transform_matrix": [ + [ + 0.28499314188957214, + 0.06504063308238983, + -0.9563204050064087, + -4.752163410186768 + ], + [ + 0.9465235471725464, + 0.13831916451454163, + 0.2914808690547943, + -4.443732261657715 + ], + [ + 0.15123555064201355, + -0.9882497191429138, + -0.022142473608255386, + -1.438827395439148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 331, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_842268228", + "mask_path": "../../mask/hdr_right_00331.png" + }, + { + "file_path": "../../rgb/hdr_right_00332.png", + "transform_matrix": [ + [ + 0.2847644090652466, + 0.07012755423784256, + -0.9560289978981018, + -4.79033899307251 + ], + [ + 0.9455577731132507, + 0.14339110255241394, + 0.292163610458374, + -4.532835006713867 + ], + [ + 0.15757472813129425, + -0.9871783256530762, + -0.0254769716411829, + -1.4637260437011719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 332, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638833_942268133", + "mask_path": "../../mask/hdr_right_00332.png" + }, + { + "file_path": "../../rgb/hdr_right_00333.png", + "transform_matrix": [ + [ + 0.29226750135421753, + 0.06813816726207733, + -0.9539061784744263, + -4.83639669418335 + ], + [ + 0.9424374103546143, + 0.1489190310239792, + 0.299390971660614, + -4.614253044128418 + ], + [ + 0.1624547243118286, + -0.986499011516571, + -0.020691759884357452, + -1.4719889163970947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 333, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_42267560", + "mask_path": "../../mask/hdr_right_00333.png" + }, + { + "file_path": "../../rgb/hdr_right_00334.png", + "transform_matrix": [ + [ + 0.302801251411438, + 0.06667673587799072, + -0.9507184624671936, + -4.8724188804626465 + ], + [ + 0.9400337338447571, + 0.14343157410621643, + 0.30945754051208496, + -4.684439659118652 + ], + [ + 0.15699665248394012, + -0.9874115586280823, + -0.01924711838364601, + -1.4808731079101562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 334, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_142266988", + "mask_path": "../../mask/hdr_right_00334.png" + }, + { + "file_path": "../../rgb/hdr_right_00335.png", + "transform_matrix": [ + [ + 0.3154241144657135, + 0.05431506037712097, + -0.9473951458930969, + -4.917062282562256 + ], + [ + 0.9370941519737244, + 0.13949832320213318, + 0.3199921250343323, + -4.771007537841797 + ], + [ + 0.14954042434692383, + -0.9887315630912781, + -0.006897183135151863, + -1.5033320188522339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 335, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_242268085", + "mask_path": "../../mask/hdr_right_00335.png" + }, + { + "file_path": "../../rgb/hdr_right_00336.png", + "transform_matrix": [ + [ + 0.3203117549419403, + 0.0449335016310215, + -0.9462459087371826, + -4.965017795562744 + ], + [ + 0.9346296191215515, + 0.14791199564933777, + 0.3234032690525055, + -4.865829944610596 + ], + [ + 0.15449276566505432, + -0.9879792928695679, + 0.005381768103688955, + -1.5205038785934448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 336, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_342267274", + "mask_path": "../../mask/hdr_right_00336.png" + }, + { + "file_path": "../../rgb/hdr_right_00337.png", + "transform_matrix": [ + [ + 0.31831595301628113, + 0.045741137117147446, + -0.946880578994751, + -4.995018482208252 + ], + [ + 0.9349134564399719, + 0.15014956891536713, + 0.32154619693756104, + -4.945771217346191 + ], + [ + 0.15688158571720123, + -0.9876046180725098, + 0.005030992906540632, + -1.540080189704895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 337, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_442268610", + "mask_path": "../../mask/hdr_right_00337.png" + }, + { + "file_path": "../../rgb/hdr_right_00338.png", + "transform_matrix": [ + [ + 0.31399333477020264, + 0.0520283542573452, + -0.947998583316803, + -5.0226545333862305 + ], + [ + 0.9373279213905334, + 0.1418992131948471, + 0.3182468116283417, + -5.025582313537598 + ], + [ + 0.15107811987400055, + -0.9885129332542419, + -0.004212222993373871, + -1.5580908060073853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 338, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_542268037", + "mask_path": "../../mask/hdr_right_00338.png" + }, + { + "file_path": "../../rgb/hdr_right_00339.png", + "transform_matrix": [ + [ + 0.3151470422744751, + 0.059622906148433685, + -0.9471681118011475, + -5.064597129821777 + ], + [ + 0.9357003569602966, + 0.1472427397966385, + 0.3206002116203308, + -5.1096014976501465 + ], + [ + 0.1585787534713745, + -0.9873017072677612, + -0.009386057034134865, + -1.5800923109054565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 339, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_642268896", + "mask_path": "../../mask/hdr_right_00339.png" + }, + { + "file_path": "../../rgb/hdr_right_00340.png", + "transform_matrix": [ + [ + 0.3199829161167145, + 0.06255470961332321, + -0.9453560709953308, + -5.112856864929199 + ], + [ + 0.9328277707099915, + 0.1536695957183838, + 0.32591086626052856, + -5.187926292419434 + ], + [ + 0.16565974056720734, + -0.9861401915550232, + -0.009181124158203602, + -1.5951485633850098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 340, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638834_742268800", + "mask_path": "../../mask/hdr_right_00340.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/d09c6e4b/mesh.ply b/2024-11-03-13-59-54/splats/d09c6e4b/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..a3436166c58c89471d4f836a9719663066c31dce --- /dev/null +++ b/2024-11-03-13-59-54/splats/d09c6e4b/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:975f7635d0f08dbe08a59b4e212192660d34dc5bc712f70fd7ca3daf4e8df8dc +size 50590787 diff --git a/2024-11-03-13-59-54/splats/d09c6e4b/mesh_filled_decimated.ply b/2024-11-03-13-59-54/splats/d09c6e4b/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..c99aade384258e7f1eff81adf305915d39003b51 --- /dev/null +++ b/2024-11-03-13-59-54/splats/d09c6e4b/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1017712af27a4be6c86f74dda73972bea012791815b097e2225ce64793aa2e3e +size 1585561 diff --git a/2024-11-03-13-59-54/splats/d09c6e4b/splatfacto/config.yml b/2024-11-03-13-59-54/splats/d09c6e4b/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..552aa6e41ad9099579bd784d7556e911b03d4981 --- /dev/null +++ b/2024-11-03-13-59-54/splats/d09c6e4b/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-03-13-59-54_nerfstudio +- slices +- slice_d09c6e4b +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-03-13-59-54_nerfstudio + - slices + - slice_d09c6e4b + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-03-13-59-54/splats/d09c6e4b/splatfacto/dataparser_transforms.json b/2024-11-03-13-59-54/splats/d09c6e4b/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..87f13286272b920ac14424dad5a595f958105d55 --- /dev/null +++ b/2024-11-03-13-59-54/splats/d09c6e4b/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + 0.36121100187301636, + 0.9316123723983765, + 0.040311265736818314, + 29.181903839111328 + ], + [ + 0.9316123723983765, + -0.358667254447937, + -0.058790113776922226, + 16.739500045776367 + ], + [ + -0.040311265736818314, + 0.058790113776922226, + -0.9974560737609863, + -17.544225692749023 + ] + ], + "scale": 0.2233369683751363 +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/d09c6e4b/splatfacto/splat.ply b/2024-11-03-13-59-54/splats/d09c6e4b/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..e5e72b75355f39c6a8e050e3fd7afa6c81bdb767 --- /dev/null +++ b/2024-11-03-13-59-54/splats/d09c6e4b/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26ca5d34dd3e61c559abb6672fd4103983a10e3c97464c5442b4ff4c14b30fba +size 300167898 diff --git a/2024-11-03-13-59-54/splats/d09c6e4b/transforms.json b/2024-11-03-13-59-54/splats/d09c6e4b/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..482a94d81a0b3e73741eee3ccddb634c894ade82 --- /dev/null +++ b/2024-11-03-13-59-54/splats/d09c6e4b/transforms.json @@ -0,0 +1,13110 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_01972.png", + "transform_matrix": [ + [ + 0.9912611842155457, + -0.05622607469558716, + -0.11933104693889618, + -27.644697189331055 + ], + [ + 0.12257662415504456, + 0.058316659182310104, + 0.9907442331314087, + -15.363698959350586 + ], + [ + -0.048746660351753235, + -0.9967136383056641, + 0.06469903886318207, + -17.339235305786133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1972, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_142267227", + "mask_path": "../../mask/hdr_front_01972.png" + }, + { + "file_path": "../../rgb/hdr_front_01973.png", + "transform_matrix": [ + [ + 0.9904021620750427, + -0.05362161993980408, + -0.12739041447639465, + -27.636966705322266 + ], + [ + 0.13045768439769745, + 0.05821901932358742, + 0.9897429943084717, + -15.43652629852295 + ], + [ + -0.04565507918596268, + -0.9968627095222473, + 0.0646555945277214, + -17.32870101928711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1973, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_242267608", + "mask_path": "../../mask/hdr_front_01973.png" + }, + { + "file_path": "../../rgb/hdr_front_01975.png", + "transform_matrix": [ + [ + 0.9905346035957336, + -0.050616759806871414, + -0.12758994102478027, + -27.619863510131836 + ], + [ + 0.13043159246444702, + 0.057488277554512024, + 0.9897892475128174, + -15.596113204956055 + ], + [ + -0.04276499152183533, + -0.9970622658729553, + 0.06354614347219467, + -17.342212677001953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1975, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_442267656", + "mask_path": "../../mask/hdr_front_01975.png" + }, + { + "file_path": "../../rgb/hdr_front_01976.png", + "transform_matrix": [ + [ + 0.9903879165649414, + -0.057963691651821136, + -0.12558718025684357, + -27.615659713745117 + ], + [ + 0.12902964651584625, + 0.0600467212498188, + 0.9898211359977722, + -15.694259643554688 + ], + [ + -0.049832578748464584, + -0.9965112209320068, + 0.06694857031106949, + -17.356836318969727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1976, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_542267560", + "mask_path": "../../mask/hdr_front_01976.png" + }, + { + "file_path": "../../rgb/hdr_front_01977.png", + "transform_matrix": [ + [ + 0.9898092746734619, + -0.06140447035431862, + -0.1284802407026291, + -27.599977493286133 + ], + [ + 0.1320490837097168, + 0.0580921396613121, + 0.9895394444465637, + -15.76787281036377 + ], + [ + -0.053298451006412506, + -0.9964209794998169, + 0.06560853123664856, + -17.364891052246094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1977, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_642268180", + "mask_path": "../../mask/hdr_front_01977.png" + }, + { + "file_path": "../../rgb/hdr_front_01978.png", + "transform_matrix": [ + [ + 0.9898191094398499, + -0.05627862364053726, + -0.130732461810112, + -27.57914924621582 + ], + [ + 0.13375820219516754, + 0.05384045094251633, + 0.9895504117012024, + -15.854117393493652 + ], + [ + -0.04865183308720589, + -0.9969623684883118, + 0.06082002818584442, + -17.379335403442383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1978, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_742271184", + "mask_path": "../../mask/hdr_front_01978.png" + }, + { + "file_path": "../../rgb/hdr_front_01979.png", + "transform_matrix": [ + [ + 0.9902917146682739, + -0.05664264038205147, + -0.12694068253040314, + -27.565196990966797 + ], + [ + 0.13006599247455597, + 0.05539077892899513, + 0.9899569749832153, + -15.962976455688477 + ], + [ + -0.04904242604970932, + -0.9968568086624146, + 0.06222030892968178, + -17.38007164001465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1979, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_842267751", + "mask_path": "../../mask/hdr_front_01979.png" + }, + { + "file_path": "../../rgb/hdr_front_01980.png", + "transform_matrix": [ + [ + 0.9913630485534668, + -0.05509122461080551, + -0.1190137267112732, + -27.556894302368164 + ], + [ + 0.12198970466852188, + 0.054231908172369, + 0.9910486936569214, + -16.048492431640625 + ], + [ + -0.048143740743398666, + -0.9970074892044067, + 0.06048407033085823, + -17.376300811767578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1980, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_942267417", + "mask_path": "../../mask/hdr_front_01980.png" + }, + { + "file_path": "../../rgb/hdr_front_01981.png", + "transform_matrix": [ + [ + 0.9926971197128296, + -0.0493876114487648, + -0.11006011813879013, + -27.548458099365234 + ], + [ + 0.11244580894708633, + 0.04844542592763901, + 0.9924761652946472, + -16.119163513183594 + ], + [ + -0.04368412122130394, + -0.9976041316986084, + 0.053645070642232895, + -17.38195037841797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1981, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_42269706", + "mask_path": "../../mask/hdr_front_01981.png" + }, + { + "file_path": "../../rgb/hdr_front_01982.png", + "transform_matrix": [ + [ + 0.9927957653999329, + -0.051973793655633926, + -0.10795944184064865, + -27.53219985961914 + ], + [ + 0.11038953065872192, + 0.04640087112784386, + 0.9928046464920044, + -16.230266571044922 + ], + [ + -0.0465904101729393, + -0.9975699782371521, + 0.05180394649505615, + -17.395816802978516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1982, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_142267465", + "mask_path": "../../mask/hdr_front_01982.png" + }, + { + "file_path": "../../rgb/hdr_front_01983.png", + "transform_matrix": [ + [ + 0.9919735789299011, + -0.05862121656537056, + -0.11203464865684509, + -27.51464080810547 + ], + [ + 0.11498533189296722, + 0.04963945597410202, + 0.9921262264251709, + -16.331523895263672 + ], + [ + -0.05259830877184868, + -0.9970453977584839, + 0.05598161369562149, + -17.410144805908203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1983, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_242268085", + "mask_path": "../../mask/hdr_front_01983.png" + }, + { + "file_path": "../../rgb/hdr_front_01984.png", + "transform_matrix": [ + [ + 0.9907593727111816, + -0.06079889461398125, + -0.12124007195234299, + -27.492828369140625 + ], + [ + 0.1243886649608612, + 0.05098244175314903, + 0.9909229874610901, + -16.404861450195312 + ], + [ + -0.054065901786088943, + -0.9968472719192505, + 0.05807403102517128, + -17.418540954589844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1984, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_342267990", + "mask_path": "../../mask/hdr_front_01984.png" + }, + { + "file_path": "../../rgb/hdr_front_01985.png", + "transform_matrix": [ + [ + 0.9899712204933167, + -0.05669889226555824, + -0.12939195334911346, + -27.48053741455078 + ], + [ + 0.13239915668964386, + 0.052938610315322876, + 0.9897817969322205, + -16.500953674316406 + ], + [ + -0.049269694834947586, + -0.9969869256019592, + 0.05991458147764206, + -17.419631958007812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1985, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_442267179", + "mask_path": "../../mask/hdr_front_01985.png" + }, + { + "file_path": "../../rgb/hdr_front_01986.png", + "transform_matrix": [ + [ + 0.9902257919311523, + -0.050453655421733856, + -0.13002793490886688, + -27.471681594848633 + ], + [ + 0.13276295363903046, + 0.05527840554714203, + 0.9896051287651062, + -16.60612678527832 + ], + [ + -0.042741455137729645, + -0.9971954822540283, + 0.061436478048563004, + -17.418893814086914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1986, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_542267322", + "mask_path": "../../mask/hdr_front_01986.png" + }, + { + "file_path": "../../rgb/hdr_front_01987.png", + "transform_matrix": [ + [ + 0.99117511510849, + -0.045314621180295944, + -0.12457336485385895, + -27.464685440063477 + ], + [ + 0.1270153820514679, + 0.05572638288140297, + 0.990334153175354, + -16.681421279907227 + ], + [ + -0.037934593856334686, + -0.9974172711372375, + 0.06099025160074234, + -17.422847747802734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1987, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_642267942", + "mask_path": "../../mask/hdr_front_01987.png" + }, + { + "file_path": "../../rgb/hdr_front_01988.png", + "transform_matrix": [ + [ + 0.9920048713684082, + -0.04576077684760094, + -0.11761048436164856, + -27.453773498535156 + ], + [ + 0.11993259191513062, + 0.0518198199570179, + 0.9914286136627197, + -16.753795623779297 + ], + [ + -0.03927398845553398, + -0.9976075291633606, + 0.0568937249481678, + -17.42412757873535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1988, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_742267131", + "mask_path": "../../mask/hdr_front_01988.png" + }, + { + "file_path": "../../rgb/hdr_front_01989.png", + "transform_matrix": [ + [ + 0.9917044043540955, + -0.05232895538210869, + -0.11740560829639435, + -27.441661834716797 + ], + [ + 0.12017511576414108, + 0.05335252359509468, + 0.9913180470466614, + -16.861257553100586 + ], + [ + -0.04561075195670128, + -0.9972037672996521, + 0.059198569506406784, + -17.43981170654297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1989, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_842267274", + "mask_path": "../../mask/hdr_front_01989.png" + }, + { + "file_path": "../../rgb/hdr_front_01990.png", + "transform_matrix": [ + [ + 0.9908708930015564, + -0.0582723505795002, + -0.12156998366117477, + -27.428234100341797 + ], + [ + 0.1248178482055664, + 0.055769018828868866, + 0.9906110763549805, + -16.94863510131836 + ], + [ + -0.05094539374113083, + -0.9967418313026428, + 0.06253332644701004, + -17.457061767578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1990, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_942266941", + "mask_path": "../../mask/hdr_front_01990.png" + }, + { + "file_path": "../../rgb/hdr_front_01991.png", + "transform_matrix": [ + [ + 0.9904683232307434, + -0.057535264641046524, + -0.12514838576316833, + -27.412370681762695 + ], + [ + 0.1283578723669052, + 0.055946607142686844, + 0.990148663520813, + -17.026782989501953 + ], + [ + -0.04996683821082115, + -0.9967746138572693, + 0.06279844790697098, + -17.468852996826172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1991, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_42266607", + "mask_path": "../../mask/hdr_front_01991.png" + }, + { + "file_path": "../../rgb/hdr_front_01992.png", + "transform_matrix": [ + [ + 0.9909407496452332, + -0.053836651146411896, + -0.12303683161735535, + -27.402488708496094 + ], + [ + 0.12635508179664612, + 0.06331286579370499, + 0.9899625778198242, + -17.128419876098633 + ], + [ + -0.04550645127892494, + -0.9965406060218811, + 0.0695418268442154, + -17.47418785095215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1992, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_142267704", + "mask_path": "../../mask/hdr_front_01992.png" + }, + { + "file_path": "../../rgb/hdr_front_01993.png", + "transform_matrix": [ + [ + 0.9921737909317017, + -0.050238363444805145, + -0.11431201547384262, + -27.396282196044922 + ], + [ + 0.11752347648143768, + 0.06644894927740097, + 0.9908444881439209, + -17.22768211364746 + ], + [ + -0.04218249395489693, + -0.9965242743492126, + 0.07183309644460678, + -17.470373153686523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1993, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_242267131", + "mask_path": "../../mask/hdr_front_01993.png" + }, + { + "file_path": "../../rgb/hdr_front_01994.png", + "transform_matrix": [ + [ + 0.9936741590499878, + -0.04460689425468445, + -0.10306312143802643, + -27.38947105407715 + ], + [ + 0.10584854334592819, + 0.06538485735654831, + 0.9922302961349487, + -17.304235458374023 + ], + [ + -0.03752153739333153, + -0.9968625903129578, + 0.06969280540943146, + -17.47144889831543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1994, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_342267036", + "mask_path": "../../mask/hdr_front_01994.png" + }, + { + "file_path": "../../rgb/hdr_front_01995.png", + "transform_matrix": [ + [ + 0.9947067499160767, + -0.046116627752780914, + -0.09182441234588623, + -27.382976531982422 + ], + [ + 0.09452374279499054, + 0.06022961065173149, + 0.9936990141868591, + -17.38547134399414 + ], + [ + -0.040295492857694626, + -0.9971187114715576, + 0.06426991522312164, + -17.485149383544922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1995, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_442267179", + "mask_path": "../../mask/hdr_front_01995.png" + }, + { + "file_path": "../../rgb/hdr_front_01996.png", + "transform_matrix": [ + [ + 0.993926465511322, + -0.05411060154438019, + -0.0958230122923851, + -27.36452293395996 + ], + [ + 0.09900257736444473, + 0.05950143188238144, + 0.9933066368103027, + -17.493854522705078 + ], + [ + -0.04804680868983269, + -0.9967606663703918, + 0.06449713557958603, + -17.494421005249023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1996, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_542266845", + "mask_path": "../../mask/hdr_front_01996.png" + }, + { + "file_path": "../../rgb/hdr_front_01997.png", + "transform_matrix": [ + [ + 0.9923492074012756, + -0.05916569381952286, + -0.10836280137300491, + -27.344390869140625 + ], + [ + 0.11185868084430695, + 0.0593668594956398, + 0.991949200630188, + -17.58367347717285 + ], + [ + -0.052256204187870026, + -0.9964813590049744, + 0.06553085148334503, + -17.502975463867188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1997, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_642266988", + "mask_path": "../../mask/hdr_front_01997.png" + }, + { + "file_path": "../../rgb/hdr_front_01998.png", + "transform_matrix": [ + [ + 0.9911645650863647, + -0.05474734306335449, + -0.1208120733499527, + -27.326904296875 + ], + [ + 0.12396663427352905, + 0.05843617767095566, + 0.9905643463134766, + -17.66314125061035 + ], + [ + -0.04717095568776131, + -0.9967887997627258, + 0.0647067129611969, + -17.5150203704834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1998, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_742266893", + "mask_path": "../../mask/hdr_front_01998.png" + }, + { + "file_path": "../../rgb/hdr_front_01999.png", + "transform_matrix": [ + [ + 0.9906876087188721, + -0.05049123987555504, + -0.1264459192752838, + -27.31122589111328 + ], + [ + 0.12945456802845, + 0.061577290296554565, + 0.989671528339386, + -17.771495819091797 + ], + [ + -0.04218354448676109, + -0.9968243837356567, + 0.06754017621278763, + -17.52181053161621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1999, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_842266798", + "mask_path": "../../mask/hdr_front_01999.png" + }, + { + "file_path": "../../rgb/hdr_front_02000.png", + "transform_matrix": [ + [ + 0.9912307262420654, + -0.04504180699586868, + -0.12422940880060196, + -27.299978256225586 + ], + [ + 0.12685725092887878, + 0.061126988381147385, + 0.9900357127189636, + -17.872438430786133 + ], + [ + -0.03699922561645508, + -0.9971132874488831, + 0.06630482524633408, + -17.515884399414062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2000, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_942267417", + "mask_path": "../../mask/hdr_front_02000.png" + }, + { + "file_path": "../../rgb/hdr_front_02001.png", + "transform_matrix": [ + [ + 0.9920563101768494, + -0.03990080580115318, + -0.11929907649755478, + -27.290136337280273 + ], + [ + 0.12146201729774475, + 0.057073187083005905, + 0.9909539222717285, + -17.950288772583008 + ], + [ + -0.0327310785651207, + -0.9975723028182983, + 0.06146624684333801, + -17.521930694580078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2001, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_42267322", + "mask_path": "../../mask/hdr_front_02001.png" + }, + { + "file_path": "../../rgb/hdr_front_02002.png", + "transform_matrix": [ + [ + 0.9918180704116821, + -0.044879380613565445, + -0.11951036751270294, + -27.27179718017578 + ], + [ + 0.12189735472202301, + 0.05486290901899338, + 0.9910253882408142, + -18.060590744018555 + ], + [ + -0.03791991248726845, + -0.9974848628044128, + 0.059884704649448395, + -17.53154754638672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2002, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_142267465", + "mask_path": "../../mask/hdr_front_02002.png" + }, + { + "file_path": "../../rgb/hdr_front_02003.png", + "transform_matrix": [ + [ + 0.9905482530593872, + -0.05159902572631836, + -0.1270897537469864, + -27.24987030029297 + ], + [ + 0.1299940049648285, + 0.05747956410050392, + 0.9898473620414734, + -18.16368865966797 + ], + [ + -0.043770089745521545, + -0.9970123767852783, + 0.06364384293556213, + -17.54584312438965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2003, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_242266893", + "mask_path": "../../mask/hdr_front_02003.png" + }, + { + "file_path": "../../rgb/hdr_front_02004.png", + "transform_matrix": [ + [ + 0.9889931678771973, + -0.05358576029539108, + -0.13791649043560028, + -27.226055145263672 + ], + [ + 0.14095626771450043, + 0.057820241898298264, + 0.9883259534835815, + -18.238567352294922 + ], + [ + -0.044985830783843994, + -0.9968878626823425, + 0.06473708152770996, + -17.554054260253906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2004, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_342267513", + "mask_path": "../../mask/hdr_front_02004.png" + }, + { + "file_path": "../../rgb/hdr_front_02005.png", + "transform_matrix": [ + [ + 0.9881276488304138, + -0.04809989780187607, + -0.1459110826253891, + -27.206905364990234 + ], + [ + 0.1487007737159729, + 0.06067099794745445, + 0.9870193600654602, + -18.334169387817383 + ], + [ + -0.03862295299768448, + -0.9969981908798218, + 0.06710318475961685, + -17.560239791870117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2005, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_442267417", + "mask_path": "../../mask/hdr_front_02005.png" + }, + { + "file_path": "../../rgb/hdr_front_02006.png", + "transform_matrix": [ + [ + 0.9883933067321777, + -0.04204590246081352, + -0.1459825187921524, + -27.194469451904297 + ], + [ + 0.1485127955675125, + 0.0651421844959259, + 0.9867625832557678, + -18.439544677734375 + ], + [ + -0.03197970241308212, + -0.9969898462295532, + 0.07063045352697372, + -17.567203521728516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2006, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_542267799", + "mask_path": "../../mask/hdr_front_02006.png" + }, + { + "file_path": "../../rgb/hdr_front_02007.png", + "transform_matrix": [ + [ + 0.9891093373298645, + -0.03525487706065178, + -0.14289821684360504, + -27.183162689208984 + ], + [ + 0.1449805647134781, + 0.06604987382888794, + 0.9872275590896606, + -18.52039909362793 + ], + [ + -0.025366175919771194, + -0.9971933364868164, + 0.07044181227684021, + -17.569520950317383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2007, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_642267227", + "mask_path": "../../mask/hdr_front_02007.png" + }, + { + "file_path": "../../rgb/hdr_front_02008.png", + "transform_matrix": [ + [ + 0.9897614121437073, + -0.03534212335944176, + -0.13828694820404053, + -27.166975021362305 + ], + [ + 0.140235036611557, + 0.06036843731999397, + 0.9882762432098389, + -18.605907440185547 + ], + [ + -0.026579611003398895, + -0.997550368309021, + 0.06470655649900436, + -17.573009490966797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2008, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_742268323", + "mask_path": "../../mask/hdr_front_02008.png" + }, + { + "file_path": "../../rgb/hdr_front_02009.png", + "transform_matrix": [ + [ + 0.9891071319580078, + -0.04304864630103111, + -0.14076179265975952, + -27.145376205444336 + ], + [ + 0.14319846034049988, + 0.06002405658364296, + 0.9878720641136169, + -18.720918655395508 + ], + [ + -0.034077465534210205, + -0.9972683191299438, + 0.06553471833467484, + -17.58637809753418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2009, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_842267990", + "mask_path": "../../mask/hdr_front_02009.png" + }, + { + "file_path": "../../rgb/hdr_front_02010.png", + "transform_matrix": [ + [ + 0.9876160025596619, + -0.04849642515182495, + -0.14920736849308014, + -27.122385025024414 + ], + [ + 0.1520037055015564, + 0.06025143712759018, + 0.986541748046875, + -18.814897537231445 + ], + [ + -0.03885379061102867, + -0.9970043897628784, + 0.06687691807746887, + -17.5996150970459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2010, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_942268133", + "mask_path": "../../mask/hdr_front_02010.png" + }, + { + "file_path": "../../rgb/hdr_front_02011.png", + "transform_matrix": [ + [ + 0.9863070845603943, + -0.04659215360879898, + -0.15820097923278809, + -27.09890365600586 + ], + [ + 0.16074754297733307, + 0.057203419506549835, + 0.9853365421295166, + -18.895954132080078 + ], + [ + -0.03685930743813515, + -0.9972748756408691, + 0.06390971690416336, + -17.617565155029297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2011, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_42267799", + "mask_path": "../../mask/hdr_front_02011.png" + }, + { + "file_path": "../../rgb/hdr_front_02012.png", + "transform_matrix": [ + [ + 0.9859267473220825, + -0.04409407451748848, + -0.16125799715518951, + -27.07858657836914 + ], + [ + 0.1637788563966751, + 0.061237286776304245, + 0.9845945835113525, + -19.00091552734375 + ], + [ + -0.033539779484272, + -0.9971488118171692, + 0.0675971582531929, + -17.62255096435547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2012, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_142268419", + "mask_path": "../../mask/hdr_front_02012.png" + }, + { + "file_path": "../../rgb/hdr_front_02013.png", + "transform_matrix": [ + [ + 0.9864997267723083, + -0.03907918557524681, + -0.15903152525424957, + -27.065305709838867 + ], + [ + 0.1612587571144104, + 0.06264505535364151, + 0.984921932220459, + -19.101734161376953 + ], + [ + -0.028527410700917244, + -0.9972704648971558, + 0.0681011974811554, + -17.61370086669922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2013, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_242267370", + "mask_path": "../../mask/hdr_front_02013.png" + }, + { + "file_path": "../../rgb/hdr_front_02014.png", + "transform_matrix": [ + [ + 0.9873253107070923, + -0.032714903354644775, + -0.15530143678188324, + -27.04802894592285 + ], + [ + 0.15703733265399933, + 0.059690870344638824, + 0.9857871532440186, + -19.17400550842285 + ], + [ + -0.022979851812124252, + -0.9976806640625, + 0.06407176703214645, + -17.616741180419922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2014, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_342267990", + "mask_path": "../../mask/hdr_front_02014.png" + }, + { + "file_path": "../../rgb/hdr_front_02015.png", + "transform_matrix": [ + [ + 0.9876317381858826, + -0.03485974669456482, + -0.15286730229854584, + -27.028573989868164 + ], + [ + 0.15461960434913635, + 0.054817505180835724, + 0.9864522218704224, + -19.27939224243164 + ], + [ + -0.02600766532123089, + -0.9978876709938049, + 0.05952950194478035, + -17.625751495361328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2015, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_442267656", + "mask_path": "../../mask/hdr_front_02015.png" + }, + { + "file_path": "../../rgb/hdr_front_02016.png", + "transform_matrix": [ + [ + 0.9864312410354614, + -0.04273933172225952, + -0.15851467847824097, + -27.004568099975586 + ], + [ + 0.16076038777828217, + 0.05554811656475067, + 0.9854291081428528, + -19.394248962402344 + ], + [ + -0.0333113856613636, + -0.9975408911705017, + 0.061665184795856476, + -17.636281967163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2016, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_542267799", + "mask_path": "../../mask/hdr_front_02016.png" + }, + { + "file_path": "../../rgb/hdr_front_02017.png", + "transform_matrix": [ + [ + 0.9845613241195679, + -0.04761931300163269, + -0.16843800246715546, + -26.98550033569336 + ], + [ + 0.17099529504776, + 0.055993277579545975, + 0.9836795330047607, + -19.474159240722656 + ], + [ + -0.03741073980927467, + -0.9972949624061584, + 0.06327149271965027, + -17.643007278442383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2017, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_642268896", + "mask_path": "../../mask/hdr_front_02017.png" + }, + { + "file_path": "../../rgb/hdr_front_02018.png", + "transform_matrix": [ + [ + 0.9832053184509277, + -0.04521610215306282, + -0.17681311070919037, + -26.966482162475586 + ], + [ + 0.17913849651813507, + 0.053929489105939865, + 0.9823446869850159, + -19.56218719482422 + ], + [ + -0.03488234803080559, + -0.9975205063819885, + 0.06112370267510414, + -17.654590606689453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2018, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_742267847", + "mask_path": "../../mask/hdr_front_02018.png" + }, + { + "file_path": "../../rgb/hdr_front_02019.png", + "transform_matrix": [ + [ + 0.9829662442207336, + -0.04250671714544296, + -0.17880265414714813, + -26.949277877807617 + ], + [ + 0.18105930089950562, + 0.05701480060815811, + 0.9818181395530701, + -19.66659927368164 + ], + [ + -0.03153946250677109, + -0.9974679946899414, + 0.06373985856771469, + -17.65662956237793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2019, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_842267751", + "mask_path": "../../mask/hdr_front_02019.png" + }, + { + "file_path": "../../rgb/hdr_front_02020.png", + "transform_matrix": [ + [ + 0.9836006760597229, + -0.03908557817339897, + -0.17607362568378448, + -26.937068939208984 + ], + [ + 0.1781630516052246, + 0.05866270512342453, + 0.9822508096694946, + -19.748653411865234 + ], + [ + -0.02806287445127964, + -0.9975124597549438, + 0.06466428935527802, + -17.652538299560547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2020, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_942268133", + "mask_path": "../../mask/hdr_front_02020.png" + }, + { + "file_path": "../../rgb/hdr_front_02021.png", + "transform_matrix": [ + [ + 0.9846460223197937, + -0.03507959470152855, + -0.1710021197795868, + -26.928600311279297 + ], + [ + 0.1727898269891739, + 0.05658632144331932, + 0.9833319187164307, + -19.81748390197754 + ], + [ + -0.024818502366542816, + -0.9977812170982361, + 0.06177888810634613, + -17.65692901611328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2021, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_42268753", + "mask_path": "../../mask/hdr_front_02021.png" + }, + { + "file_path": "../../rgb/hdr_front_02022.png", + "transform_matrix": [ + [ + 0.9847084879875183, + -0.03915785625576973, + -0.16975224018096924, + -26.91086196899414 + ], + [ + 0.17168819904327393, + 0.05293367803096771, + 0.983728289604187, + -19.915319442749023 + ], + [ + -0.029535073786973953, + -0.9978300333023071, + 0.05884718522429466, + -17.667339324951172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2022, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_142268896", + "mask_path": "../../mask/hdr_front_02022.png" + }, + { + "file_path": "../../rgb/hdr_front_02023.png", + "transform_matrix": [ + [ + 0.9832005500793457, + -0.04821953549981117, + -0.17604447901248932, + -26.885692596435547 + ], + [ + 0.17849543690681458, + 0.05236350744962692, + 0.9825464487075806, + -20.014036178588867 + ], + [ + -0.038159631192684174, + -0.9974633455276489, + 0.060090795159339905, + -17.676427841186523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2023, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_242267847", + "mask_path": "../../mask/hdr_front_02023.png" + }, + { + "file_path": "../../rgb/hdr_front_02024.png", + "transform_matrix": [ + [ + 0.9814379811286926, + -0.052070602774620056, + -0.18457578122615814, + -26.86405372619629 + ], + [ + 0.18723651766777039, + 0.05190657079219818, + 0.9809426069259644, + -20.090930938720703 + ], + [ + -0.041497573256492615, + -0.9972935914993286, + 0.060692593455314636, + -17.6812686920166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2024, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_342267513", + "mask_path": "../../mask/hdr_front_02024.png" + }, + { + "file_path": "../../rgb/hdr_front_02025.png", + "transform_matrix": [ + [ + 0.9805777072906494, + -0.047492846846580505, + -0.1902937889099121, + -26.84225845336914 + ], + [ + 0.19263602793216705, + 0.050872765481472015, + 0.9799507260322571, + -20.177539825439453 + ], + [ + -0.03685987368226051, + -0.9975753426551819, + 0.059033531695604324, + -17.698108673095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2025, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_442268133", + "mask_path": "../../mask/hdr_front_02025.png" + }, + { + "file_path": "../../rgb/hdr_front_02026.png", + "transform_matrix": [ + [ + 0.9807424545288086, + -0.045660726726055145, + -0.18989254534244537, + -26.821605682373047 + ], + [ + 0.19223420321941376, + 0.0539451539516449, + 0.9798652529716492, + -20.283641815185547 + ], + [ + -0.03449757769703865, + -0.997499406337738, + 0.06168386712670326, + -17.698793411254883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2026, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_542266845", + "mask_path": "../../mask/hdr_front_02026.png" + }, + { + "file_path": "../../rgb/hdr_front_02027.png", + "transform_matrix": [ + [ + 0.9815963506698608, + -0.039857711642980576, + -0.18676228821277618, + -26.80723762512207 + ], + [ + 0.18880249559879303, + 0.05568734183907509, + 0.9804348945617676, + -20.366682052612305 + ], + [ + -0.028677592054009438, + -0.9976524114608765, + 0.06218772009015083, + -17.698177337646484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2027, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_642269372", + "mask_path": "../../mask/hdr_front_02027.png" + }, + { + "file_path": "../../rgb/hdr_front_02028.png", + "transform_matrix": [ + [ + 0.9830310940742493, + -0.034463465213775635, + -0.1801726520061493, + -26.79309844970703 + ], + [ + 0.18179339170455933, + 0.0517585426568985, + 0.9819736480712891, + -20.438703536987305 + ], + [ + -0.024516740813851357, + -0.9980648159980774, + 0.057145483791828156, + -17.701366424560547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2028, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_742267608", + "mask_path": "../../mask/hdr_front_02028.png" + }, + { + "file_path": "../../rgb/hdr_front_02029.png", + "transform_matrix": [ + [ + 0.9828699827194214, + -0.04005115479230881, + -0.1798955649137497, + -26.76807975769043 + ], + [ + 0.18175075948238373, + 0.04884836822748184, + 0.9821305871009827, + -20.54776954650879 + ], + [ + -0.030547861009836197, + -0.9980029463768005, + 0.05529092252254486, + -17.71275520324707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2029, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_842267990", + "mask_path": "../../mask/hdr_front_02029.png" + }, + { + "file_path": "../../rgb/hdr_front_02030.png", + "transform_matrix": [ + [ + 0.981154203414917, + -0.04642092064023018, + -0.18756775557994843, + -26.740802764892578 + ], + [ + 0.1897994875907898, + 0.04951685294508934, + 0.9805734157562256, + -20.638200759887695 + ], + [ + -0.03623135760426521, + -0.9976939558982849, + 0.05739433690905571, + -17.72550392150879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2030, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_942267417", + "mask_path": "../../mask/hdr_front_02030.png" + }, + { + "file_path": "../../rgb/hdr_front_02031.png", + "transform_matrix": [ + [ + 0.9792418479919434, + -0.04601816460490227, + -0.19740208983421326, + -26.713144302368164 + ], + [ + 0.19957004487514496, + 0.04854179918766022, + 0.9786804914474487, + -20.703020095825195 + ], + [ + -0.03545482084155083, + -0.9977605938911438, + 0.05671800673007965, + -17.73725128173828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2031, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_42267799", + "mask_path": "../../mask/hdr_front_02031.png" + }, + { + "file_path": "../../rgb/hdr_front_02032.png", + "transform_matrix": [ + [ + 0.9782792925834656, + -0.042970847338438034, + -0.2027883231639862, + -26.690027236938477 + ], + [ + 0.20491401851177216, + 0.05274239182472229, + 0.9773579239845276, + -20.794513702392578 + ], + [ + -0.03130235895514488, + -0.9976832270622253, + 0.060402121394872665, + -17.742883682250977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2032, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_142269134", + "mask_path": "../../mask/hdr_front_02032.png" + }, + { + "file_path": "../../rgb/hdr_front_02033.png", + "transform_matrix": [ + [ + 0.9786571860313416, + -0.039464790374040604, + -0.2016744762659073, + -26.673002243041992 + ], + [ + 0.20367757976055145, + 0.055884964764118195, + 0.9774417877197266, + -20.893896102905273 + ], + [ + -0.02730395831167698, + -0.9976570010185242, + 0.0627303197979927, + -17.740459442138672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2033, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_242267370", + "mask_path": "../../mask/hdr_front_02033.png" + }, + { + "file_path": "../../rgb/hdr_front_02034.png", + "transform_matrix": [ + [ + 0.9796249866485596, + -0.03471267595887184, + -0.19781263172626495, + -26.65909767150879 + ], + [ + 0.1995287537574768, + 0.05605313926935196, + 0.9782875180244446, + -20.96573829650879 + ], + [ + -0.022870954126119614, + -0.9978242516517639, + 0.06183722987771034, + -17.74010467529297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2034, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_342267751", + "mask_path": "../../mask/hdr_front_02034.png" + }, + { + "file_path": "../../rgb/hdr_front_02035.png", + "transform_matrix": [ + [ + 0.9808333516120911, + -0.034193169325590134, + -0.19182464480400085, + -26.642423629760742 + ], + [ + 0.19340744614601135, + 0.05134543776512146, + 0.979773998260498, + -21.042966842651367 + ], + [ + -0.02365226112306118, + -0.9980954527854919, + 0.05697453022003174, + -17.742069244384766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2035, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_442266941", + "mask_path": "../../mask/hdr_front_02035.png" + }, + { + "file_path": "../../rgb/hdr_front_02036.png", + "transform_matrix": [ + [ + 0.9802743196487427, + -0.04415784031152725, + -0.19264551997184753, + -26.614503860473633 + ], + [ + 0.19486293196678162, + 0.053066711872816086, + 0.9793939590454102, + -21.147554397583008 + ], + [ + -0.033024851232767105, + -0.9976141452789307, + 0.06062466651201248, + -17.755067825317383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2036, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_542268037", + "mask_path": "../../mask/hdr_front_02036.png" + }, + { + "file_path": "../../rgb/hdr_front_02037.png", + "transform_matrix": [ + [ + 0.9793282151222229, + -0.053090233355760574, + -0.19518618285655975, + -26.593774795532227 + ], + [ + 0.19803915917873383, + 0.055154476314783096, + 0.9786410927772522, + -21.235397338867188 + ], + [ + -0.041190896183252335, + -0.9970654845237732, + 0.06452828645706177, + -17.769813537597656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2037, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_642268180", + "mask_path": "../../mask/hdr_front_02037.png" + }, + { + "file_path": "../../rgb/hdr_front_02038.png", + "transform_matrix": [ + [ + 0.9787421226501465, + -0.05276207998394966, + -0.1981913149356842, + -26.563535690307617 + ], + [ + 0.20092914998531342, + 0.05291624739766121, + 0.9781755208969116, + -21.320751190185547 + ], + [ + -0.041123032569885254, + -0.997204065322876, + 0.06239280477166176, + -17.784404754638672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2038, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_742267608", + "mask_path": "../../mask/hdr_front_02038.png" + }, + { + "file_path": "../../rgb/hdr_front_02039.png", + "transform_matrix": [ + [ + 0.9794755578041077, + -0.049166955053806305, + -0.19547434151172638, + -26.538070678710938 + ], + [ + 0.19827455282211304, + 0.06056223809719086, + 0.9782736897468567, + -21.436246871948242 + ], + [ + -0.03626037389039993, + -0.9969527721405029, + 0.06906779110431671, + -17.795578002929688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2039, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_842267751", + "mask_path": "../../mask/hdr_front_02039.png" + }, + { + "file_path": "../../rgb/hdr_front_02040.png", + "transform_matrix": [ + [ + 0.9814882874488831, + -0.044972945004701614, + -0.1861668974161148, + -26.523799896240234 + ], + [ + 0.18881966173648834, + 0.06450702250003815, + 0.979890763759613, + -21.545869827270508 + ], + [ + -0.032059501856565475, + -0.9969033598899841, + 0.07180465012788773, + -17.795562744140625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2040, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_942265748", + "mask_path": "../../mask/hdr_front_02040.png" + }, + { + "file_path": "../../rgb/hdr_front_02041.png", + "transform_matrix": [ + [ + 0.9838302731513977, + -0.03988475352525711, + -0.17460569739341736, + -26.511449813842773 + ], + [ + 0.1768183708190918, + 0.06107446923851967, + 0.9823468327522278, + -21.629425048828125 + ], + [ + -0.02851671166718006, + -0.9973360896110535, + 0.06713927537202835, + -17.80094337463379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2041, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_42266130", + "mask_path": "../../mask/hdr_front_02041.png" + }, + { + "file_path": "../../rgb/hdr_front_02042.png", + "transform_matrix": [ + [ + 0.9854127764701843, + -0.04166518151760101, + -0.16500221192836761, + -26.487516403198242 + ], + [ + 0.1672164648771286, + 0.056856945157051086, + 0.9842793941497803, + -21.751331329345703 + ], + [ + -0.03162865340709686, + -0.9975126385688782, + 0.06299466639757156, + -17.807518005371094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2042, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_142268896", + "mask_path": "../../mask/hdr_front_02042.png" + }, + { + "file_path": "../../rgb/hdr_front_02043.png", + "transform_matrix": [ + [ + 0.9854777455329895, + -0.0503968670964241, + -0.16215352714061737, + -26.459636688232422 + ], + [ + 0.16497141122817993, + 0.05794234573841095, + 0.9845949411392212, + -21.87312889099121 + ], + [ + -0.04022493585944176, + -0.9970471262931824, + 0.06541493535041809, + -17.823423385620117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2043, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_242268085", + "mask_path": "../../mask/hdr_front_02043.png" + }, + { + "file_path": "../../rgb/hdr_front_02044.png", + "transform_matrix": [ + [ + 0.9849039316177368, + -0.05446561425924301, + -0.16431038081645966, + -26.435155868530273 + ], + [ + 0.1673915684223175, + 0.057869285345077515, + 0.9841905832290649, + -21.96152114868164 + ], + [ + -0.04409601911902428, + -0.996837317943573, + 0.06611277163028717, + -17.834840774536133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2044, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_342267990", + "mask_path": "../../mask/hdr_front_02044.png" + }, + { + "file_path": "../../rgb/hdr_front_02045.png", + "transform_matrix": [ + [ + 0.9852169156074524, + -0.05154113471508026, + -0.16337426006793976, + -26.41552734375 + ], + [ + 0.16636237502098083, + 0.06027611345052719, + 0.9842206835746765, + -22.063796997070312 + ], + [ + -0.04088028147816658, + -0.9968502521514893, + 0.06795955449342728, + -17.84174919128418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2045, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_442265748", + "mask_path": "../../mask/hdr_front_02045.png" + }, + { + "file_path": "../../rgb/hdr_front_02046.png", + "transform_matrix": [ + [ + 0.9868382811546326, + -0.04764627665281296, + -0.15453171730041504, + -26.403791427612305 + ], + [ + 0.15742912888526917, + 0.06463352590799332, + 0.9854128956794739, + -22.17792320251465 + ], + [ + -0.0369633212685585, + -0.996770977973938, + 0.0712837502360344, + -17.849733352661133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2046, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_542266607", + "mask_path": "../../mask/hdr_front_02046.png" + }, + { + "file_path": "../../rgb/hdr_front_02047.png", + "transform_matrix": [ + [ + 0.9888507127761841, + -0.04072805866599083, + -0.14323191344738007, + -26.393388748168945 + ], + [ + 0.1456773281097412, + 0.06525705754756927, + 0.9871776103973389, + -22.26504898071289 + ], + [ + -0.030858924612402916, + -0.9970370531082153, + 0.0704626515507698, + -17.85409927368164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2047, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_642267465", + "mask_path": "../../mask/hdr_front_02047.png" + }, + { + "file_path": "../../rgb/hdr_front_02048.png", + "transform_matrix": [ + [ + 0.9905182123184204, + -0.04071617126464844, + -0.13120946288108826, + -26.38372230529785 + ], + [ + 0.13351404666900635, + 0.060272302478551865, + 0.9892124533653259, + -22.36075782775879 + ], + [ + -0.03236864507198334, + -0.9973512887954712, + 0.06513697654008865, + -17.850934982299805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2048, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_742267608", + "mask_path": "../../mask/hdr_front_02048.png" + }, + { + "file_path": "../../rgb/hdr_front_02049.png", + "transform_matrix": [ + [ + 0.9905115962028503, + -0.05061522498726845, + -0.12776903808116913, + -26.364606857299805 + ], + [ + 0.13075688481330872, + 0.06092001497745514, + 0.9895409941673279, + -22.479625701904297 + ], + [ + -0.042302146553993225, + -0.996858537197113, + 0.06696027517318726, + -17.8626708984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2049, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_842267751", + "mask_path": "../../mask/hdr_front_02049.png" + }, + { + "file_path": "../../rgb/hdr_front_02050.png", + "transform_matrix": [ + [ + 0.9900308847427368, + -0.05380231887102127, + -0.13016916811466217, + -26.343997955322266 + ], + [ + 0.1333894580602646, + 0.061358992010354996, + 0.9891625046730042, + -22.57432746887207 + ], + [ + -0.04523218050599098, + -0.9966646432876587, + 0.06792397052049637, + -17.88196563720703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2050, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_942268133", + "mask_path": "../../mask/hdr_front_02050.png" + }, + { + "file_path": "../../rgb/hdr_front_02051.png", + "transform_matrix": [ + [ + 0.9899244904518127, + -0.04834534972906113, + -0.13308683037757874, + -26.321861267089844 + ], + [ + 0.1358509361743927, + 0.059267882257699966, + 0.9889549016952515, + -22.66311264038086 + ], + [ + -0.03992360085248947, + -0.9970707893371582, + 0.06523848325014114, + -17.897655487060547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2051, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_42267084", + "mask_path": "../../mask/hdr_front_02051.png" + }, + { + "file_path": "../../rgb/hdr_front_02052.png", + "transform_matrix": [ + [ + 0.9904592633247375, + -0.048653725534677505, + -0.12893137335777283, + -26.305118560791016 + ], + [ + 0.1317930370569229, + 0.06108026206493378, + 0.9893936514854431, + -22.781679153442383 + ], + [ + -0.040262527763843536, + -0.9969463348388672, + 0.06690972298383713, + -17.898195266723633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2052, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_142268180", + "mask_path": "../../mask/hdr_front_02052.png" + }, + { + "file_path": "../../rgb/hdr_front_02053.png", + "transform_matrix": [ + [ + 0.9919686913490295, + -0.04321546480059624, + -0.11887123435735703, + -26.295713424682617 + ], + [ + 0.1213693916797638, + 0.06069493666291237, + 0.9907500147819519, + -22.890195846557617 + ], + [ + -0.03560083732008934, + -0.9972204566001892, + 0.06545250862836838, + -17.892580032348633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2053, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_242268800", + "mask_path": "../../mask/hdr_front_02053.png" + }, + { + "file_path": "../../rgb/hdr_front_02054.png", + "transform_matrix": [ + [ + 0.9935824275016785, + -0.03754540905356407, + -0.10669727623462677, + -26.289466857910156 + ], + [ + 0.10871968418359756, + 0.05673174932599068, + 0.9924523234367371, + -22.973745346069336 + ], + [ + -0.031208902597427368, + -0.9976832866668701, + 0.060449596494436264, + -17.892606735229492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2054, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_342267990", + "mask_path": "../../mask/hdr_front_02054.png" + }, + { + "file_path": "../../rgb/hdr_front_02055.png", + "transform_matrix": [ + [ + 0.994065523147583, + -0.04407041519880295, + -0.09945663809776306, + -26.275537490844727 + ], + [ + 0.10176407545804977, + 0.05363621562719345, + 0.9933616518974304, + -23.09274673461914 + ], + [ + -0.03844337910413742, + -0.9975876212120056, + 0.057802699506282806, + -17.903085708618164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2055, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_442267894", + "mask_path": "../../mask/hdr_front_02055.png" + }, + { + "file_path": "../../rgb/hdr_front_02056.png", + "transform_matrix": [ + [ + 0.9937767386436462, + -0.052408743649721146, + -0.09829050302505493, + -26.25809097290039 + ], + [ + 0.10122222453355789, + 0.05657172203063965, + 0.9932541251182556, + -23.208017349243164 + ], + [ + -0.046494729816913605, + -0.9970220327377319, + 0.06152459606528282, + -17.918867111206055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2056, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_542268037", + "mask_path": "../../mask/hdr_front_02056.png" + }, + { + "file_path": "../../rgb/hdr_front_02057.png", + "transform_matrix": [ + [ + 0.9934120774269104, + -0.05435370281338692, + -0.10088607668876648, + -26.240720748901367 + ], + [ + 0.10395955294370651, + 0.05704138055443764, + 0.9929444789886475, + -23.296676635742188 + ], + [ + -0.04821552336215973, + -0.99689120054245, + 0.06231618672609329, + -17.931066513061523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2057, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_642267227", + "mask_path": "../../mask/hdr_front_02057.png" + }, + { + "file_path": "../../rgb/hdr_front_02058.png", + "transform_matrix": [ + [ + 0.9938178062438965, + -0.050071097910404205, + -0.09909135848283768, + -26.226755142211914 + ], + [ + 0.10206843167543411, + 0.060880787670612335, + 0.9929126501083374, + -23.40669059753418 + ], + [ + -0.04368346557021141, + -0.9968883991241455, + 0.06561508774757385, + -17.93305015563965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2058, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_742269277", + "mask_path": "../../mask/hdr_front_02058.png" + }, + { + "file_path": "../../rgb/hdr_front_02059.png", + "transform_matrix": [ + [ + 0.9949365258216858, + -0.04417625814676285, + -0.0902760699391365, + -26.218421936035156 + ], + [ + 0.09298285841941833, + 0.06362685561180115, + 0.9936326742172241, + -23.519214630126953 + ], + [ + -0.03815098851919174, + -0.9969955682754517, + 0.06741230934858322, + -17.934070587158203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2059, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_842266798", + "mask_path": "../../mask/hdr_front_02059.png" + }, + { + "file_path": "../../rgb/hdr_front_02060.png", + "transform_matrix": [ + [ + 0.9961013197898865, + -0.0383451022207737, + -0.07944641262292862, + -26.211902618408203 + ], + [ + 0.08171407133340836, + 0.06172263249754906, + 0.9947428107261658, + -23.60419273376465 + ], + [ + -0.03323987126350403, + -0.9973565340042114, + 0.06461533159017563, + -17.94101905822754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2060, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_942267894", + "mask_path": "../../mask/hdr_front_02060.png" + }, + { + "file_path": "../../rgb/hdr_front_02061.png", + "transform_matrix": [ + [ + 0.9967333674430847, + -0.04159543663263321, + -0.06922672688961029, + -26.204181671142578 + ], + [ + 0.0716516450047493, + 0.05994948372244835, + 0.9956265687942505, + -23.713150024414062 + ], + [ + -0.0372634120285511, + -0.9973344206809998, + 0.06273403018712997, + -17.95050811767578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2061, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_42267560", + "mask_path": "../../mask/hdr_front_02061.png" + }, + { + "file_path": "../../rgb/hdr_front_02062.png", + "transform_matrix": [ + [ + 0.9966026544570923, + -0.04914834350347519, + -0.06608770042657852, + -26.197219848632812 + ], + [ + 0.06919367611408234, + 0.06443724781274796, + 0.9955200552940369, + -23.84202766418457 + ], + [ + -0.04466964304447174, + -0.9967107176780701, + 0.06761909276247025, + -17.964542388916016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2062, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_142267227", + "mask_path": "../../mask/hdr_front_02062.png" + }, + { + "file_path": "../../rgb/hdr_front_02063.png", + "transform_matrix": [ + [ + 0.9963321685791016, + -0.051151856780052185, + -0.06859782338142395, + -26.182449340820312 + ], + [ + 0.07191124558448792, + 0.06602567434310913, + 0.995223343372345, + -23.940351486206055 + ], + [ + -0.046378303319215775, + -0.9965059757232666, + 0.0694618970155716, + -17.974140167236328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2063, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_242265939", + "mask_path": "../../mask/hdr_front_02063.png" + }, + { + "file_path": "../../rgb/hdr_front_02064.png", + "transform_matrix": [ + [ + 0.9965097904205322, + -0.0463273711502552, + -0.06944102793931961, + -26.170419692993164 + ], + [ + 0.07248411327600479, + 0.067607082426548, + 0.9950755834579468, + -24.048858642578125 + ], + [ + -0.04140452295541763, + -0.9966358542442322, + 0.07072910666465759, + -17.980979919433594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2064, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_342265605", + "mask_path": "../../mask/hdr_front_02064.png" + }, + { + "file_path": "../../rgb/hdr_front_02065.png", + "transform_matrix": [ + [ + 0.9972609281539917, + -0.04225337505340576, + -0.0607079453766346, + -26.165935516357422 + ], + [ + 0.06360718607902527, + 0.07103908061981201, + 0.9954434037208557, + -24.173355102539062 + ], + [ + -0.03774820640683174, + -0.9965782761573792, + 0.0735321119427681, + -17.98816680908203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2065, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_442267417", + "mask_path": "../../mask/hdr_front_02065.png" + }, + { + "file_path": "../../rgb/hdr_front_02066.png", + "transform_matrix": [ + [ + 0.9982439279556274, + -0.03412462770938873, + -0.04842039942741394, + -26.163877487182617 + ], + [ + 0.05074044689536095, + 0.07076603919267654, + 0.9962015748023987, + -24.271944046020508 + ], + [ + -0.03056848607957363, + -0.9969090223312378, + 0.07237327098846436, + -17.995344161987305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2066, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_542267322", + "mask_path": "../../mask/hdr_front_02066.png" + }, + { + "file_path": "../../rgb/hdr_front_02067.png", + "transform_matrix": [ + [ + 0.9987693428993225, + -0.032697178423404694, + -0.03729163855314255, + -26.16248893737793 + ], + [ + 0.03940162435173988, + 0.06645709276199341, + 0.9970109462738037, + -24.370948791503906 + ], + [ + -0.030121149495244026, + -0.9972534775733948, + 0.06766362488269806, + -17.995121002197266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2067, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_642266750", + "mask_path": "../../mask/hdr_front_02067.png" + }, + { + "file_path": "../../rgb/hdr_front_02068.png", + "transform_matrix": [ + [ + 0.9985132813453674, + -0.04140451177954674, + -0.03545394167304039, + -26.152395248413086 + ], + [ + 0.038338519632816315, + 0.07108908891677856, + 0.9967329502105713, + -24.494495391845703 + ], + [ + -0.0387488529086113, + -0.9966102838516235, + 0.07257077842950821, + -18.0125789642334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2068, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_742266893", + "mask_path": "../../mask/hdr_front_02068.png" + }, + { + "file_path": "../../rgb/hdr_front_02069.png", + "transform_matrix": [ + [ + 0.9981260895729065, + -0.0441974401473999, + -0.04231813922524452, + -26.136043548583984 + ], + [ + 0.04547365754842758, + 0.07301688939332962, + 0.9962934255599976, + -24.593257904052734 + ], + [ + -0.040943678468465805, + -0.9963509440422058, + 0.0748898833990097, + -18.03118133544922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2069, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_842267036", + "mask_path": "../../mask/hdr_front_02069.png" + }, + { + "file_path": "../../rgb/hdr_front_02070.png", + "transform_matrix": [ + [ + 0.9977632761001587, + -0.04131612554192543, + -0.05254899337887764, + -26.11712074279785 + ], + [ + 0.05530218034982681, + 0.0685897022485733, + 0.9961110353469849, + -24.68316650390625 + ], + [ + -0.037551119923591614, + -0.9967892169952393, + 0.07072115689516068, + -18.04192543029785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2070, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_942269086", + "mask_path": "../../mask/hdr_front_02070.png" + }, + { + "file_path": "../../rgb/hdr_front_02071.png", + "transform_matrix": [ + [ + 0.9973134994506836, + -0.039125408977270126, + -0.06192703917622566, + -26.107894897460938 + ], + [ + 0.06454174220561981, + 0.06953646242618561, + 0.9954894185066223, + -24.797779083251953 + ], + [ + -0.03464273735880852, + -0.9968118667602539, + 0.07187487930059433, + -18.045902252197266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2071, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_42268276", + "mask_path": "../../mask/hdr_front_02071.png" + }, + { + "file_path": "../../rgb/hdr_front_02072.png", + "transform_matrix": [ + [ + 0.9969755411148071, + -0.033727824687957764, + -0.07001473754644394, + -26.101049423217773 + ], + [ + 0.07220293581485748, + 0.06874572485685349, + 0.9950180053710938, + -24.89912986755371 + ], + [ + -0.028746578842401505, + -0.9970639944076538, + 0.07097306102514267, + -18.040666580200195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2072, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_142267465", + "mask_path": "../../mask/hdr_front_02072.png" + }, + { + "file_path": "../../rgb/hdr_front_02073.png", + "transform_matrix": [ + [ + 0.9961443543434143, + -0.029230711981654167, + -0.08271558582782745, + -26.089574813842773 + ], + [ + 0.08444739133119583, + 0.06404604762792587, + 0.9943675398826599, + -24.973411560058594 + ], + [ + -0.023768458515405655, + -0.99751877784729, + 0.06626756489276886, + -18.045989990234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2073, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_242268085", + "mask_path": "../../mask/hdr_front_02073.png" + }, + { + "file_path": "../../rgb/hdr_front_02074.png", + "transform_matrix": [ + [ + 0.9944191575050354, + -0.028024181723594666, + -0.10171110928058624, + -26.068145751953125 + ], + [ + 0.10324449837207794, + 0.06016060337424278, + 0.9928350448608398, + -25.07146644592285 + ], + [ + -0.021704381331801414, + -0.9977952837944031, + 0.06271819025278091, + -18.06230926513672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2074, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_342268466", + "mask_path": "../../mask/hdr_front_02074.png" + }, + { + "file_path": "../../rgb/hdr_front_02075.png", + "transform_matrix": [ + [ + 0.9914259910583496, + -0.03298792988061905, + -0.12643690407276154, + -26.044626235961914 + ], + [ + 0.1283198893070221, + 0.06312315911054611, + 0.9897218942642212, + -25.180421829223633 + ], + [ + -0.024667777121067047, + -0.9974604249000549, + 0.06681495159864426, + -18.071861267089844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2075, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_442267656", + "mask_path": "../../mask/hdr_front_02075.png" + }, + { + "file_path": "../../rgb/hdr_front_02076.png", + "transform_matrix": [ + [ + 0.988106906414032, + -0.036978378891944885, + -0.14925609529018402, + -26.02073097229004 + ], + [ + 0.15139909088611603, + 0.06421463936567307, + 0.9863848090171814, + -25.25906753540039 + ], + [ + -0.026890475302934647, + -0.9972507953643799, + 0.0690494254231453, + -18.079565048217773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2076, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_542267560", + "mask_path": "../../mask/hdr_front_02076.png" + }, + { + "file_path": "../../rgb/hdr_left_01997.png", + "transform_matrix": [ + [ + -0.06231172755360603, + -0.0433058924973011, + 0.99711674451828, + -27.755889892578125 + ], + [ + -0.996339738368988, + 0.06127528101205826, + -0.05960192158818245, + -15.2979154586792 + ], + [ + -0.05851749703288078, + -0.9971811771392822, + -0.04696553573012352, + -17.330244064331055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1997, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_142267227", + "mask_path": "../../mask/hdr_left_01997.png" + }, + { + "file_path": "../../rgb/hdr_left_01998.png", + "transform_matrix": [ + [ + -0.054220374673604965, + -0.040723949670791626, + 0.9976982474327087, + -27.748706817626953 + ], + [ + -0.9967822432518005, + 0.0612802654504776, + -0.051669251173734665, + -15.37162971496582 + ], + [ + -0.0590350367128849, + -0.9972894787788391, + -0.04391554743051529, + -17.320032119750977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1998, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_242267608", + "mask_path": "../../mask/hdr_left_01998.png" + }, + { + "file_path": "../../rgb/hdr_left_02000.png", + "transform_matrix": [ + [ + -0.054036933928728104, + -0.03771787881851196, + 0.997826337814331, + -27.73162841796875 + ], + [ + -0.9968257546424866, + 0.0605493038892746, + -0.051693983376026154, + -15.531210899353027 + ], + [ + -0.05846789479255676, + -0.9974523782730103, + -0.04087004065513611, + -17.333927154541016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2000, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_442267656", + "mask_path": "../../mask/hdr_left_02000.png" + }, + { + "file_path": "../../rgb/hdr_left_02001.png", + "transform_matrix": [ + [ + -0.05600738152861595, + -0.04506337642669678, + 0.9974129796028137, + -27.72726058959961 + ], + [ + -0.9965936541557312, + 0.06308907270431519, + -0.05311097577214241, + -15.6292085647583 + ], + [ + -0.06053248792886734, + -0.9969900250434875, + -0.04844332113862038, + -17.347557067871094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2001, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_542267560", + "mask_path": "../../mask/hdr_left_02001.png" + }, + { + "file_path": "../../rgb/hdr_left_02002.png", + "transform_matrix": [ + [ + -0.05307021364569664, + -0.04851541668176651, + 0.9974116086959839, + -27.71175193786621 + ], + [ + -0.9968706965446472, + 0.06117411330342293, + -0.05006583407521248, + -15.703156471252441 + ], + [ + -0.05858679488301277, + -0.9969473481178284, + -0.05161011591553688, + -17.355361938476562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2002, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_642268180", + "mask_path": "../../mask/hdr_left_02002.png" + }, + { + "file_path": "../../rgb/hdr_left_02003.png", + "transform_matrix": [ + [ + -0.050837911665439606, + -0.04339295253157616, + 0.9977638125419617, + -27.691097259521484 + ], + [ + -0.9972066879272461, + 0.05694536119699478, + -0.048332951962947845, + -15.789579391479492 + ], + [ + -0.05472070351243019, + -0.9974339008331299, + -0.04616672173142433, + -17.37066078186035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2003, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_742271184", + "mask_path": "../../mask/hdr_left_02003.png" + }, + { + "file_path": "../../rgb/hdr_left_02004.png", + "transform_matrix": [ + [ + -0.05465392768383026, + -0.04374555125832558, + 0.9975466132164001, + -27.67689323425293 + ], + [ + -0.9969322681427002, + 0.05844739452004433, + -0.052057161927223206, + -15.898026466369629 + ], + [ + -0.05602673068642616, + -0.9973316192626953, + -0.0468057245016098, + -17.371246337890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2004, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_842267751", + "mask_path": "../../mask/hdr_left_02004.png" + }, + { + "file_path": "../../rgb/hdr_left_02005.png", + "transform_matrix": [ + [ + -0.06263801455497742, + -0.04216936230659485, + 0.9971449971199036, + -27.668071746826172 + ], + [ + -0.996548056602478, + 0.057183559983968735, + -0.06018221750855446, + -15.982627868652344 + ], + [ + -0.05448245257139206, + -0.9974727630615234, + -0.04560566321015358, + -17.367706298828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2005, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_942267417", + "mask_path": "../../mask/hdr_left_02005.png" + }, + { + "file_path": "../../rgb/hdr_left_02006.png", + "transform_matrix": [ + [ + -0.07166387885808945, + -0.03643648326396942, + 0.9967631101608276, + -27.6590576171875 + ], + [ + -0.9962456822395325, + 0.05127361789345741, + -0.06975239515304565, + -16.052213668823242 + ], + [ + -0.04856611788272858, + -0.998019814491272, + -0.0399741567671299, + -17.37435531616211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2006, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_42269706", + "mask_path": "../../mask/hdr_left_02006.png" + }, + { + "file_path": "../../rgb/hdr_left_02007.png", + "transform_matrix": [ + [ + -0.07375732809305191, + -0.03901827707886696, + 0.9965126514434814, + -27.642648696899414 + ], + [ + -0.9962040781974792, + 0.049202561378479004, + -0.07180796563625336, + -16.163082122802734 + ], + [ + -0.04622914269566536, + -0.9980264902114868, + -0.04249921441078186, + -17.3880672454834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2007, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_142267465", + "mask_path": "../../mask/hdr_left_02007.png" + }, + { + "file_path": "../../rgb/hdr_left_02008.png", + "transform_matrix": [ + [ + -0.06962541490793228, + -0.04568150267004967, + 0.9965266585350037, + -27.625333786010742 + ], + [ + -0.9963569045066833, + 0.05250056833028793, + -0.06720688939094543, + -16.264862060546875 + ], + [ + -0.049248106777668, + -0.997575581073761, + -0.04917045310139656, + -17.401447296142578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2008, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_242268085", + "mask_path": "../../mask/hdr_left_02008.png" + }, + { + "file_path": "../../rgb/hdr_left_02009.png", + "transform_matrix": [ + [ + -0.06036045402288437, + -0.047887519001960754, + 0.9970272183418274, + -27.6041259765625 + ], + [ + -0.9968709349632263, + 0.05396585911512375, + -0.05775899812579155, + -16.339258193969727 + ], + [ + -0.05103949457406998, + -0.9973939657211304, + -0.05099507048726082, + -17.409528732299805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2009, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_342267990", + "mask_path": "../../mask/hdr_left_02009.png" + }, + { + "file_path": "../../rgb/hdr_left_02010.png", + "transform_matrix": [ + [ + -0.052185382694005966, + -0.04380935803055763, + 0.9976760745048523, + -27.59239387512207 + ], + [ + -0.9971915483474731, + 0.05602598190307617, + -0.049699846655130386, + -16.43625831604004 + ], + [ + -0.053718458861112595, + -0.9974678158760071, + -0.04661004617810249, + -17.410964965820312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2010, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_442267179", + "mask_path": "../../mask/hdr_left_02010.png" + }, + { + "file_path": "../../rgb/hdr_left_02011.png", + "transform_matrix": [ + [ + -0.05158272385597229, + -0.03756217658519745, + 0.9979620575904846, + -27.583606719970703 + ], + [ + -0.9970749020576477, + 0.05837013199925423, + -0.04933987557888031, + -16.541481018066406 + ], + [ + -0.05639786273241043, + -0.9975881576538086, + -0.04046318680047989, + -17.410778045654297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2011, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_542267322", + "mask_path": "../../mask/hdr_left_02011.png" + }, + { + "file_path": "../../rgb/hdr_left_02012.png", + "transform_matrix": [ + [ + -0.0570998452603817, + -0.03240365907549858, + 0.9978424906730652, + -27.57627296447754 + ], + [ + -0.9967496395111084, + 0.05874323472380638, + -0.05512967333197594, + -16.61612892150879 + ], + [ + -0.056830085813999176, + -0.9977471232414246, + -0.035652562975883484, + -17.415260314941406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2012, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_642267942", + "mask_path": "../../mask/hdr_left_02012.png" + }, + { + "file_path": "../../rgb/hdr_left_02013.png", + "transform_matrix": [ + [ + -0.06409949064254761, + -0.03282935917377472, + 0.9974033236503601, + -27.564895629882812 + ], + [ + -0.9965583682060242, + 0.054745063185691833, + -0.0622432641685009, + -16.687694549560547 + ], + [ + -0.0525594986975193, + -0.9979605674743652, + -0.03622550144791603, + -17.41672706604004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2013, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_742267131", + "mask_path": "../../mask/hdr_left_02013.png" + }, + { + "file_path": "../../rgb/hdr_left_02014.png", + "transform_matrix": [ + [ + -0.06427104771137238, + -0.039400648325681686, + 0.9971543550491333, + -27.552743911743164 + ], + [ + -0.9964877963066101, + 0.05628068372607231, + -0.06200424209237099, + -16.795188903808594 + ], + [ + -0.0536775179207325, + -0.9976373314857483, + -0.04287948086857796, + -17.431577682495117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2014, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_842267274", + "mask_path": "../../mask/hdr_left_02014.png" + }, + { + "file_path": "../../rgb/hdr_left_02015.png", + "transform_matrix": [ + [ + -0.060046758502721786, + -0.045360177755355835, + 0.9971643686294556, + -27.539567947387695 + ], + [ + -0.9966240525245667, + 0.05875725299119949, + -0.057341400533914566, + -16.883094787597656 + ], + [ + -0.055989623069763184, + -0.9972412586212158, + -0.04873522371053696, + -17.448017120361328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2015, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_942266941", + "mask_path": "../../mask/hdr_left_02015.png" + }, + { + "file_path": "../../rgb/hdr_left_02016.png", + "transform_matrix": [ + [ + -0.05645190179347992, + -0.04463333263993263, + 0.9974071383476257, + -27.523944854736328 + ], + [ + -0.9968094825744629, + 0.058980900794267654, + -0.05377870053052902, + -16.96164321899414 + ], + [ + -0.056427642703056335, + -0.9972608089447021, + -0.04782051220536232, + -17.45988655090332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2016, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_42266607", + "mask_path": "../../mask/hdr_left_02016.png" + }, + { + "file_path": "../../rgb/hdr_left_02017.png", + "transform_matrix": [ + [ + -0.0586002878844738, + -0.04092594236135483, + 0.9974422454833984, + -27.513940811157227 + ], + [ + -0.9962363839149475, + 0.06631983816623688, + -0.05580828711390495, + -17.063079833984375 + ], + [ + -0.06386619806289673, + -0.9969587922096252, + -0.044658269733190536, + -17.465147018432617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2017, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_142267704", + "mask_path": "../../mask/hdr_left_02017.png" + }, + { + "file_path": "../../rgb/hdr_left_02018.png", + "transform_matrix": [ + [ + -0.06739070266485214, + -0.03729984536767006, + 0.9970292448997498, + -27.50716781616211 + ], + [ + -0.9954931139945984, + 0.06934032589197159, + -0.06469278037548065, + -17.16136360168457 + ], + [ + -0.06672129780054092, + -0.9968954920768738, + -0.041804634034633636, + -17.46149253845215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2018, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_242267131", + "mask_path": "../../mask/hdr_left_02018.png" + }, + { + "file_path": "../../rgb/hdr_left_02019.png", + "transform_matrix": [ + [ + -0.07870427519083023, + -0.031633783131837845, + 0.996396005153656, + -27.49961280822754 + ], + [ + -0.9947463870048523, + 0.0681241899728775, + -0.07641113549470901, + -17.236610412597656 + ], + [ + -0.06546148657798767, + -0.9971752166748047, + -0.036829251796007156, + -17.46321678161621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2019, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_342267036", + "mask_path": "../../mask/hdr_left_02019.png" + }, + { + "file_path": "../../rgb/hdr_left_02020.png", + "transform_matrix": [ + [ + -0.08994975686073303, + -0.0331144854426384, + 0.9953956007957458, + -27.492340087890625 + ], + [ + -0.9941597580909729, + 0.06282198429107666, + -0.08774813264608383, + -17.316572189331055 + ], + [ + -0.0596269927918911, + -0.997475266456604, + -0.038571905344724655, + -17.477060317993164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2020, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_442267179", + "mask_path": "../../mask/hdr_left_02020.png" + }, + { + "file_path": "../../rgb/hdr_left_02021.png", + "transform_matrix": [ + [ + -0.0859057828783989, + -0.041123487055301666, + 0.9954541325569153, + -27.474130630493164 + ], + [ + -0.9945874810218811, + 0.062152426689863205, + -0.08326338976621628, + -17.425447463989258 + ], + [ + -0.05844579637050629, + -0.9972192049026489, + -0.046240150928497314, + -17.485519409179688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2021, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_542266845", + "mask_path": "../../mask/hdr_left_02021.png" + }, + { + "file_path": "../../rgb/hdr_left_02022.png", + "transform_matrix": [ + [ + -0.07330658286809921, + -0.04621598869562149, + 0.9962379932403564, + -27.454833984375 + ], + [ + -0.9955804347991943, + 0.062185630202293396, + -0.07037334889173508, + -17.516693115234375 + ], + [ + -0.058699313551187515, + -0.9969940185546875, + -0.050570350140333176, + -17.493558883666992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2022, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_642266988", + "mask_path": "../../mask/hdr_left_02022.png" + }, + { + "file_path": "../../rgb/hdr_left_02023.png", + "transform_matrix": [ + [ + -0.0608321875333786, + -0.04183057323098183, + 0.9972710609436035, + -27.438203811645508 + ], + [ + -0.9964140057563782, + 0.061412885785102844, + -0.058203939348459244, + -17.59751319885254 + ], + [ + -0.05881059169769287, + -0.9972355365753174, + -0.045416440814733505, + -17.50619125366211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2023, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_742266893", + "mask_path": "../../mask/hdr_left_02023.png" + }, + { + "file_path": "../../rgb/hdr_left_02024.png", + "transform_matrix": [ + [ + -0.055189263075590134, + -0.03758879378437996, + 0.9977680444717407, + -27.422916412353516 + ], + [ + -0.9965178370475769, + 0.06462490558624268, + -0.05268550664186478, + -17.706499099731445 + ], + [ + -0.06250028312206268, + -0.9972014427185059, + -0.041024502366781235, + -17.513267517089844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2024, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_842266798", + "mask_path": "../../mask/hdr_left_02024.png" + }, + { + "file_path": "../../rgb/hdr_left_02025.png", + "transform_matrix": [ + [ + -0.0574471689760685, + -0.03212966397404671, + 0.997831404209137, + -27.411542892456055 + ], + [ + -0.9964074492454529, + 0.06414087116718292, + -0.055299870669841766, + -17.807146072387695 + ], + [ + -0.06222500279545784, + -0.9974235892295837, + -0.035698942840099335, + -17.507972717285156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2025, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_942267417", + "mask_path": "../../mask/hdr_left_02025.png" + }, + { + "file_path": "../../rgb/hdr_left_02026.png", + "transform_matrix": [ + [ + -0.062426287680864334, + -0.026971522718667984, + 0.9976850748062134, + -27.401391983032227 + ], + [ + -0.9963487982749939, + 0.06001750007271767, + -0.060720134526491165, + -17.884374618530273 + ], + [ + -0.058240845799446106, + -0.9978328347206116, + -0.030619710683822632, + -17.51483917236328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2026, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_42267322", + "mask_path": "../../mask/hdr_left_02026.png" + }, + { + "file_path": "../../rgb/hdr_left_02027.png", + "transform_matrix": [ + [ + -0.062193918973207474, + -0.03195308893918991, + 0.9975525140762329, + -27.38304901123047 + ], + [ + -0.9965060949325562, + 0.05781325697898865, + -0.060276832431554794, + -17.994718551635742 + ], + [ + -0.055745720863342285, + -0.9978160262107849, + -0.035437073558568954, + -17.524049758911133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2027, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_142267465", + "mask_path": "../../mask/hdr_left_02027.png" + }, + { + "file_path": "../../rgb/hdr_left_02028.png", + "transform_matrix": [ + [ + -0.054534975439310074, + -0.0386991985142231, + 0.9977617263793945, + -27.36159896850586 + ], + [ + -0.9968036413192749, + 0.060534898191690445, + -0.05213470384478569, + -18.098737716674805 + ], + [ + -0.0583818219602108, + -0.9974156618118286, + -0.041876763105392456, + -17.537446975708008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2028, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_242266893", + "mask_path": "../../mask/hdr_left_02028.png" + }, + { + "file_path": "../../rgb/hdr_left_02029.png", + "transform_matrix": [ + [ + -0.043613091111183167, + -0.04072098806500435, + 0.9982182383537292, + -27.338483810424805 + ], + [ + -0.9972907304763794, + 0.06101809814572334, + -0.04108341410756111, + -18.17486000061035 + ], + [ + -0.05923641845583916, + -0.997305691242218, + -0.043271854519844055, + -17.545448303222656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2029, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_342267513", + "mask_path": "../../mask/hdr_left_02029.png" + }, + { + "file_path": "../../rgb/hdr_left_02030.png", + "transform_matrix": [ + [ + -0.03557351976633072, + -0.03525789454579353, + 0.9987448453903198, + -27.319869995117188 + ], + [ + -0.9973971843719482, + 0.06396900117397308, + -0.03326725959777832, + -18.2713565826416 + ], + [ + -0.06271576881408691, + -0.9973288774490356, + -0.03744172304868698, + -17.55209732055664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2030, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_442267417", + "mask_path": "../../mask/hdr_left_02030.png" + }, + { + "file_path": "../../rgb/hdr_left_02031.png", + "transform_matrix": [ + [ + -0.035528816282749176, + -0.029201023280620575, + 0.998941957950592, + -27.307458877563477 + ], + [ + -0.9970940351486206, + 0.06843696534633636, + -0.0334625244140625, + -18.37672996520996 + ], + [ + -0.0673874095082283, + -0.9972280263900757, + -0.03154764696955681, + -17.559463500976562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2031, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_542267799", + "mask_path": "../../mask/hdr_left_02031.png" + }, + { + "file_path": "../../rgb/hdr_left_02032.png", + "transform_matrix": [ + [ + -0.03866647183895111, + -0.022396955639123917, + 0.9990012049674988, + -27.295974731445312 + ], + [ + -0.9969083666801453, + 0.06929861009120941, + -0.037031810730695724, + -18.457181930541992 + ], + [ + -0.06839998066425323, + -0.9973445534706116, + -0.02500724606215954, + -17.562475204467773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2032, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_642267227", + "mask_path": "../../mask/hdr_left_02032.png" + }, + { + "file_path": "../../rgb/hdr_left_02033.png", + "transform_matrix": [ + [ + -0.043319884687662125, + -0.022469323128461838, + 0.9988085627555847, + -27.279489517211914 + ], + [ + -0.9971017837524414, + 0.0635564923286438, + -0.0418161042034626, + -18.54212760925293 + ], + [ + -0.0625411793589592, + -0.9977253079414368, + -0.025157460942864418, + -17.566293716430664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2033, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_742268323", + "mask_path": "../../mask/hdr_left_02033.png" + }, + { + "file_path": "../../rgb/hdr_left_02034.png", + "transform_matrix": [ + [ + -0.0407961942255497, + -0.03018716350197792, + 0.998711347579956, + -27.258028030395508 + ], + [ + -0.9972420930862427, + 0.06325068324804306, + -0.03882434219121933, + -18.657474517822266 + ], + [ + -0.061997171491384506, + -0.9975411295890808, + -0.03268430009484291, + -17.578826904296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2034, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_842267990", + "mask_path": "../../mask/hdr_left_02034.png" + }, + { + "file_path": "../../rgb/hdr_left_02035.png", + "transform_matrix": [ + [ + -0.03224056959152222, + -0.03566562011837959, + 0.9988436102867126, + -27.235557556152344 + ], + [ + -0.9975270628929138, + 0.06359240412712097, + -0.02992737852036953, + -18.75246238708496 + ], + [ + -0.06245148554444313, + -0.9973384141921997, + -0.037627674639225006, + -17.591466903686523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2035, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_942268133", + "mask_path": "../../mask/hdr_left_02035.png" + }, + { + "file_path": "../../rgb/hdr_left_02036.png", + "transform_matrix": [ + [ + -0.023151587694883347, + -0.03379100561141968, + 0.9991607666015625, + -27.212650299072266 + ], + [ + -0.9979361295700073, + 0.06065836921334267, + -0.021071767434477806, + -18.834514617919922 + ], + [ + -0.05989541858434677, + -0.9975865483283997, + -0.03512559458613396, + -17.6098575592041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2036, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_42267799", + "mask_path": "../../mask/hdr_left_02036.png" + }, + { + "file_path": "../../rgb/hdr_left_02037.png", + "transform_matrix": [ + [ + -0.02006695233285427, + -0.0313023179769516, + 0.9993084669113159, + -27.192533493041992 + ], + [ + -0.9977402091026306, + 0.06473086029291153, + -0.018007798120379448, + -18.939842224121094 + ], + [ + -0.06412240862846375, + -0.9974117279052734, + -0.032530527561903, + -17.614892959594727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2037, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_142268419", + "mask_path": "../../mask/hdr_left_02037.png" + }, + { + "file_path": "../../rgb/hdr_left_02038.png", + "transform_matrix": [ + [ + -0.022341672331094742, + -0.02627728506922722, + 0.9994049668312073, + -27.17913055419922 + ], + [ + -0.9976006746292114, + 0.06610570847988129, + -0.020563233643770218, + -19.040372848510742 + ], + [ + -0.06552603095769882, + -0.9974665641784668, + -0.027691150084137917, + -17.606517791748047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2038, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_242267370", + "mask_path": "../../mask/hdr_left_02038.png" + }, + { + "file_path": "../../rgb/hdr_left_02039.png", + "transform_matrix": [ + [ + -0.026135841384530067, + -0.01989760249853134, + 0.9994603991508484, + -27.16163444519043 + ], + [ + -0.9976983666419983, + 0.0630972683429718, + -0.024833595380187035, + -19.112146377563477 + ], + [ + -0.06256908178329468, + -0.9978090524673462, + -0.021500902250409126, + -17.610445022583008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2039, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_342267990", + "mask_path": "../../mask/hdr_left_02039.png" + }, + { + "file_path": "../../rgb/hdr_left_02040.png", + "transform_matrix": [ + [ + -0.028593190014362335, + -0.0220349058508873, + 0.9993482232093811, + -27.14202117919922 + ], + [ + -0.9979328513145447, + 0.05819333717226982, + -0.027269545942544937, + -19.21723747253418 + ], + [ + -0.057554516941308975, + -0.9980621337890625, + -0.02365328185260296, + -17.619504928588867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2040, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_442267656", + "mask_path": "../../mask/hdr_left_02040.png" + }, + { + "file_path": "../../rgb/hdr_left_02041.png", + "transform_matrix": [ + [ + -0.02285120077431202, + -0.02993731014430523, + 0.9992905855178833, + -27.118349075317383 + ], + [ + -0.9980356097221375, + 0.05900350585579872, + -0.0210548248142004, + -19.332805633544922 + ], + [ + -0.05833131819963455, + -0.9978088140487671, + -0.031226802617311478, + -17.62911605834961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2041, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_542267799", + "mask_path": "../../mask/hdr_left_02041.png" + }, + { + "file_path": "../../rgb/hdr_left_02042.png", + "transform_matrix": [ + [ + -0.012771574780344963, + -0.03485501930117607, + 0.9993107914924622, + -27.099878311157227 + ], + [ + -0.9981663227081299, + 0.05958127975463867, + -0.010678810067474842, + -19.413904190063477 + ], + [ + -0.059167999774217606, + -0.9976148009300232, + -0.035552047193050385, + -17.635292053222656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2042, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_642268896", + "mask_path": "../../mask/hdr_left_02042.png" + }, + { + "file_path": "../../rgb/hdr_left_02043.png", + "transform_matrix": [ + [ + -0.004280460998415947, + -0.03248129412531853, + 0.9994632005691528, + -27.08138084411621 + ], + [ + -0.9983355402946472, + 0.05762328580021858, + -0.0024029326159507036, + -19.50287628173828 + ], + [ + -0.05751430243253708, + -0.997809886932373, + -0.032673873007297516, + -17.647306442260742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2043, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_742267847", + "mask_path": "../../mask/hdr_left_02043.png" + }, + { + "file_path": "../../rgb/hdr_left_02044.png", + "transform_matrix": [ + [ + -0.002270452445372939, + -0.029778001829981804, + 0.9995538592338562, + -27.064306259155273 + ], + [ + -0.9981539249420166, + 0.06073295325040817, + -0.00045794787001796067, + -19.60752296447754 + ], + [ + -0.06069222465157509, + -0.9977097511291504, + -0.02986091934144497, + -17.64948081970215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2044, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_842267751", + "mask_path": "../../mask/hdr_left_02044.png" + }, + { + "file_path": "../../rgb/hdr_left_02045.png", + "transform_matrix": [ + [ + -0.005056478548794985, + -0.026345087215304375, + 0.9996400475502014, + -27.051942825317383 + ], + [ + -0.9980489611625671, + 0.062343090772628784, + -0.003405408700928092, + -19.68924331665039 + ], + [ + -0.06223093345761299, + -0.9977070689201355, + -0.026608910411596298, + -17.645673751831055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2045, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_942268133", + "mask_path": "../../mask/hdr_left_02045.png" + }, + { + "file_path": "../../rgb/hdr_left_02046.png", + "transform_matrix": [ + [ + -0.010218488052487373, + -0.022318771108984947, + 0.9996986985206604, + -27.043176651000977 + ], + [ + -0.9981470704078674, + 0.06019747257232666, + -0.008858692832291126, + -19.75743865966797 + ], + [ + -0.05998161435127258, + -0.9979369640350342, + -0.0228925421833992, + -17.650625228881836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2046, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_42268753", + "mask_path": "../../mask/hdr_left_02046.png" + }, + { + "file_path": "../../rgb/hdr_left_02047.png", + "transform_matrix": [ + [ + -0.011474184691905975, + -0.026394153013825417, + 0.999585747718811, + -27.025348663330078 + ], + [ + -0.9983510375022888, + 0.0565311573445797, + -0.009967293590307236, + -19.855134963989258 + ], + [ + -0.056244656443595886, + -0.9980519413948059, + -0.026999272406101227, + -17.660783767700195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2047, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_142268896", + "mask_path": "../../mask/hdr_left_02047.png" + }, + { + "file_path": "../../rgb/hdr_left_02048.png", + "transform_matrix": [ + [ + -0.005046728067100048, + -0.03548348322510719, + 0.9993575811386108, + -27.000532150268555 + ], + [ + -0.9984233975410461, + 0.05604923516511917, + -0.00305189355276525, + -19.95464324951172 + ], + [ + -0.055904924869537354, + -0.9977973699569702, + -0.035710401833057404, + -17.668888092041016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2048, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_242267847", + "mask_path": "../../mask/hdr_left_02048.png" + }, + { + "file_path": "../../rgb/hdr_left_02049.png", + "transform_matrix": [ + [ + 0.0036482864525169134, + -0.03936905786395073, + 0.9992180466651917, + -26.97939109802246 + ], + [ + -0.9984301328659058, + 0.0557054728269577, + 0.005840206053107977, + -20.032562255859375 + ], + [ + -0.05589183419942856, + -0.9976708292961121, + -0.039104025810956955, + -17.67333984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2049, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_342267513", + "mask_path": "../../mask/hdr_left_02049.png" + }, + { + "file_path": "../../rgb/hdr_left_02050.png", + "transform_matrix": [ + [ + 0.009444567374885082, + -0.03481082618236542, + 0.9993492364883423, + -26.95795440673828 + ], + [ + -0.9984361529350281, + 0.054741647094488144, + 0.01134277693927288, + -20.11980628967285 + ], + [ + -0.05510087311267853, + -0.9978936314582825, + -0.03423936665058136, + -17.690786361694336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2050, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_442268133", + "mask_path": "../../mask/hdr_left_02050.png" + }, + { + "file_path": "../../rgb/hdr_left_02051.png", + "transform_matrix": [ + [ + 0.009026963263750076, + -0.03297615051269531, + 0.9994152784347534, + -26.937284469604492 + ], + [ + -0.9982678890228271, + 0.05780835077166557, + 0.010923988185822964, + -20.22587013244629 + ], + [ + -0.058134786784648895, + -0.9977829456329346, + -0.03239719569683075, + -17.691503524780273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2051, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_542266845", + "mask_path": "../../mask/hdr_left_02051.png" + }, + { + "file_path": "../../rgb/hdr_left_02052.png", + "transform_matrix": [ + [ + 0.005815473385155201, + -0.02715812437236309, + 0.9996142387390137, + -26.92275047302246 + ], + [ + -0.9982002973556519, + 0.0595058836042881, + 0.007423972245305777, + -20.30851173400879 + ], + [ + -0.059684544801712036, + -0.9978585243225098, + -0.0267631895840168, + -17.69144630432129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2052, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_642269372", + "mask_path": "../../mask/hdr_left_02052.png" + }, + { + "file_path": "../../rgb/hdr_left_02053.png", + "transform_matrix": [ + [ + -0.000904861546587199, + -0.021736467257142067, + 0.9997633695602417, + -26.908231735229492 + ], + [ + -0.9984593391418457, + 0.055487051606178284, + 0.0003026812628377229, + -20.379695892333984 + ], + [ + -0.05548049136996269, + -0.998222827911377, + -0.021753186360001564, + -17.69546127319336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2053, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_742267608", + "mask_path": "../../mask/hdr_left_02053.png" + }, + { + "file_path": "../../rgb/hdr_left_02054.png", + "transform_matrix": [ + [ + -0.0011690232204273343, + -0.02732541412115097, + 0.9996258020401001, + -26.883180618286133 + ], + [ + -0.9986168742179871, + 0.052576784044504166, + 0.0002693818823900074, + -20.48874855041504 + ], + [ + -0.05256447568535805, + -0.9982430338859558, + -0.02734907902777195, + -17.706375122070312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2054, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_842267990", + "mask_path": "../../mask/hdr_left_02054.png" + }, + { + "file_path": "../../rgb/hdr_left_02055.png", + "transform_matrix": [ + [ + 0.006663235370069742, + -0.03372768312692642, + 0.9994089007377625, + -26.856342315673828 + ], + [ + -0.9985400438308716, + 0.05334927514195442, + 0.008457859978079796, + -20.580127716064453 + ], + [ + -0.05360300466418266, + -0.9980062246322632, + -0.03332296386361122, + -17.71837615966797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2055, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_942267417", + "mask_path": "../../mask/hdr_left_02055.png" + }, + { + "file_path": "../../rgb/hdr_left_02056.png", + "transform_matrix": [ + [ + 0.016682686284184456, + -0.03336355835199356, + 0.9993039965629578, + -26.82926368713379 + ], + [ + -0.9984509348869324, + 0.052500639110803604, + 0.01842126064002514, + -20.646100997924805 + ], + [ + -0.05307869240641594, + -0.9980635046958923, + -0.03243601322174072, + -17.730257034301758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2056, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_42267799", + "mask_path": "../../mask/hdr_left_02056.png" + }, + { + "file_path": "../../rgb/hdr_left_02057.png", + "transform_matrix": [ + [ + 0.022165507078170776, + -0.0303365308791399, + 0.9992939233779907, + -26.806468963623047 + ], + [ + -0.9981021285057068, + 0.056769564747810364, + 0.02386247180402279, + -20.73824119567871 + ], + [ + -0.05745338648557663, + -0.9979263544082642, + -0.029020626097917557, + -17.73602294921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2057, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_142269134", + "mask_path": "../../mask/hdr_left_02057.png" + }, + { + "file_path": "../../rgb/hdr_left_02058.png", + "transform_matrix": [ + [ + 0.021014727652072906, + -0.026824280619621277, + 0.9994192123413086, + -26.789392471313477 + ], + [ + -0.9979490637779236, + 0.05989566445350647, + 0.02259138971567154, + -20.837486267089844 + ], + [ + -0.06046687811613083, + -0.9978442192077637, + -0.025510568171739578, + -17.73382568359375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2058, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_242267370", + "mask_path": "../../mask/hdr_left_02058.png" + }, + { + "file_path": "../../rgb/hdr_left_02059.png", + "transform_matrix": [ + [ + 0.0170592088252306, + -0.02205456793308258, + 0.9996111392974854, + -26.77527618408203 + ], + [ + -0.9980289340019226, + 0.060010239481925964, + 0.01835622452199459, + -20.908836364746094 + ], + [ + -0.060391735285520554, + -0.9979541301727295, + -0.020987365394830704, + -17.733997344970703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2059, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_342267751", + "mask_path": "../../mask/hdr_left_02059.png" + }, + { + "file_path": "../../rgb/hdr_left_02060.png", + "transform_matrix": [ + [ + 0.010953388176858425, + -0.021511027589440346, + 0.9997085928916931, + -26.75825309753418 + ], + [ + -0.9984002709388733, + 0.0552242137491703, + 0.012127332389354706, + -20.98532485961914 + ], + [ + -0.05546899139881134, + -0.9982423186302185, + -0.02087172493338585, + -17.736265182495117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2060, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_442266941", + "mask_path": "../../mask/hdr_left_02060.png" + }, + { + "file_path": "../../rgb/hdr_left_02061.png", + "transform_matrix": [ + [ + 0.01182476431131363, + -0.03148331493139267, + 0.9994342923164368, + -26.730350494384766 + ], + [ + -0.9982835650444031, + 0.05696402117609978, + 0.013605570420622826, + -21.090089797973633 + ], + [ + -0.057360146194696426, + -0.9978797435760498, + -0.030755680054426193, + -17.748014450073242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2061, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_542268037", + "mask_path": "../../mask/hdr_left_02061.png" + }, + { + "file_path": "../../rgb/hdr_left_02062.png", + "transform_matrix": [ + [ + 0.014461429789662361, + -0.04043085500597954, + 0.9990776181221008, + -26.709733963012695 + ], + [ + -0.9981104135513306, + 0.059092484414577484, + 0.016838781535625458, + -21.178316116333008 + ], + [ + -0.059718791395425797, + -0.9974334836006165, + -0.03949989750981331, + -17.761611938476562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2062, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_642268180", + "mask_path": "../../mask/hdr_left_02062.png" + }, + { + "file_path": "../../rgb/hdr_left_02063.png", + "transform_matrix": [ + [ + 0.017524218186736107, + -0.040114548057317734, + 0.9990413188934326, + -26.679672241210938 + ], + [ + -0.9981840252876282, + 0.056891944259405136, + 0.01979355327785015, + -21.264005661010742 + ], + [ + -0.05763141065835953, + -0.9975740909576416, + -0.039044708013534546, + -17.77638053894043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2063, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_742267608", + "mask_path": "../../mask/hdr_left_02063.png" + }, + { + "file_path": "../../rgb/hdr_left_02064.png", + "transform_matrix": [ + [ + 0.01473277062177658, + -0.03650636970996857, + 0.9992247819900513, + -26.654064178466797 + ], + [ + -0.9977715015411377, + 0.06450237333774567, + 0.017067940905690193, + -21.37921142578125 + ], + [ + -0.06507546454668045, + -0.9972496032714844, + -0.035474713891744614, + -17.78752326965332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2064, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_842267751", + "mask_path": "../../mask/hdr_left_02064.png" + }, + { + "file_path": "../../rgb/hdr_left_02065.png", + "transform_matrix": [ + [ + 0.005230434238910675, + -0.03227352350950241, + 0.9994654059410095, + -26.63926124572754 + ], + [ + -0.9976354837417603, + 0.06832427531480789, + 0.007427112199366093, + -21.48773193359375 + ], + [ + -0.06852743029594421, + -0.9971410632133484, + -0.03183984383940697, + -17.787721633911133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2065, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_942265748", + "mask_path": "../../mask/hdr_left_02065.png" + }, + { + "file_path": "../../rgb/hdr_left_02066.png", + "transform_matrix": [ + [ + -0.006544684525579214, + -0.027139166370034218, + 0.9996102452278137, + -26.626232147216797 + ], + [ + -0.9978909492492676, + 0.06473703682422638, + -0.004775830078870058, + -21.569866180419922 + ], + [ + -0.06458219140768051, + -0.9975333213806152, + -0.02750561200082302, + -17.79383659362793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2066, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_42266130", + "mask_path": "../../mask/hdr_left_02066.png" + }, + { + "file_path": "../../rgb/hdr_left_02067.png", + "transform_matrix": [ + [ + -0.016282515600323677, + -0.028885511681437492, + 0.9994500875473022, + -26.601703643798828 + ], + [ + -0.9980689883232117, + 0.06039583310484886, + -0.01451450027525425, + -21.69063949584961 + ], + [ + -0.059943363070487976, + -0.9977565407752991, + -0.029813118278980255, + -17.800418853759766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2067, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_142268896", + "mask_path": "../../mask/hdr_left_02067.png" + }, + { + "file_path": "../../rgb/hdr_left_02068.png", + "transform_matrix": [ + [ + -0.01912841573357582, + -0.0376116968691349, + 0.9991093277931213, + -26.5736141204834 + ], + [ + -0.9979687929153442, + 0.061451949179172516, + -0.016793183982372284, + -21.81218147277832 + ], + [ + -0.060765594244003296, + -0.9974011778831482, + -0.03871076926589012, + -17.815250396728516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2068, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_242268085", + "mask_path": "../../mask/hdr_left_02068.png" + }, + { + "file_path": "../../rgb/hdr_left_02069.png", + "transform_matrix": [ + [ + -0.0169184859842062, + -0.04169058799743652, + 0.9989873766899109, + -26.549251556396484 + ], + [ + -0.9980095624923706, + 0.06141027435660362, + -0.0143390828743577, + -21.900854110717773 + ], + [ + -0.06075028330087662, + -0.9972415566444397, + -0.04264657199382782, + -17.826215744018555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2069, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_342267990", + "mask_path": "../../mask/hdr_left_02069.png" + }, + { + "file_path": "../../rgb/hdr_left_02070.png", + "transform_matrix": [ + [ + -0.01788489520549774, + -0.038760967552661896, + 0.99908846616745, + -26.529577255249023 + ], + [ + -0.997843861579895, + 0.06380335241556168, + -0.015387278981506824, + -22.00301742553711 + ], + [ + -0.06314875185489655, + -0.9972095489501953, + -0.039818502962589264, + -17.833309173583984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2070, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_442265748", + "mask_path": "../../mask/hdr_left_02070.png" + }, + { + "file_path": "../../rgb/hdr_left_02071.png", + "transform_matrix": [ + [ + -0.026860306039452553, + -0.034833040088415146, + 0.9990321397781372, + -26.517303466796875 + ], + [ + -0.9973827600479126, + 0.06804414838552475, + -0.024443447589874268, + -22.11612892150879 + ], + [ + -0.06712684035301208, + -0.9970740675926208, + -0.03656955435872078, + -17.8414306640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2071, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_542266607", + "mask_path": "../../mask/hdr_left_02071.png" + }, + { + "file_path": "../../rgb/hdr_left_02072.png", + "transform_matrix": [ + [ + -0.038311850279569626, + -0.02787352167069912, + 0.9988769888877869, + -26.506206512451172 + ], + [ + -0.9969884157180786, + 0.06851498782634735, + -0.03632749989628792, + -22.2019100189209 + ], + [ + -0.06742547452449799, + -0.9972607493400574, + -0.030414506793022156, + -17.84648895263672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2072, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_642267465", + "mask_path": "../../mask/hdr_left_02072.png" + }, + { + "file_path": "../../rgb/hdr_left_02073.png", + "transform_matrix": [ + [ + -0.05043739080429077, + -0.027823297306895256, + 0.9983396530151367, + -26.49576187133789 + ], + [ + -0.9968061447143555, + 0.06337296217679977, + -0.04859372600913048, + -22.296215057373047 + ], + [ + -0.06191568821668625, + -0.997602105140686, + -0.030930792912840843, + -17.843589782714844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2073, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_742267608", + "mask_path": "../../mask/hdr_left_02073.png" + }, + { + "file_path": "../../rgb/hdr_left_02074.png", + "transform_matrix": [ + [ + -0.05385662615299225, + -0.03771689161658287, + 0.9978361129760742, + -26.476383209228516 + ], + [ + -0.996627688407898, + 0.0639846920967102, + -0.051372822374105453, + -22.414772033691406 + ], + [ + -0.061908621340990067, + -0.9972379207611084, + -0.04103569686412811, + -17.854164123535156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2074, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_842267751", + "mask_path": "../../mask/hdr_left_02074.png" + }, + { + "file_path": "../../rgb/hdr_left_02075.png", + "transform_matrix": [ + [ + -0.05142102390527725, + -0.040913306176662445, + 0.99783855676651, + -26.45591926574707 + ], + [ + -0.9967303276062012, + 0.06445784866809845, + -0.04872102662920952, + -22.50977325439453 + ], + [ + -0.06232519820332527, + -0.9970813989639282, + -0.0440940223634243, + -17.87308120727539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2075, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_942268133", + "mask_path": "../../mask/hdr_left_02075.png" + }, + { + "file_path": "../../rgb/hdr_left_02076.png", + "transform_matrix": [ + [ + -0.04851200431585312, + -0.035462189465761185, + 0.9981928467750549, + -26.433996200561523 + ], + [ + -0.9969796538352966, + 0.06239911541342735, + -0.04623623192310333, + -22.598831176757812 + ], + [ + -0.060646701604127884, + -0.997421145439148, + -0.038382187485694885, + -17.889528274536133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2076, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_42267084", + "mask_path": "../../mask/hdr_left_02076.png" + }, + { + "file_path": "../../rgb/hdr_left_02077.png", + "transform_matrix": [ + [ + -0.05269673839211464, + -0.03575783595442772, + 0.9979701638221741, + -26.416980743408203 + ], + [ + -0.9966697096824646, + 0.06415839493274689, + -0.05032923445105553, + -22.716943740844727 + ], + [ + -0.0622284933924675, + -0.9972988963127136, + -0.039019688963890076, + -17.88990020751953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2077, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_142268180", + "mask_path": "../../mask/hdr_left_02077.png" + }, + { + "file_path": "../../rgb/hdr_left_02078.png", + "transform_matrix": [ + [ + -0.06284355372190475, + -0.03028646484017372, + 0.9975636601448059, + -26.40692901611328 + ], + [ + -0.9961180090904236, + 0.06363742798566818, + -0.06082041561603546, + -22.82428550720215 + ], + [ + -0.06164034828543663, + -0.997513473033905, + -0.03416809067130089, + -17.884878158569336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2078, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_242268800", + "mask_path": "../../mask/hdr_left_02078.png" + }, + { + "file_path": "../../rgb/hdr_left_02079.png", + "transform_matrix": [ + [ + -0.0750872939825058, + -0.02457907237112522, + 0.9968740344047546, + -26.39988136291504 + ], + [ + -0.9955167770385742, + 0.05951002240180969, + -0.07351776957511902, + -22.90640640258789 + ], + [ + -0.05751699581742287, + -0.9979251027107239, + -0.02893732115626335, + -17.885751724243164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2079, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_342267990", + "mask_path": "../../mask/hdr_left_02079.png" + }, + { + "file_path": "../../rgb/hdr_left_02080.png", + "transform_matrix": [ + [ + -0.08231998980045319, + -0.03108728863298893, + 0.9961209893226624, + -26.385435104370117 + ], + [ + -0.9951633214950562, + 0.05632423609495163, + -0.08048306405544281, + -23.024627685546875 + ], + [ + -0.053603749722242355, + -0.9979285001754761, + -0.03557353466749191, + -17.89569854736328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2080, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_442267894", + "mask_path": "../../mask/hdr_left_02080.png" + }, + { + "file_path": "../../rgb/hdr_left_02081.png", + "transform_matrix": [ + [ + -0.08344563841819763, + -0.03942710533738136, + 0.9957320690155029, + -26.367876052856445 + ], + [ + -0.9949485659599304, + 0.059252187609672546, + -0.08103382587432861, + -23.139846801757812 + ], + [ + -0.05580437183380127, + -0.997464120388031, + -0.04417227581143379, + -17.910358428955078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2081, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_542268037", + "mask_path": "../../mask/hdr_left_02081.png" + }, + { + "file_path": "../../rgb/hdr_left_02082.png", + "transform_matrix": [ + [ + -0.08083420246839523, + -0.04138023406267166, + 0.9958682060241699, + -26.350675582885742 + ], + [ + -0.9951378107070923, + 0.059757497161626816, + -0.0782918706536293, + -23.228809356689453 + ], + [ + -0.05627085268497467, + -0.9973549246788025, + -0.046009477227926254, + -17.922317504882812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2082, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_642267227", + "mask_path": "../../mask/hdr_left_02082.png" + }, + { + "file_path": "../../rgb/hdr_left_02083.png", + "transform_matrix": [ + [ + -0.08265674114227295, + -0.03709021583199501, + 0.9958876371383667, + -26.336605072021484 + ], + [ + -0.994749903678894, + 0.06357157230377197, + -0.08019467443227768, + -23.3386287689209 + ], + [ + -0.060335710644721985, + -0.9972878694534302, + -0.0421501062810421, + -17.92450714111328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2083, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_742269277", + "mask_path": "../../mask/hdr_left_02083.png" + }, + { + "file_path": "../../rgb/hdr_left_02084.png", + "transform_matrix": [ + [ + -0.09150687605142593, + -0.03116915374994278, + 0.9953165650367737, + -26.32768440246582 + ], + [ + -0.9938029050827026, + 0.06619851291179657, + -0.08929464221000671, + -23.450159072875977 + ], + [ + -0.06310523301362991, + -0.9973195791244507, + -0.03703360632061958, + -17.925952911376953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2084, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_842266798", + "mask_path": "../../mask/hdr_left_02084.png" + }, + { + "file_path": "../../rgb/hdr_left_02085.png", + "transform_matrix": [ + [ + -0.10234665125608444, + -0.02530842088162899, + 0.9944267868995667, + -26.32042121887207 + ], + [ + -0.9928616285324097, + 0.06414730101823807, + -0.1005530059337616, + -23.533897399902344 + ], + [ + -0.06124495342373848, + -0.9976195096969604, + -0.031693022698163986, + -17.93362808227539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2085, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_942267894", + "mask_path": "../../mask/hdr_left_02085.png" + }, + { + "file_path": "../../rgb/hdr_left_02086.png", + "transform_matrix": [ + [ + -0.11252391338348389, + -0.028536241501569748, + 0.9932391047477722, + -26.311962127685547 + ], + [ + -0.9919156432151794, + 0.06224276125431061, + -0.11058571189641953, + -23.641754150390625 + ], + [ + -0.05866624042391777, + -0.997653067111969, + -0.03530934080481529, + -17.942852020263672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2086, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_42267560", + "mask_path": "../../mask/hdr_left_02086.png" + }, + { + "file_path": "../../rgb/hdr_left_02087.png", + "transform_matrix": [ + [ + -0.11561552435159683, + -0.03608594089746475, + 0.9926382899284363, + -26.304744720458984 + ], + [ + -0.9913492202758789, + 0.06669756025075912, + -0.11304068565368652, + -23.770381927490234 + ], + [ + -0.06212737038731575, + -0.9971204996109009, + -0.04348503798246384, + -17.955739974975586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2087, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_142267227", + "mask_path": "../../mask/hdr_left_02087.png" + }, + { + "file_path": "../../rgb/hdr_left_02088.png", + "transform_matrix": [ + [ + -0.1131053939461708, + -0.03809626027941704, + 0.9928523302078247, + -26.29014778137207 + ], + [ + -0.9915435314178467, + 0.06832129508256912, + -0.11033475399017334, + -23.869007110595703 + ], + [ + -0.0636296197772026, + -0.9969357848167419, + -0.04550160467624664, + -17.965017318725586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2088, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_242265939", + "mask_path": "../../mask/hdr_left_02088.png" + }, + { + "file_path": "../../rgb/hdr_left_02089.png", + "transform_matrix": [ + [ + -0.11229030787944794, + -0.033271003514528275, + 0.9931182861328125, + -26.2781982421875 + ], + [ + -0.9914959669113159, + 0.06990991532802582, + -0.10976479202508926, + -23.977582931518555 + ], + [ + -0.06577681750059128, + -0.9969983696937561, + -0.04083826020359993, + -17.972265243530273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2089, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_342265605", + "mask_path": "../../mask/hdr_left_02089.png" + }, + { + "file_path": "../../rgb/hdr_left_02090.png", + "transform_matrix": [ + [ + -0.12099983543157578, + -0.02917558327317238, + 0.9922236800193787, + -26.27309799194336 + ], + [ + -0.990237832069397, + 0.0732250064611435, + -0.11860451847314835, + -24.10113525390625 + ], + [ + -0.0691952258348465, + -0.9968886971473694, + -0.0377509780228138, + -17.97960662841797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2090, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_442267417", + "mask_path": "../../mask/hdr_left_02090.png" + }, + { + "file_path": "../../rgb/hdr_left_02091.png", + "transform_matrix": [ + [ + -0.13323192298412323, + -0.021017882972955704, + 0.9908619523048401, + -26.270160675048828 + ], + [ + -0.9886550307273865, + 0.07278326898813248, + -0.13139131665229797, + -24.198345184326172 + ], + [ + -0.06935660541057587, + -0.9971262812614441, + -0.030476486310362816, + -17.987611770629883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2091, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_542267322", + "mask_path": "../../mask/hdr_left_02091.png" + }, + { + "file_path": "../../rgb/hdr_left_02092.png", + "transform_matrix": [ + [ + -0.1442665010690689, + -0.01956849917769432, + 0.9893453121185303, + -26.2679443359375 + ], + [ + -0.9874143600463867, + 0.06832621246576309, + -0.14263346791267395, + -24.296127319335938 + ], + [ + -0.06480708718299866, + -0.9974711537361145, + -0.029179396107792854, + -17.987808227539062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2092, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_642266750", + "mask_path": "../../mask/hdr_left_02092.png" + }, + { + "file_path": "../../rgb/hdr_left_02093.png", + "transform_matrix": [ + [ + -0.14605990052223206, + -0.028275948017835617, + 0.9888715744018555, + -26.257688522338867 + ], + [ + -0.9869311451911926, + 0.07294339686632156, + -0.14368754625320435, + -24.419580459594727 + ], + [ + -0.0680687427520752, + -0.9969351887702942, + -0.03856051713228226, + -18.003992080688477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2093, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_742266893", + "mask_path": "../../mask/hdr_left_02093.png" + }, + { + "file_path": "../../rgb/hdr_left_02094.png", + "transform_matrix": [ + [ + -0.1392495036125183, + -0.031083066016435623, + 0.9897693395614624, + -26.24184226989746 + ], + [ + -0.9877834916114807, + 0.07496456801891327, + -0.13661590218544006, + -24.519107818603516 + ], + [ + -0.06995119154453278, + -0.996701717376709, + -0.04114212095737457, + -18.022186279296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2094, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_842267036", + "mask_path": "../../mask/hdr_left_02094.png" + }, + { + "file_path": "../../rgb/hdr_left_02095.png", + "transform_matrix": [ + [ + -0.1291113644838333, + -0.02822069823741913, + 0.991228461265564, + -26.22368812561035 + ], + [ + -0.9893999695777893, + 0.07066717743873596, + -0.12686124444007874, + -24.610044479370117 + ], + [ + -0.06646720319986343, + -0.997100830078125, + -0.03704548999667168, + -18.033607482910156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2095, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_942269086", + "mask_path": "../../mask/hdr_left_02095.png" + }, + { + "file_path": "../../rgb/hdr_left_02096.png", + "transform_matrix": [ + [ + -0.11979877203702927, + -0.02604885771870613, + 0.9924563765525818, + -26.21515464782715 + ], + [ + -0.9904578328132629, + 0.07173491269350052, + -0.11767470091581345, + -24.72565269470215 + ], + [ + -0.06812847405672073, + -0.9970835447311401, + -0.0343940407037735, + -18.037790298461914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2096, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_42268276", + "mask_path": "../../mask/hdr_left_02096.png" + }, + { + "file_path": "../../rgb/hdr_left_02097.png", + "transform_matrix": [ + [ + -0.11176347732543945, + -0.020667197182774544, + 0.9935198426246643, + -26.208908081054688 + ], + [ + -0.9913842082023621, + 0.0710446760058403, + -0.11004535108804703, + -24.827829360961914 + ], + [ + -0.0683099627494812, + -0.9972590804100037, + -0.02842932939529419, + -18.033231735229492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2097, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_142267465", + "mask_path": "../../mask/hdr_left_02097.png" + }, + { + "file_path": "../../rgb/hdr_left_02098.png", + "transform_matrix": [ + [ + -0.0991053581237793, + -0.01619870960712433, + 0.9949450492858887, + -26.198347091674805 + ], + [ + -0.9929788112640381, + 0.06650605797767639, + -0.09782671183347702, + -24.903423309326172 + ], + [ + -0.06458520889282227, + -0.9976545572280884, + -0.022676074877381325, + -18.039438247680664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2098, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_242268085", + "mask_path": "../../mask/hdr_left_02098.png" + }, + { + "file_path": "../../rgb/hdr_left_02099.png", + "transform_matrix": [ + [ + -0.08010703325271606, + -0.015040864236652851, + 0.9966727495193481, + -26.178239822387695 + ], + [ + -0.9948891401290894, + 0.06286686658859253, + -0.07901492714881897, + -25.003530502319336 + ], + [ + -0.06146922707557678, + -0.9979085922241211, + -0.02000006102025509, + -18.056251525878906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2099, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_342268466", + "mask_path": "../../mask/hdr_left_02099.png" + }, + { + "file_path": "../../rgb/hdr_left_02100.png", + "transform_matrix": [ + [ + -0.055266592651605606, + -0.02007726952433586, + 0.9982696771621704, + -26.1563720703125 + ], + [ + -0.996356189250946, + 0.06615573912858963, + -0.05383012443780899, + -25.11530113220215 + ], + [ + -0.06496050953865051, + -0.9976073503494263, + -0.023660311475396156, + -18.065174102783203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2100, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_442267656", + "mask_path": "../../mask/hdr_left_02100.png" + }, + { + "file_path": "../../rgb/hdr_left_02101.png", + "transform_matrix": [ + [ + -0.03223862871527672, + -0.024142172187566757, + 0.9991886019706726, + -26.133943557739258 + ], + [ + -0.9972484707832336, + 0.06754706799983978, + -0.030543962493538857, + -25.196578979492188 + ], + [ + -0.06675486266613007, + -0.9974240064620972, + -0.026253363117575645, + -18.07247543334961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2101, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_542267560", + "mask_path": "../../mask/hdr_left_02101.png" + }, + { + "file_path": "../../rgb/hdr_right_01984.png", + "transform_matrix": [ + [ + -0.2817593216896057, + -0.05226621404290199, + -0.9580605030059814, + -27.550189971923828 + ], + [ + 0.9570780396461487, + 0.055374953895807266, + -0.28449127078056335, + -15.275175094604492 + ], + [ + 0.06792183965444565, + -0.997096836566925, + 0.034420426934957504, + -17.338821411132812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1984, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_142267227", + "mask_path": "../../mask/hdr_right_01984.png" + }, + { + "file_path": "../../rgb/hdr_right_01985.png", + "transform_matrix": [ + [ + -0.28955546021461487, + -0.04963736981153488, + -0.9558733701705933, + -27.543169021606445 + ], + [ + 0.95478755235672, + 0.05530897155404091, + -0.29209867119789124, + -15.347254753112793 + ], + [ + 0.06736738979816437, + -0.9972347021102905, + 0.0313781313598156, + -17.327966690063477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1985, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_242267608", + "mask_path": "../../mask/hdr_right_01985.png" + }, + { + "file_path": "../../rgb/hdr_right_01987.png", + "transform_matrix": [ + [ + -0.2897622585296631, + -0.04663139581680298, + -0.955962061882019, + -27.52606773376465 + ], + [ + 0.954834520816803, + 0.05457798391580582, + -0.2920827567577362, + -15.506840705871582 + ], + [ + 0.06579470634460449, + -0.997420072555542, + 0.0287106204777956, + -17.34126091003418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1987, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_442267656", + "mask_path": "../../mask/hdr_right_01987.png" + }, + { + "file_path": "../../rgb/hdr_right_01988.png", + "transform_matrix": [ + [ + -0.2877918779850006, + -0.0539855919778347, + -0.9561702609062195, + -27.52172088623047 + ], + [ + 0.9551078081130981, + 0.057131268084049225, + -0.29069775342941284, + -15.605132102966309 + ], + [ + 0.07032070308923721, + -0.9969059824943542, + 0.035120148211717606, + -17.35636329650879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1988, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_542267560", + "mask_path": "../../mask/hdr_right_01988.png" + }, + { + "file_path": "../../rgb/hdr_right_01989.png", + "transform_matrix": [ + [ + -0.29056310653686523, + -0.05741853266954422, + -0.9551315307617188, + -27.50632095336914 + ], + [ + 0.9543232321739197, + 0.05518849194049835, + -0.29363489151000977, + -15.678450584411621 + ], + [ + 0.06957235187292099, + -0.9968236088752747, + 0.038760099560022354, + -17.364883422851562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1989, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_642268180", + "mask_path": "../../mask/hdr_right_01989.png" + }, + { + "file_path": "../../rgb/hdr_right_01990.png", + "transform_matrix": [ + [ + -0.29276564717292786, + -0.052285030484199524, + -0.9547536969184875, + -27.485666275024414 + ], + [ + 0.954034686088562, + 0.05094294250011444, + -0.29533493518829346, + -15.76451301574707 + ], + [ + 0.06407955288887024, + -0.997331976890564, + 0.03496738523244858, + -17.379207611083984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1990, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_742271184", + "mask_path": "../../mask/hdr_right_01990.png" + }, + { + "file_path": "../../rgb/hdr_right_01991.png", + "transform_matrix": [ + [ + -0.2891056537628174, + -0.05266028642654419, + -0.9558477401733398, + -27.47137451171875 + ], + [ + 0.9550520181655884, + 0.05247863009572029, + -0.29175612330436707, + -15.873727798461914 + ], + [ + 0.06552553921937943, + -0.9972326159477234, + 0.03512144461274147, + -17.3798770904541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1991, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_842267751", + "mask_path": "../../mask/hdr_right_01991.png" + }, + { + "file_path": "../../rgb/hdr_right_01992.png", + "transform_matrix": [ + [ + -0.28145870566368103, + -0.051132094115018845, + -0.9582101106643677, + -27.46235466003418 + ], + [ + 0.9574591517448425, + 0.05128711089491844, + -0.28397488594055176, + -15.960002899169922 + ], + [ + 0.06366405636072159, + -0.9973741173744202, + 0.034521687775850296, + -17.37614631652832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1992, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_942267417", + "mask_path": "../../mask/hdr_right_01992.png" + }, + { + "file_path": "../../rgb/hdr_right_01993.png", + "transform_matrix": [ + [ + -0.27282628417015076, + -0.045454319566488266, + -0.9609889984130859, + -27.453096389770508 + ], + [ + 0.960421621799469, + 0.04546162858605385, + -0.27481549978256226, + -16.031558990478516 + ], + [ + 0.056179679930210114, + -0.9979314208030701, + 0.0312521867454052, + -17.381853103637695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1993, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_42269706", + "mask_path": "../../mask/hdr_right_01993.png" + }, + { + "file_path": "../../rgb/hdr_right_01994.png", + "transform_matrix": [ + [ + -0.2707810699939728, + -0.04804728180170059, + -0.9614412188529968, + -27.43666648864746 + ], + [ + 0.9610773921012878, + 0.04340860992670059, + -0.27284789085388184, + -16.142850875854492 + ], + [ + 0.05484442412853241, + -0.997901439666748, + 0.03442292660474777, + -17.396162033081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1994, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_142267465", + "mask_path": "../../mask/hdr_right_01994.png" + }, + { + "file_path": "../../rgb/hdr_right_01995.png", + "transform_matrix": [ + [ + -0.27469056844711304, + -0.05468366667628288, + -0.9599764347076416, + -27.41950225830078 + ], + [ + 0.9596614241600037, + 0.04666593670845032, + -0.27725866436958313, + -16.243682861328125 + ], + [ + 0.05995972454547882, + -0.9974126815795898, + 0.03965911641716957, + -17.410799026489258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1995, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_242268085", + "mask_path": "../../mask/hdr_right_01995.png" + }, + { + "file_path": "../../rgb/hdr_right_01996.png", + "transform_matrix": [ + [ + -0.28357723355293274, + -0.05683426186442375, + -0.957263708114624, + -27.398517608642578 + ], + [ + 0.9569257497787476, + 0.04804670810699463, + -0.2863297164440155, + -16.316129684448242 + ], + [ + 0.06226671114563942, + -0.9972269535064697, + 0.04076121374964714, + -17.419189453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1996, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_342267990", + "mask_path": "../../mask/hdr_right_01996.png" + }, + { + "file_path": "../../rgb/hdr_right_01997.png", + "transform_matrix": [ + [ + -0.29147040843963623, + -0.052709322422742844, + -0.9551266431808472, + -27.386934280395508 + ], + [ + 0.9544839262962341, + 0.05003545060753822, + -0.29403552412986755, + -16.41147232055664 + ], + [ + 0.0632885992527008, + -0.9973556399345398, + 0.03572634607553482, + -17.41963768005371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1997, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_442267179", + "mask_path": "../../mask/hdr_right_01997.png" + }, + { + "file_path": "../../rgb/hdr_right_01998.png", + "transform_matrix": [ + [ + -0.2921150028705597, + -0.0464610829949379, + -0.9552539587020874, + -27.37810516357422 + ], + [ + 0.9542588591575623, + 0.0523771233856678, + -0.29435816407203674, + -16.51662254333496 + ], + [ + 0.06370965391397476, + -0.9975460171699524, + 0.029035747051239014, + -17.418100357055664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1998, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_542267322", + "mask_path": "../../mask/hdr_right_01998.png" + }, + { + "file_path": "../../rgb/hdr_right_01999.png", + "transform_matrix": [ + [ + -0.28687208890914917, + -0.04133731871843338, + -0.9570766687393188, + -27.370595932006836 + ], + [ + 0.9559295773506165, + 0.05280201509594917, + -0.2888088524341583, + -16.592464447021484 + ], + [ + 0.06247415021061897, + -0.9977490305900574, + 0.024368146434426308, + -17.421586990356445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1999, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_642267942", + "mask_path": "../../mask/hdr_right_01999.png" + }, + { + "file_path": "../../rgb/hdr_right_02000.png", + "transform_matrix": [ + [ + -0.28014394640922546, + -0.041804250329732895, + -0.9590473175048828, + -27.35906410217285 + ], + [ + 0.958164393901825, + 0.0488663874566555, + -0.2820160686969757, + -16.665491104125977 + ], + [ + 0.05865464732050896, + -0.997930109500885, + 0.026365719735622406, + -17.42331886291504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2000, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_742267131", + "mask_path": "../../mask/hdr_right_02000.png" + }, + { + "file_path": "../../rgb/hdr_right_02001.png", + "transform_matrix": [ + [ + -0.27991822361946106, + -0.04837412387132645, + -0.9588043093681335, + -27.34696388244629 + ], + [ + 0.9580212235450745, + 0.05040031671524048, + -0.2822324335575104, + -16.772937774658203 + ], + [ + 0.06197679415345192, + -0.9975569248199463, + 0.03223547339439392, + -17.439491271972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2001, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_842267274", + "mask_path": "../../mask/hdr_right_02001.png" + }, + { + "file_path": "../../rgb/hdr_right_02002.png", + "transform_matrix": [ + [ + -0.2839110195636749, + -0.05430622398853302, + -0.9573115706443787, + -27.333938598632812 + ], + [ + 0.9565660953521729, + 0.05283582955598831, + -0.2866871953010559, + -16.859886169433594 + ], + [ + 0.06614924967288971, + -0.997125506401062, + 0.036946821957826614, + -17.45704460144043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2002, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639000_942266941", + "mask_path": "../../mask/hdr_right_02002.png" + }, + { + "file_path": "../../rgb/hdr_right_02003.png", + "transform_matrix": [ + [ + -0.2873707115650177, + -0.053558383136987686, + -0.9563208818435669, + -27.318391799926758 + ], + [ + 0.9555256366729736, + 0.0530276782810688, + -0.2901015281677246, + -16.937700271606445 + ], + [ + 0.06624884903430939, + -0.9971557259559631, + 0.03593781217932701, + -17.468711853027344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2003, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_42266607", + "mask_path": "../../mask/hdr_right_02003.png" + }, + { + "file_path": "../../rgb/hdr_right_02004.png", + "transform_matrix": [ + [ + -0.2853516638278961, + -0.04986532777547836, + -0.9571248292922974, + -27.308300018310547 + ], + [ + 0.9557023048400879, + 0.06038730964064598, + -0.28807368874549866, + -17.039562225341797 + ], + [ + 0.07216306775808334, + -0.9969286918640137, + 0.03042478673160076, + -17.473064422607422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2004, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_142267704", + "mask_path": "../../mask/hdr_right_02004.png" + }, + { + "file_path": "../../rgb/hdr_right_02005.png", + "transform_matrix": [ + [ + -0.27693653106689453, + -0.04629243165254593, + -0.959772527217865, + -27.301301956176758 + ], + [ + 0.9580442905426025, + 0.06348869204521179, + -0.2795000970363617, + -17.139684677124023 + ], + [ + 0.07387344539165497, + -0.9969083070755005, + 0.02676786482334137, + -17.468727111816406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2005, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_242267131", + "mask_path": "../../mask/hdr_right_02005.png" + }, + { + "file_path": "../../rgb/hdr_right_02006.png", + "transform_matrix": [ + [ + -0.26606816053390503, + -0.04069403186440468, + -0.9630950093269348, + -27.293474197387695 + ], + [ + 0.9613365530967712, + 0.06237805262207985, + -0.26821810007095337, + -17.217350006103516 + ], + [ + 0.07099085301160812, + -0.9972226023674011, + 0.022523848339915276, + -17.469480514526367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2006, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_342267036", + "mask_path": "../../mask/hdr_right_02006.png" + }, + { + "file_path": "../../rgb/hdr_right_02007.png", + "transform_matrix": [ + [ + -0.25516077876091003, + -0.04223838821053505, + -0.9659756422042847, + -27.286014556884766 + ], + [ + 0.9646365642547607, + 0.05717727541923523, + -0.257307231426239, + -17.299654006958008 + ], + [ + 0.0661000981926918, + -0.9974701404571533, + 0.026155294850468636, + -17.483884811401367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2007, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_442267179", + "mask_path": "../../mask/hdr_right_02007.png" + }, + { + "file_path": "../../rgb/hdr_right_02008.png", + "transform_matrix": [ + [ + -0.2590070068836212, + -0.05022142082452774, + -0.9645688533782959, + -27.267942428588867 + ], + [ + 0.9635064601898193, + 0.056466493755578995, + -0.26166170835494995, + -17.4075984954834 + ], + [ + 0.0676068440079689, + -0.997140645980835, + 0.033763445913791656, + -17.49394989013672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2008, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_542266845", + "mask_path": "../../mask/hdr_right_02008.png" + }, + { + "file_path": "../../rgb/hdr_right_02009.png", + "transform_matrix": [ + [ + -0.27113351225852966, + -0.055239319801330566, + -0.9609553813934326, + -27.248931884765625 + ], + [ + 0.9600421786308289, + 0.05638262629508972, + -0.2741169035434723, + -17.496177673339844 + ], + [ + 0.06932321190834045, + -0.9968799352645874, + 0.03774486109614372, + -17.502864837646484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2009, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_642266988", + "mask_path": "../../mask/hdr_right_02009.png" + }, + { + "file_path": "../../rgb/hdr_right_02010.png", + "transform_matrix": [ + [ + -0.28319814801216125, + -0.05078279227018356, + -0.9577160477638245, + -27.23252296447754 + ], + [ + 0.9566712379455566, + 0.05550006777048111, + -0.28583207726478577, + -17.574485778808594 + ], + [ + 0.06766865402460098, + -0.9971663951873779, + 0.03286491706967354, + -17.514442443847656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2010, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_742266893", + "mask_path": "../../mask/hdr_right_02010.png" + }, + { + "file_path": "../../rgb/hdr_right_02011.png", + "transform_matrix": [ + [ + -0.2886587679386139, + -0.04650923237204552, + -0.9563016891479492, + -27.217327117919922 + ], + [ + 0.954896092414856, + 0.058663852512836456, + -0.2910875678062439, + -17.682336807250977 + ], + [ + 0.06963859498500824, + -0.9971937537193298, + 0.027477648109197617, + -17.520492553710938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2011, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_842266798", + "mask_path": "../../mask/hdr_right_02011.png" + }, + { + "file_path": "../../rgb/hdr_right_02012.png", + "transform_matrix": [ + [ + -0.2865409851074219, + -0.041065480560064316, + -0.9571875929832458, + -27.205854415893555 + ], + [ + 0.9556828141212463, + 0.05820300430059433, + -0.2885875403881073, + -17.78352165222168 + ], + [ + 0.06756217777729034, + -0.9974598288536072, + 0.022568030282855034, + -17.51412010192871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2012, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639001_942267417", + "mask_path": "../../mask/hdr_right_02012.png" + }, + { + "file_path": "../../rgb/hdr_right_02013.png", + "transform_matrix": [ + [ + -0.28179463744163513, + -0.03593840450048447, + -0.9588014483451843, + -27.195554733276367 + ], + [ + 0.9574640393257141, + 0.054126787930727005, + -0.2834303677082062, + -17.86186408996582 + ], + [ + 0.06208287924528122, + -0.9978870749473572, + 0.01915709674358368, + -17.520090103149414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2013, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_42267322", + "mask_path": "../../mask/hdr_right_02013.png" + }, + { + "file_path": "../../rgb/hdr_right_02014.png", + "transform_matrix": [ + [ + -0.28198331594467163, + -0.0409170500934124, + -0.9585464596748352, + -27.1772518157959 + ], + [ + 0.9574538469314575, + 0.05191785469651222, + -0.2838780879974365, + -17.97211456298828 + ], + [ + 0.061381127685308456, + -0.997812807559967, + 0.024536218494176865, + -17.53036880493164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2014, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_142267465", + "mask_path": "../../mask/hdr_right_02014.png" + }, + { + "file_path": "../../rgb/hdr_right_02015.png", + "transform_matrix": [ + [ + -0.28927507996559143, + -0.047615304589271545, + -0.9560611248016357, + -27.156034469604492 + ], + [ + 0.9549641013145447, + 0.05456750839948654, + -0.2916608154773712, + -18.0744571685791 + ], + [ + 0.06605738401412964, + -0.9973741769790649, + 0.029685884714126587, + -17.54498863220215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2015, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_242266893", + "mask_path": "../../mask/hdr_right_02015.png" + }, + { + "file_path": "../../rgb/hdr_right_02016.png", + "transform_matrix": [ + [ + -0.2997036576271057, + -0.04957064986228943, + -0.952743649482727, + -27.133209228515625 + ], + [ + 0.9516530632972717, + 0.054952654987573624, + -0.3022197186946869, + -18.148305892944336 + ], + [ + 0.0673370212316513, + -0.997257649898529, + 0.030704552307724953, + -17.553245544433594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2016, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_342267513", + "mask_path": "../../mask/hdr_right_02016.png" + }, + { + "file_path": "../../rgb/hdr_right_02017.png", + "transform_matrix": [ + [ + -0.3074234426021576, + -0.04406067728996277, + -0.9505521655082703, + -27.114765167236328 + ], + [ + 0.9490954875946045, + 0.05783558636903763, + -0.30963316559791565, + -18.243200302124023 + ], + [ + 0.06861838698387146, + -0.9973533153533936, + 0.024037782102823257, + -17.558584213256836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2017, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_442267417", + "mask_path": "../../mask/hdr_right_02017.png" + }, + { + "file_path": "../../rgb/hdr_right_02018.png", + "transform_matrix": [ + [ + -0.3075138032436371, + -0.038005564361810684, + -0.95078444480896, + -27.10230827331543 + ], + [ + 0.9488911628723145, + 0.06230691820383072, + -0.3093920946121216, + -18.34861946105957 + ], + [ + 0.07099905610084534, + -0.9973331689834595, + 0.016902901232242584, + -17.56458282470703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2018, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_542267799", + "mask_path": "../../mask/hdr_right_02018.png" + }, + { + "file_path": "../../rgb/hdr_right_02019.png", + "transform_matrix": [ + [ + -0.3045634627342224, + -0.031222578138113022, + -0.9519802927970886, + -27.090696334838867 + ], + [ + 0.949937105178833, + 0.06320035457611084, + -0.3059826195240021, + -18.429805755615234 + ], + [ + 0.06971904635429382, + -0.9975122809410095, + 0.010410970076918602, + -17.56622314453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2019, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_642267227", + "mask_path": "../../mask/hdr_right_02019.png" + }, + { + "file_path": "../../rgb/hdr_right_02020.png", + "transform_matrix": [ + [ + -0.30012378096580505, + -0.03132322058081627, + -0.9533859491348267, + -27.074085235595703 + ], + [ + 0.9517333507537842, + 0.05749840661883354, + -0.3014926314353943, + -18.515727996826172 + ], + [ + 0.06426189094781876, + -0.9978541135787964, + 0.012554709799587727, + -17.57027816772461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2020, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_742268323", + "mask_path": "../../mask/hdr_right_02020.png" + }, + { + "file_path": "../../rgb/hdr_right_02021.png", + "transform_matrix": [ + [ + -0.3024868965148926, + -0.03902354836463928, + -0.9523544311523438, + -27.05274200439453 + ], + [ + 0.9508435130119324, + 0.057166025042533875, + -0.30434948205947876, + -18.63045883178711 + ], + [ + 0.06631910055875778, + -0.9976017475128174, + 0.01981331966817379, + -17.584365844726562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2021, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_842267990", + "mask_path": "../../mask/hdr_right_02021.png" + }, + { + "file_path": "../../rgb/hdr_right_02022.png", + "transform_matrix": [ + [ + -0.31059134006500244, + -0.04444779083132744, + -0.9495038390159607, + -27.030548095703125 + ], + [ + 0.9480769038200378, + 0.057429492473602295, + -0.3128129839897156, + -18.72361946105957 + ], + [ + 0.06843337416648865, + -0.997359573841095, + 0.024302823469042778, + -17.597999572753906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2022, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639002_942268133", + "mask_path": "../../mask/hdr_right_02022.png" + }, + { + "file_path": "../../rgb/hdr_right_02023.png", + "transform_matrix": [ + [ + -0.31923729181289673, + -0.04251754656434059, + -0.9467206001281738, + -27.007892608642578 + ], + [ + 0.9454309344291687, + 0.0544169582426548, + -0.32124629616737366, + -18.803852081298828 + ], + [ + 0.06517626345157623, + -0.9976127743721008, + 0.02282548137009144, + -17.615968704223633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2023, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_42267799", + "mask_path": "../../mask/hdr_right_02023.png" + }, + { + "file_path": "../../rgb/hdr_right_02024.png", + "transform_matrix": [ + [ + -0.3221794366836548, + -0.04001042991876602, + -0.9458327293395996, + -26.987852096557617 + ], + [ + 0.9442141652107239, + 0.0584641695022583, + -0.3241012692451477, + -18.908557891845703 + ], + [ + 0.06826475262641907, + -0.9974873661994934, + 0.01894245855510235, + -17.62032699584961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2024, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_142268419", + "mask_path": "../../mask/hdr_right_02024.png" + }, + { + "file_path": "../../rgb/hdr_right_02025.png", + "transform_matrix": [ + [ + -0.3200584948062897, + -0.03500114753842354, + -0.946751058101654, + -26.974342346191406 + ], + [ + 0.9449591040611267, + 0.05986177176237106, + -0.32166579365730286, + -19.009614944458008 + ], + [ + 0.06793287396430969, + -0.9975928068161011, + 0.01391538605093956, + -17.61091423034668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2025, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_242267370", + "mask_path": "../../mask/hdr_right_02025.png" + }, + { + "file_path": "../../rgb/hdr_right_02026.png", + "transform_matrix": [ + [ + -0.316491037607193, + -0.028646711260080338, + -0.9481629133224487, + -26.956697463989258 + ], + [ + 0.9464985132217407, + 0.05688954517245293, + -0.31765422224998474, + -19.082260131835938 + ], + [ + 0.06304030120372772, + -0.997969388961792, + 0.00910903885960579, + -17.61368179321289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2026, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_342267990", + "mask_path": "../../mask/hdr_right_02026.png" + }, + { + "file_path": "../../rgb/hdr_right_02027.png", + "transform_matrix": [ + [ + -0.31414952874183655, + -0.030798735097050667, + -0.9488738179206848, + -26.937023162841797 + ], + [ + 0.9475347399711609, + 0.052005309611558914, + -0.31539419293403625, + -19.18784523010254 + ], + [ + 0.05906021595001221, + -0.9981717467308044, + 0.012845426797866821, + -17.623355865478516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2027, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_442267656", + "mask_path": "../../mask/hdr_right_02027.png" + }, + { + "file_path": "../../rgb/hdr_right_02028.png", + "transform_matrix": [ + [ + -0.319551944732666, + -0.03866325691342354, + -0.946779727935791, + -26.913570404052734 + ], + [ + 0.9455135464668274, + 0.05276140198111534, + -0.3212791681289673, + -19.302139282226562 + ], + [ + 0.06237512826919556, + -0.9978584051132202, + 0.01969662681221962, + -17.63448715209961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2028, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_542267799", + "mask_path": "../../mask/hdr_right_02028.png" + }, + { + "file_path": "../../rgb/hdr_right_02029.png", + "transform_matrix": [ + [ + -0.32904893159866333, + -0.043516021221876144, + -0.9433097243309021, + -26.89545249938965 + ], + [ + 0.942098081111908, + 0.05324920639395714, + -0.33108270168304443, + -19.381114959716797 + ], + [ + 0.06463789939880371, + -0.997632622718811, + 0.023474767804145813, + -17.641517639160156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2029, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_642268896", + "mask_path": "../../mask/hdr_right_02029.png" + }, + { + "file_path": "../../rgb/hdr_right_02030.png", + "transform_matrix": [ + [ + -0.3370750844478607, + -0.041089124977588654, + -0.9405807852745056, + -26.877220153808594 + ], + [ + 0.9394274353981018, + 0.05121917277574539, + -0.33889931440353394, + -19.46839141845703 + ], + [ + 0.0621008463203907, + -0.9978418350219727, + 0.02133553847670555, + -17.652999877929688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2030, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_742267847", + "mask_path": "../../mask/hdr_right_02030.png" + }, + { + "file_path": "../../rgb/hdr_right_02031.png", + "transform_matrix": [ + [ + -0.3389870226383209, + -0.03837384283542633, + -0.9400081038475037, + -26.860193252563477 + ], + [ + 0.938602864742279, + 0.05431313067674637, + -0.3406974673271179, + -19.57264518737793 + ], + [ + 0.06412865221500397, + -0.997786283493042, + 0.017606351524591446, + -17.654489517211914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2031, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_842267751", + "mask_path": "../../mask/hdr_right_02031.png" + }, + { + "file_path": "../../rgb/hdr_right_02032.png", + "transform_matrix": [ + [ + -0.33638688921928406, + -0.03495978191494942, + -0.9410747289657593, + -26.84771156311035 + ], + [ + 0.9395148754119873, + 0.05594915896654129, + -0.33790773153305054, + -19.654970169067383 + ], + [ + 0.06446552276611328, + -0.9978213906288147, + 0.014024665579199791, + -17.64996337890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2032, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639003_942268133", + "mask_path": "../../mask/hdr_right_02032.png" + }, + { + "file_path": "../../rgb/hdr_right_02033.png", + "transform_matrix": [ + [ + -0.33154207468032837, + -0.030967406928539276, + -0.94293212890625, + -26.838748931884766 + ], + [ + 0.9414609670639038, + 0.05384985730051994, + -0.33279329538345337, + -19.72427749633789 + ], + [ + 0.06108250841498375, + -0.9980686902999878, + 0.011301110498607159, + -17.65423583984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2033, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_42268753", + "mask_path": "../../mask/hdr_right_02033.png" + }, + { + "file_path": "../../rgb/hdr_right_02034.png", + "transform_matrix": [ + [ + -0.3303358852863312, + -0.03504965826869011, + -0.9432125091552734, + -26.820905685424805 + ], + [ + 0.9420194625854492, + 0.050191961228847504, + -0.3317832052707672, + -19.82219696044922 + ], + [ + 0.05897057428956032, + -0.998124361038208, + 0.01643725112080574, + -17.66536521911621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2034, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_142268896", + "mask_path": "../../mask/hdr_right_02034.png" + }, + { + "file_path": "../../rgb/hdr_right_02035.png", + "transform_matrix": [ + [ + -0.3363281488418579, + -0.04409516230225563, + -0.940712034702301, + -26.796369552612305 + ], + [ + 0.9397265315055847, + 0.049650222063064575, + -0.3383031189441681, + -19.920289993286133 + ], + [ + 0.06162409111857414, + -0.9977928400039673, + 0.024738634005188942, + -17.67525863647461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2035, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_242267847", + "mask_path": "../../mask/hdr_right_02035.png" + }, + { + "file_path": "../../rgb/hdr_right_02036.png", + "transform_matrix": [ + [ + -0.3444659113883972, + -0.047923389822244644, + -0.9375748634338379, + -26.77556610107422 + ], + [ + 0.9366980791091919, + 0.04923008382320404, + -0.3466601073741913, + -19.996395111083984 + ], + [ + 0.06277001649141312, + -0.9976370930671692, + 0.027931664139032364, + -17.680402755737305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2036, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_342267513", + "mask_path": "../../mask/hdr_right_02036.png" + }, + { + "file_path": "../../rgb/hdr_right_02037.png", + "transform_matrix": [ + [ + -0.34994491934776306, + -0.04332926869392395, + -0.9357677102088928, + -26.75429916381836 + ], + [ + 0.9348232746124268, + 0.04821902513504028, + -0.35182443261146545, + -20.082515716552734 + ], + [ + 0.06036610156297684, + -0.9978965520858765, + 0.023631203919649124, + -17.69688606262207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2037, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_442268133", + "mask_path": "../../mask/hdr_right_02037.png" + }, + { + "file_path": "../../rgb/hdr_right_02038.png", + "transform_matrix": [ + [ + -0.349569171667099, + -0.04149794578552246, + -0.9359910488128662, + -26.733598709106445 + ], + [ + 0.9348175525665283, + 0.051290228962898254, + -0.3514048755168915, + -20.18866729736328 + ], + [ + 0.06258977949619293, + -0.9978212118148804, + 0.020863527432084084, + -17.697120666503906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2038, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_542266845", + "mask_path": "../../mask/hdr_right_02038.png" + }, + { + "file_path": "../../rgb/hdr_right_02039.png", + "transform_matrix": [ + [ + -0.34660017490386963, + -0.035702623426914215, + -0.9373334050178528, + -26.71890640258789 + ], + [ + 0.9359534382820129, + 0.053018152713775635, + -0.3481093943119049, + -20.272024154663086 + ], + [ + 0.0621240995824337, + -0.9979551434516907, + 0.015039893798530102, + -17.695858001708984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2039, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_642269372", + "mask_path": "../../mask/hdr_right_02039.png" + }, + { + "file_path": "../../rgb/hdr_right_02040.png", + "transform_matrix": [ + [ + -0.3403170704841614, + -0.030325785279273987, + -0.9398216605186462, + -26.704116821289062 + ], + [ + 0.9386141896247864, + 0.04905903339385986, + -0.34146279096603394, + -20.344655990600586 + ], + [ + 0.056461866945028305, + -0.9983354210853577, + 0.011768585070967674, + -17.698997497558594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2040, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_742267608", + "mask_path": "../../mask/hdr_right_02040.png" + }, + { + "file_path": "../../rgb/hdr_right_02041.png", + "transform_matrix": [ + [ + -0.3400392532348633, + -0.03591492772102356, + -0.9397251605987549, + -26.67909049987793 + ], + [ + 0.9387644529342651, + 0.046148207038640976, + -0.3414553105831146, + -20.45371437072754 + ], + [ + 0.05562997981905937, + -0.9982888102531433, + 0.018023453652858734, + -17.711156845092773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2041, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_842267990", + "mask_path": "../../mask/hdr_right_02041.png" + }, + { + "file_path": "../../rgb/hdr_right_02042.png", + "transform_matrix": [ + [ + -0.3473474383354187, + -0.04226458817720413, + -0.9367836713790894, + -26.652576446533203 + ], + [ + 0.935900866985321, + 0.046850837767124176, + -0.3491338789463043, + -20.54342269897461 + ], + [ + 0.0586450956761837, + -0.9980073571205139, + 0.023281946778297424, + -17.724340438842773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2042, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639004_942267417", + "mask_path": "../../mask/hdr_right_02042.png" + }, + { + "file_path": "../../rgb/hdr_right_02043.png", + "transform_matrix": [ + [ + -0.356728732585907, + -0.04183513671159744, + -0.9332708120346069, + -26.62586784362793 + ], + [ + 0.9324151277542114, + 0.045917265117168427, + -0.3584599792957306, + -20.60736656188965 + ], + [ + 0.0578494593501091, + -0.9980689287185669, + 0.022627701982855797, + -17.736059188842773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2043, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_42267799", + "mask_path": "../../mask/hdr_right_02043.png" + }, + { + "file_path": "../../rgb/hdr_right_02044.png", + "transform_matrix": [ + [ + -0.3618696928024292, + -0.03877292945981026, + -0.9314220547676086, + -26.6032657623291 + ], + [ + 0.9302440881729126, + 0.05014146864414215, + -0.3634992837905884, + -20.698406219482422 + ], + [ + 0.06079680472612381, + -0.9979892373085022, + 0.017923614010214806, + -17.74097442626953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2044, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_142269134", + "mask_path": "../../mask/hdr_right_02044.png" + }, + { + "file_path": "../../rgb/hdr_right_02045.png", + "transform_matrix": [ + [ + -0.3608197569847107, + -0.0352693572640419, + -0.9319683909416199, + -26.586118698120117 + ], + [ + 0.9305436611175537, + 0.05327928811311722, + -0.362284392118454, + -20.797910690307617 + ], + [ + 0.06243216246366501, + -0.9979565739631653, + 0.013595454394817352, + -17.737953186035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2045, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_242267370", + "mask_path": "../../mask/hdr_right_02045.png" + }, + { + "file_path": "../../rgb/hdr_right_02046.png", + "transform_matrix": [ + [ + -0.35715222358703613, + -0.030527012422680855, + -0.9335471987724304, + -26.571821212768555 + ], + [ + 0.9320641160011292, + 0.05342970788478851, + -0.35833194851875305, + -20.8701229095459 + ], + [ + 0.06081795692443848, + -0.9981049299240112, + 0.009370594285428524, + -17.737205505371094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2046, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_342267751", + "mask_path": "../../mask/hdr_right_02046.png" + }, + { + "file_path": "../../rgb/hdr_right_02047.png", + "transform_matrix": [ + [ + -0.3514443337917328, + -0.030023613944649696, + -0.9357272386550903, + -26.554563522338867 + ], + [ + 0.9345234632492065, + 0.04869505763053894, + -0.3525546193122864, + -20.947874069213867 + ], + [ + 0.05615025386214256, + -0.9983623623847961, + 0.010944169946014881, + -17.739622116088867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2047, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_442266941", + "mask_path": "../../mask/hdr_right_02047.png" + }, + { + "file_path": "../../rgb/hdr_right_02048.png", + "transform_matrix": [ + [ + -0.3522009551525116, + -0.039987362921237946, + -0.9350697994232178, + -26.526758193969727 + ], + [ + 0.9339147806167603, + 0.05042282119393349, + -0.35392212867736816, + -21.05234146118164 + ], + [ + 0.06130126863718033, + -0.9979271292686462, + 0.01958581991493702, + -17.75332260131836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2048, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_542268037", + "mask_path": "../../mask/hdr_right_02048.png" + }, + { + "file_path": "../../rgb/hdr_right_02049.png", + "transform_matrix": [ + [ + -0.35458558797836304, + -0.04891436919569969, + -0.9337432384490967, + -26.506317138671875 + ], + [ + 0.9326555132865906, + 0.05252451077103615, + -0.35692399740219116, + -21.139911651611328 + ], + [ + 0.0665031298995018, + -0.9974209666252136, + 0.02699582464993, + -17.76862144470215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2049, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_642268180", + "mask_path": "../../mask/hdr_right_02049.png" + }, + { + "file_path": "../../rgb/hdr_right_02050.png", + "transform_matrix": [ + [ + -0.3574512004852295, + -0.048578064888715744, + -0.9326675534248352, + -26.476367950439453 + ], + [ + 0.9317097663879395, + 0.05029825493693352, + -0.3597038984298706, + -21.22499656677246 + ], + [ + 0.06438526511192322, + -0.9975520968437195, + 0.027281491085886955, + -17.783370971679688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2050, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_742267608", + "mask_path": "../../mask/hdr_right_02050.png" + }, + { + "file_path": "../../rgb/hdr_right_02051.png", + "transform_matrix": [ + [ + -0.35487860441207886, + -0.04498962685465813, + -0.9338293075561523, + -26.45062255859375 + ], + [ + 0.932275652885437, + 0.05793430283665657, + -0.35707932710647583, + -21.34076499938965 + ], + [ + 0.07016561180353165, + -0.9973061680793762, + 0.021383091807365417, + -17.79352378845215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2051, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_842267751", + "mask_path": "../../mask/hdr_right_02051.png" + }, + { + "file_path": "../../rgb/hdr_right_02052.png", + "transform_matrix": [ + [ + -0.3460153639316559, + -0.04082021117210388, + -0.9373404383659363, + -26.43543243408203 + ], + [ + 0.935448944568634, + 0.06183964014053345, + -0.34801018238067627, + -21.451255798339844 + ], + [ + 0.07217063009738922, + -0.9972509741783142, + 0.016787763684988022, + -17.79286003112793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2052, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639005_942265748", + "mask_path": "../../mask/hdr_right_02052.png" + }, + { + "file_path": "../../rgb/hdr_right_02053.png", + "transform_matrix": [ + [ + -0.3349802792072296, + -0.03576313331723213, + -0.9415462017059326, + -26.421955108642578 + ], + [ + 0.9398413300514221, + 0.058355748653411865, + -0.3365902602672577, + -21.53587532043457 + ], + [ + 0.06698216497898102, + -0.9976550936698914, + 0.014063648879528046, + -17.798227310180664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2053, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_42266130", + "mask_path": "../../mask/hdr_right_02053.png" + }, + { + "file_path": "../../rgb/hdr_right_02054.png", + "transform_matrix": [ + [ + -0.3257775604724884, + -0.037570636719465256, + -0.9446997046470642, + -26.397123336791992 + ], + [ + 0.9433178305625916, + 0.05409727618098259, + -0.32745248079299927, + -21.65863609313965 + ], + [ + 0.06340828537940979, + -0.9978286623954773, + 0.017817365005612373, + -17.805444717407227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2054, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_142268896", + "mask_path": "../../mask/hdr_right_02054.png" + }, + { + "file_path": "../../rgb/hdr_right_02055.png", + "transform_matrix": [ + [ + -0.32301339507102966, + -0.046311698853969574, + -0.9452606439590454, + -26.3690128326416 + ], + [ + 0.9440042972564697, + 0.055173542350530624, + -0.32528725266456604, + -21.780643463134766 + ], + [ + 0.06721797585487366, + -0.9974021911621094, + 0.025896646082401276, + -17.822063446044922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2055, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_242268085", + "mask_path": "../../mask/hdr_right_02055.png" + }, + { + "file_path": "../../rgb/hdr_right_02056.png", + "transform_matrix": [ + [ + -0.3250618278980255, + -0.05037509277462959, + -0.9443502426147461, + -26.344755172729492 + ], + [ + 0.9432052373886108, + 0.05511053279042244, + -0.32760748267173767, + -21.86881446838379 + ], + [ + 0.06854690611362457, + -0.9972086548805237, + 0.02959972433745861, + -17.833831787109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2056, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_342267990", + "mask_path": "../../mask/hdr_right_02056.png" + }, + { + "file_path": "../../rgb/hdr_right_02057.png", + "transform_matrix": [ + [ + -0.3241787552833557, + -0.04745272547006607, + -0.9448049664497375, + -26.325023651123047 + ], + [ + 0.943414568901062, + 0.05751354247331619, + -0.32659026980400085, + -21.971195220947266 + ], + [ + 0.06983667612075806, + -0.9972163438796997, + 0.02612292394042015, + -17.84026336669922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2057, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_442265748", + "mask_path": "../../mask/hdr_right_02057.png" + }, + { + "file_path": "../../rgb/hdr_right_02058.png", + "transform_matrix": [ + [ + -0.3157104551792145, + -0.04358227178454399, + -0.947854220867157, + -26.31244468688965 + ], + [ + 0.9460841417312622, + 0.061834823340177536, + -0.3179640769958496, + -22.08616828918457 + ], + [ + 0.07246799021959305, + -0.9971343874931335, + 0.021710596978664398, + -17.847583770751953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2058, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_542266607", + "mask_path": "../../mask/hdr_right_02058.png" + }, + { + "file_path": "../../rgb/hdr_right_02059.png", + "transform_matrix": [ + [ + -0.30487149953842163, + -0.03669548034667969, + -0.9516863226890564, + -26.30097007751465 + ], + [ + 0.9497695565223694, + 0.06241021677851677, + -0.3066638708114624, + -22.174386978149414 + ], + [ + 0.07064814120531082, + -0.9973758459091187, + 0.015825148671865463, + -17.851375579833984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2059, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_642267465", + "mask_path": "../../mask/hdr_right_02059.png" + }, + { + "file_path": "../../rgb/hdr_right_02060.png", + "transform_matrix": [ + [ + -0.29329004883766174, + -0.03671863675117493, + -0.9553182125091553, + -26.290210723876953 + ], + [ + 0.9537671804428101, + 0.0573749914765358, + -0.29501914978027344, + -22.271209716796875 + ], + [ + 0.06564407050609589, + -0.9976772665977478, + 0.01819351688027382, + -17.848773956298828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2060, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_742267608", + "mask_path": "../../mask/hdr_right_02060.png" + }, + { + "file_path": "../../rgb/hdr_right_02061.png", + "transform_matrix": [ + [ + -0.28993508219718933, + -0.04662932828068733, + -0.955909788608551, + -26.27082633972168 + ], + [ + 0.9545494914054871, + 0.05801169574260712, + -0.2923523485660553, + -22.390338897705078 + ], + [ + 0.06908614188432693, + -0.9972262978553772, + 0.027690378949046135, + -17.861412048339844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2061, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_842267751", + "mask_path": "../../mask/hdr_right_02061.png" + }, + { + "file_path": "../../rgb/hdr_right_02062.png", + "transform_matrix": [ + [ + -0.2922353148460388, + -0.04980991780757904, + -0.9550483822822571, + -26.250450134277344 + ], + [ + 0.9537427425384521, + 0.05846139416098595, + -0.2948848009109497, + -22.48479461669922 + ], + [ + 0.07052165269851685, + -0.9970462322235107, + 0.030421363189816475, + -17.880937576293945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2062, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639006_942268133", + "mask_path": "../../mask/hdr_right_02062.png" + }, + { + "file_path": "../../rgb/hdr_right_02063.png", + "transform_matrix": [ + [ + -0.29507362842559814, + -0.04434344545006752, + -0.9544450044631958, + -26.22854995727539 + ], + [ + 0.9531229734420776, + 0.056379836052656174, + -0.2972843050956726, + -22.573339462280273 + ], + [ + 0.0669940635561943, + -0.9974241852760315, + 0.025628553703427315, + -17.896278381347656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2063, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_42267084", + "mask_path": "../../mask/hdr_right_02063.png" + }, + { + "file_path": "../../rgb/hdr_right_02064.png", + "transform_matrix": [ + [ + -0.2910650074481964, + -0.04466407746076584, + -0.9556601643562317, + -26.211435317993164 + ], + [ + 0.9542334675788879, + 0.058176156133413315, + -0.29334938526153564, + -22.692296981811523 + ], + [ + 0.06869880855083466, + -0.9973066449165344, + 0.025686923414468765, + -17.896724700927734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2064, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_142268180", + "mask_path": "../../mask/hdr_right_02064.png" + }, + { + "file_path": "../../rgb/hdr_right_02065.png", + "transform_matrix": [ + [ + -0.2813713252544403, + -0.039254799485206604, + -0.9587956666946411, + -26.20110511779785 + ], + [ + 0.9572926759719849, + 0.05774885416030884, + -0.28329455852508545, + -22.801799774169922 + ], + [ + 0.06649002432823181, + -0.9975590705871582, + 0.02132946066558361, + -17.89073371887207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2065, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_242268800", + "mask_path": "../../mask/hdr_right_02065.png" + }, + { + "file_path": "../../rgb/hdr_right_02066.png", + "transform_matrix": [ + [ + -0.2696091830730438, + -0.03362056612968445, + -0.9623827338218689, + -26.193763732910156 + ], + [ + 0.9610467553138733, + 0.05373458191752434, + -0.2711121141910553, + -22.886537551879883 + ], + [ + 0.060828182846307755, + -0.9979891180992126, + 0.0178235974162817, + -17.890684127807617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2066, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_342267990", + "mask_path": "../../mask/hdr_right_02066.png" + }, + { + "file_path": "../../rgb/hdr_right_02067.png", + "transform_matrix": [ + [ + -0.26257389783859253, + -0.04016846418380737, + -0.96407550573349, + -26.17922592163086 + ], + [ + 0.9630809426307678, + 0.05061106011271477, + -0.26441171765327454, + -23.006195068359375 + ], + [ + 0.05941389873623848, + -0.9979103207588196, + 0.02539633959531784, + -17.902122497558594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2067, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_442267894", + "mask_path": "../../mask/hdr_right_02067.png" + }, + { + "file_path": "../../rgb/hdr_right_02068.png", + "transform_matrix": [ + [ + -0.26140904426574707, + -0.048511698842048645, + -0.9640082716941833, + -26.161714553833008 + ], + [ + 0.9630761742591858, + 0.05354495346546173, + -0.2638508379459381, + -23.121532440185547 + ], + [ + 0.06441763043403625, + -0.9973863363265991, + 0.0327233225107193, + -17.918460845947266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2068, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_542268037", + "mask_path": "../../mask/hdr_right_02068.png" + }, + { + "file_path": "../../rgb/hdr_right_02069.png", + "transform_matrix": [ + [ + -0.26391637325286865, + -0.05044908821582794, + -0.9632253646850586, + -26.144580841064453 + ], + [ + 0.9623201489448547, + 0.054025474935770035, + -0.2664979100227356, + -23.209928512573242 + ], + [ + 0.06548328697681427, + -0.9972643852233887, + 0.034289970993995667, + -17.93077850341797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2069, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_642267227", + "mask_path": "../../mask/hdr_right_02069.png" + }, + { + "file_path": "../../rgb/hdr_right_02070.png", + "transform_matrix": [ + [ + -0.26219642162323, + -0.04617120698094368, + -0.9639094471931458, + -26.13043785095215 + ], + [ + 0.9626165628433228, + 0.057858165353536606, + -0.2646161615848541, + -23.320144653320312 + ], + [ + 0.06798768043518066, + -0.9972565770149231, + 0.029274968430399895, + -17.932037353515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2070, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_742269277", + "mask_path": "../../mask/hdr_right_02070.png" + }, + { + "file_path": "../../rgb/hdr_right_02071.png", + "transform_matrix": [ + [ + -0.2536640763282776, + -0.04030250757932663, + -0.966452419757843, + -26.121318817138672 + ], + [ + 0.9648392796516418, + 0.06056918203830719, + -0.25576648116111755, + -23.433565139770508 + ], + [ + 0.06884526461362839, + -0.9973500370979309, + 0.023521216586232185, + -17.932340621948242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2071, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_842266798", + "mask_path": "../../mask/hdr_right_02071.png" + }, + { + "file_path": "../../rgb/hdr_right_02072.png", + "transform_matrix": [ + [ + -0.2431529313325882, + -0.03450419381260872, + -0.9693741202354431, + -26.11385154724121 + ], + [ + 0.9677892327308655, + 0.058620817959308624, + -0.24484193325042725, + -23.519636154174805 + ], + [ + 0.06527358293533325, + -0.9976838827133179, + 0.019138969480991364, + -17.93899154663086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2072, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639007_942267894", + "mask_path": "../../mask/hdr_right_02072.png" + }, + { + "file_path": "../../rgb/hdr_right_02073.png", + "transform_matrix": [ + [ + -0.23319122195243835, + -0.03778709098696709, + -0.9716963768005371, + -26.105281829833984 + ], + [ + 0.9703170657157898, + 0.05680862069129944, + -0.23506934940814972, + -23.629575729370117 + ], + [ + 0.06408332288265228, + -0.9976697564125061, + 0.02341819368302822, + -17.949045181274414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2073, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_42267560", + "mask_path": "../../mask/hdr_right_02073.png" + }, + { + "file_path": "../../rgb/hdr_right_02074.png", + "transform_matrix": [ + [ + -0.23010367155075073, + -0.04535108432173729, + -0.9721088409423828, + -26.098087310791016 + ], + [ + 0.9706361293792725, + 0.06128788739442825, + -0.23261427879333496, + -23.75872039794922 + ], + [ + 0.07012780010700226, + -0.9970892667770386, + 0.029916832223534584, + -17.963478088378906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2074, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_142267227", + "mask_path": "../../mask/hdr_right_02074.png" + }, + { + "file_path": "../../rgb/hdr_right_02075.png", + "transform_matrix": [ + [ + -0.232542484998703, + -0.04734697937965393, + -0.9714331030845642, + -26.08353614807129 + ], + [ + 0.9699006080627441, + 0.062887042760849, + -0.23524068295955658, + -23.85678482055664 + ], + [ + 0.07222849875688553, + -0.9968969225883484, + 0.0312979556620121, + -17.973115921020508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2075, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_242265939", + "mask_path": "../../mask/hdr_right_02075.png" + }, + { + "file_path": "../../rgb/hdr_right_02076.png", + "transform_matrix": [ + [ + -0.23338434100151062, + -0.042519040405750275, + -0.9714545607566833, + -26.071556091308594 + ], + [ + 0.9696664214134216, + 0.06447098404169083, + -0.23577654361724854, + -23.96524429321289 + ], + [ + 0.07265560328960419, + -0.9970133304595947, + 0.026182767003774643, + -17.979337692260742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2076, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_342265605", + "mask_path": "../../mask/hdr_right_02076.png" + }, + { + "file_path": "../../rgb/hdr_right_02077.png", + "transform_matrix": [ + [ + -0.22487948834896088, + -0.03847219794988632, + -0.9736268520355225, + -26.066329956054688 + ], + [ + 0.9715100526809692, + 0.0678698793053627, + -0.22707238793373108, + -24.09064292907715 + ], + [ + 0.07481590658426285, + -0.9969521760940552, + 0.022113589569926262, + -17.985929489135742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2077, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_442267417", + "mask_path": "../../mask/hdr_right_02077.png" + }, + { + "file_path": "../../rgb/hdr_right_02078.png", + "transform_matrix": [ + [ + -0.2128913849592209, + -0.030381951481103897, + -0.9766033887863159, + -26.063234329223633 + ], + [ + 0.9743834733963013, + 0.06754814833402634, + -0.21450886130332947, + -24.19051742553711 + ], + [ + 0.07248494774103165, + -0.9972532987594604, + 0.015223253518342972, + -17.992443084716797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2078, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_542267322", + "mask_path": "../../mask/hdr_right_02078.png" + }, + { + "file_path": "../../rgb/hdr_right_02079.png", + "transform_matrix": [ + [ + -0.20199698209762573, + -0.028990603983402252, + -0.9789569973945618, + -26.06093978881836 + ], + [ + 0.9770389199256897, + 0.0631958618760109, + -0.20347267389297485, + -24.2906436920166 + ], + [ + 0.06776482611894608, + -0.9975799918174744, + 0.015559575520455837, + -17.99253273010254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2079, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_642266750", + "mask_path": "../../mask/hdr_right_02079.png" + }, + { + "file_path": "../../rgb/hdr_right_02080.png", + "transform_matrix": [ + [ + -0.20017671585083008, + -0.03770501911640167, + -0.9790340662002563, + -26.05072784423828 + ], + [ + 0.9769588708877563, + 0.06782493740320206, + -0.2023644894361496, + -24.414323806762695 + ], + [ + 0.07403306663036346, + -0.9969844818115234, + 0.023259280249476433, + -18.01051902770996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2080, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_742266893", + "mask_path": "../../mask/hdr_right_02080.png" + }, + { + "file_path": "../../rgb/hdr_right_02081.png", + "transform_matrix": [ + [ + -0.20689350366592407, + -0.04047587886452675, + -0.9775258898735046, + -26.03493881225586 + ], + [ + 0.9753535389900208, + 0.06977979093790054, + -0.20932304859161377, + -24.512374877929688 + ], + [ + 0.07668408006429672, + -0.9967409372329712, + 0.025041313841938972, + -18.029172897338867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2081, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_842267036", + "mask_path": "../../mask/hdr_right_02081.png" + }, + { + "file_path": "../../rgb/hdr_right_02082.png", + "transform_matrix": [ + [ + -0.2169121652841568, + -0.037560995668172836, + -0.9754682779312134, + -26.01683807373047 + ], + [ + 0.9735314846038818, + 0.06538848578929901, + -0.21899931132793427, + -24.601268768310547 + ], + [ + 0.07201022654771805, + -0.9971528053283691, + 0.022383252158761024, + -18.039880752563477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2082, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639008_942269086", + "mask_path": "../../mask/hdr_right_02082.png" + }, + { + "file_path": "../../rgb/hdr_right_02083.png", + "transform_matrix": [ + [ + -0.22607813775539398, + -0.035339921712875366, + -0.9734679460525513, + -26.008377075195312 + ], + [ + 0.971394956111908, + 0.06637047231197357, + -0.22800615429878235, + -24.714963912963867 + ], + [ + 0.07266724109649658, + -0.9971689581871033, + 0.019324107095599174, + -18.04346466064453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2083, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_42268276", + "mask_path": "../../mask/hdr_right_02083.png" + }, + { + "file_path": "../../rgb/hdr_right_02084.png", + "transform_matrix": [ + [ + -0.2339772880077362, + -0.02991602011024952, + -0.9717817306518555, + -26.002187728881836 + ], + [ + 0.9696606397628784, + 0.06560880690813065, + -0.23548634350299835, + -24.815549850463867 + ], + [ + 0.0708022490143776, + -0.9973969459533691, + 0.013657418079674244, + -18.037681579589844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2084, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_142267465", + "mask_path": "../../mask/hdr_right_02084.png" + }, + { + "file_path": "../../rgb/hdr_right_02085.png", + "transform_matrix": [ + [ + -0.24634815752506256, + -0.02537861093878746, + -0.9688490629196167, + -25.991775512695312 + ], + [ + 0.9669765830039978, + 0.06095527857542038, + -0.2474687248468399, + -24.888599395751953 + ], + [ + 0.06533687561750412, + -0.9978178143501282, + 0.009524296969175339, + -18.042844772338867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2085, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_242268085", + "mask_path": "../../mask/hdr_right_02085.png" + }, + { + "file_path": "../../rgb/hdr_right_02086.png", + "transform_matrix": [ + [ + -0.2647922933101654, + -0.02411346696317196, + -0.9640039205551147, + -25.97197914123535 + ], + [ + 0.9623427987098694, + 0.0571424663066864, + -0.26576533913612366, + -24.984804153442383 + ], + [ + 0.06149408593773842, + -0.9980747699737549, + 0.008074532262980938, + -18.059219360351562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2086, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_342268466", + "mask_path": "../../mask/hdr_right_02086.png" + }, + { + "file_path": "../../rgb/hdr_right_02087.png", + "transform_matrix": [ + [ + -0.28870266675949097, + -0.02900351956486702, + -0.9569793939590454, + -25.950658798217773 + ], + [ + 0.9551394581794739, + 0.06020545959472656, + -0.2899722456932068, + -25.09137725830078 + ], + [ + 0.06602561473846436, + -0.997764527797699, + 0.010320927016437054, + -18.068767547607422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2087, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_442267656", + "mask_path": "../../mask/hdr_right_02087.png" + }, + { + "file_path": "../../rgb/hdr_right_02088.png", + "transform_matrix": [ + [ + -0.3106749653816223, + -0.03292795643210411, + -0.9499457478523254, + -25.92885398864746 + ], + [ + 0.9480377435684204, + 0.06139101833105087, + -0.31217893958091736, + -25.167869567871094 + ], + [ + 0.06859755516052246, + -0.9975705146789551, + 0.012144290842115879, + -18.076534271240234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2088, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_542267560", + "mask_path": "../../mask/hdr_right_02088.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/d2dad012/mesh.ply b/2024-11-03-13-59-54/splats/d2dad012/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..f8b14d15e7369e26b38c4e9fb007f07f07a8dd33 --- /dev/null +++ b/2024-11-03-13-59-54/splats/d2dad012/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10c1bf6df30427d6b7cd86747766c0923bb21b1d2bc29b8169db2eb31d0fab40 +size 128991459 diff --git a/2024-11-03-13-59-54/splats/d2dad012/mesh_filled_decimated.ply b/2024-11-03-13-59-54/splats/d2dad012/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..0ff1528b936bb4fa19218894df153d53f6a5a714 --- /dev/null +++ b/2024-11-03-13-59-54/splats/d2dad012/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:975290693c41c8c330b6e8085124ceb3e7d24fab917983ffba5b22028af73429 +size 1569598 diff --git a/2024-11-03-13-59-54/splats/d2dad012/splatfacto/config.yml b/2024-11-03-13-59-54/splats/d2dad012/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..1d83792a8460b5ac7040e33f28e1da978e898670 --- /dev/null +++ b/2024-11-03-13-59-54/splats/d2dad012/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-03-13-59-54_nerfstudio +- slices +- slice_d2dad012 +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-03-13-59-54_nerfstudio + - slices + - slice_d2dad012 + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-03-13-59-54/splats/d2dad012/splatfacto/dataparser_transforms.json b/2024-11-03-13-59-54/splats/d2dad012/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9bc1bebf21248d08db617aa1feba38341098369d --- /dev/null +++ b/2024-11-03-13-59-54/splats/d2dad012/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + 0.9029161930084229, + 0.42754969000816345, + -0.04408658295869827, + 28.25054931640625 + ], + [ + 0.42754969000816345, + -0.8828959465026855, + 0.19415393471717834, + 4.680525302886963 + ], + [ + 0.04408658295869827, + -0.19415393471717834, + -0.9799797534942627, + -16.719480514526367 + ] + ], + "scale": 0.24205305205967947 +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/d2dad012/splatfacto/splat.ply b/2024-11-03-13-59-54/splats/d2dad012/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..81b73407d6effba899622f3cb16067db7dc3d413 --- /dev/null +++ b/2024-11-03-13-59-54/splats/d2dad012/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ebb2a0e85fb5523f43c55fb4605fe519c05b50d048f5c4f7ce1ffde247940e6 +size 226530001 diff --git a/2024-11-03-13-59-54/splats/d2dad012/transforms.json b/2024-11-03-13-59-54/splats/d2dad012/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..b60387098f1b367044add8eee6caa3f59a578c03 --- /dev/null +++ b/2024-11-03-13-59-54/splats/d2dad012/transforms.json @@ -0,0 +1,23946 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_01473.png", + "transform_matrix": [ + [ + 0.41044458746910095, + 0.2644509971141815, + 0.8726974725723267, + -25.254854202270508 + ], + [ + -0.9114989042282104, + 0.14684511721134186, + 0.3841955363750458, + -14.404741287231445 + ], + [ + -0.026550475507974625, + -0.9531538486480713, + 0.30131858587265015, + -13.28054141998291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1473, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638949_242267847", + "mask_path": "../../mask/hdr_front_01473.png" + }, + { + "file_path": "../../rgb/hdr_front_01497.png", + "transform_matrix": [ + [ + -0.4242384433746338, + 0.2442299872636795, + 0.8719940185546875, + -25.329694747924805 + ], + [ + -0.8867344856262207, + 0.08323798328638077, + -0.45472344756126404, + -14.17335033416748 + ], + [ + -0.18364009261131287, + -0.9661383032798767, + 0.18125441670417786, + -13.268485069274902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1497, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638951_642268180", + "mask_path": "../../mask/hdr_front_01497.png" + }, + { + "file_path": "../../rgb/hdr_front_01500.png", + "transform_matrix": [ + [ + -0.5577267408370972, + 0.2440764158964157, + 0.7933269143104553, + -25.28016471862793 + ], + [ + -0.8039898872375488, + 0.07864534854888916, + -0.5894192457199097, + -14.08056354522705 + ], + [ + -0.20625481009483337, + -0.9665617346763611, + 0.15237237513065338, + -13.259610176086426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1500, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638951_942266941", + "mask_path": "../../mask/hdr_front_01500.png" + }, + { + "file_path": "../../rgb/hdr_front_01503.png", + "transform_matrix": [ + [ + -0.609732449054718, + 0.2312193363904953, + 0.7581318616867065, + -25.242963790893555 + ], + [ + -0.7659196853637695, + 0.07423433661460876, + -0.6386364102363586, + -14.023179054260254 + ], + [ + -0.20394447445869446, + -0.9700654149055481, + 0.13183234632015228, + -13.237574577331543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1503, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638952_242267370", + "mask_path": "../../mask/hdr_front_01503.png" + }, + { + "file_path": "../../rgb/hdr_front_01505.png", + "transform_matrix": [ + [ + -0.62555992603302, + 0.21449686586856842, + 0.7501105070114136, + -25.243099212646484 + ], + [ + -0.7573172450065613, + 0.06408432871103287, + -0.6498952507972717, + -13.965858459472656 + ], + [ + -0.18747080862522125, + -0.9746201038360596, + 0.12235357612371445, + -13.216357231140137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1505, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638952_442267417", + "mask_path": "../../mask/hdr_front_01505.png" + }, + { + "file_path": "../../rgb/hdr_front_01507.png", + "transform_matrix": [ + [ + -0.6267167329788208, + 0.20055939257144928, + 0.7529953718185425, + -25.288301467895508 + ], + [ + -0.7632782459259033, + 0.036627400666475296, + -0.6450309157371521, + -13.912833213806152 + ], + [ + -0.15694724023342133, + -0.9789966344833374, + 0.13012760877609253, + -13.243022918701172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1507, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638952_642267942", + "mask_path": "../../mask/hdr_front_01507.png" + }, + { + "file_path": "../../rgb/hdr_front_01509.png", + "transform_matrix": [ + [ + -0.6340531706809998, + 0.19820432364940643, + 0.7474569082260132, + -25.355327606201172 + ], + [ + -0.7617716789245605, + 0.006111429072916508, + -0.6478167772293091, + -13.871684074401855 + ], + [ + -0.13296808302402496, + -0.9801417589187622, + 0.14711150527000427, + -13.27729606628418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1509, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638952_842267513", + "mask_path": "../../mask/hdr_front_01509.png" + }, + { + "file_path": "../../rgb/hdr_front_01511.png", + "transform_matrix": [ + [ + -0.6443274021148682, + 0.20575089752674103, + 0.7365519404411316, + -25.437097549438477 + ], + [ + -0.7540796995162964, + -0.010607973672449589, + -0.6566973328590393, + -13.81837272644043 + ], + [ + -0.12730273604393005, + -0.9785469174385071, + 0.1619875729084015, + -13.30762767791748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1511, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_42267799", + "mask_path": "../../mask/hdr_front_01511.png" + }, + { + "file_path": "../../rgb/hdr_front_01512.png", + "transform_matrix": [ + [ + -0.6428928971290588, + 0.2136579304933548, + 0.7355535626411438, + -25.484251022338867 + ], + [ + -0.7544877529144287, + -0.01109046395868063, + -0.6562203168869019, + -13.790311813354492 + ], + [ + -0.13204903900623322, + -0.9768456220626831, + 0.1683322936296463, + -13.309357643127441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1512, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_142267704", + "mask_path": "../../mask/hdr_front_01512.png" + }, + { + "file_path": "../../rgb/hdr_front_01514.png", + "transform_matrix": [ + [ + -0.656541645526886, + 0.21856814622879028, + 0.7219286561012268, + -25.540491104125977 + ], + [ + -0.741115391254425, + -0.008821720257401466, + -0.6713196635246277, + -13.73540210723877 + ], + [ + -0.14036044478416443, + -0.9757818579673767, + 0.16777603328227997, + -13.329891204833984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1514, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_342268228", + "mask_path": "../../mask/hdr_front_01514.png" + }, + { + "file_path": "../../rgb/hdr_front_01516.png", + "transform_matrix": [ + [ + -0.6997497081756592, + 0.2183142453432083, + 0.680212676525116, + -25.576435089111328 + ], + [ + -0.7050650715827942, + -0.057725146412849426, + -0.7067893147468567, + -13.674341201782227 + ], + [ + -0.11503677815198898, + -0.9741697907447815, + 0.19431890547275543, + -13.364773750305176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1516, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_542268276", + "mask_path": "../../mask/hdr_front_01516.png" + }, + { + "file_path": "../../rgb/hdr_front_01518.png", + "transform_matrix": [ + [ + -0.7483994960784912, + 0.2339274287223816, + 0.6206255555152893, + -25.573680877685547 + ], + [ + -0.649686872959137, + -0.07030684500932693, + -0.7569437623023987, + -13.615583419799805 + ], + [ + -0.1334356665611267, + -0.9697086811065674, + 0.20459719002246857, + -13.380627632141113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1518, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_742269277", + "mask_path": "../../mask/hdr_front_01518.png" + }, + { + "file_path": "../../rgb/hdr_front_01520.png", + "transform_matrix": [ + [ + -0.8231689929962158, + 0.22347228229045868, + 0.521970272064209, + -25.55965805053711 + ], + [ + -0.5510609149932861, + -0.09288409352302551, + -0.8292796015739441, + -13.548741340637207 + ], + [ + -0.13683825731277466, + -0.9702745676040649, + 0.19960616528987885, + -13.38929271697998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1520, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_942267656", + "mask_path": "../../mask/hdr_front_01520.png" + }, + { + "file_path": "../../rgb/hdr_front_01552.png", + "transform_matrix": [ + [ + -0.9626304507255554, + 0.2696613669395447, + 0.025008372962474823, + -25.547136306762695 + ], + [ + -0.11514681577682495, + -0.3239620625972748, + -0.9390367269515991, + -13.099759101867676 + ], + [ + -0.24512015283107758, + -0.9068249464035034, + 0.3429063558578491, + -13.677553176879883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1552, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638957_142267465", + "mask_path": "../../mask/hdr_front_01552.png" + }, + { + "file_path": "../../rgb/hdr_front_01553.png", + "transform_matrix": [ + [ + -0.9676015377044678, + 0.25081896781921387, + 0.02893298678100109, + -25.543668746948242 + ], + [ + -0.1162014976143837, + -0.34065550565719604, + -0.9329796433448792, + -13.046832084655762 + ], + [ + -0.2241528034210205, + -0.9061146378517151, + 0.35876429080963135, + -13.714841842651367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1553, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638957_242269277", + "mask_path": "../../mask/hdr_front_01553.png" + }, + { + "file_path": "../../rgb/hdr_front_01565.png", + "transform_matrix": [ + [ + -0.9821146726608276, + 0.1485239565372467, + 0.11572062969207764, + -25.59349250793457 + ], + [ + -0.1651918888092041, + -0.3847978413105011, + -0.9080982208251953, + -12.674107551574707 + ], + [ + -0.09034527838230133, + -0.9109727144241333, + 0.4024505615234375, + -13.803975105285645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1565, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638958_442270994", + "mask_path": "../../mask/hdr_front_01565.png" + }, + { + "file_path": "../../rgb/hdr_front_01566.png", + "transform_matrix": [ + [ + -0.97991544008255, + 0.15619230270385742, + 0.12397404760122299, + -25.61451530456543 + ], + [ + -0.17463275790214539, + -0.37199971079826355, + -0.9116576313972473, + -12.616109848022461 + ], + [ + -0.09627557545900345, + -0.9149973392486572, + 0.391804575920105, + -13.840019226074219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1566, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638958_542269706", + "mask_path": "../../mask/hdr_front_01566.png" + }, + { + "file_path": "../../rgb/hdr_front_01568.png", + "transform_matrix": [ + [ + -0.9796130061149597, + 0.16877056658267975, + 0.10897240042686462, + -25.555747985839844 + ], + [ + -0.15698356926441193, + -0.3046075701713562, + -0.9394521117210388, + -12.49393081665039 + ], + [ + -0.12535801529884338, + -0.9374064207077026, + 0.32489174604415894, + -13.810651779174805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1568, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638958_742268323", + "mask_path": "../../mask/hdr_front_01568.png" + }, + { + "file_path": "../../rgb/hdr_front_01569.png", + "transform_matrix": [ + [ + -0.9874524474143982, + 0.14913298189640045, + 0.05193374678492546, + -25.515451431274414 + ], + [ + -0.08889074623584747, + -0.2530968487262726, + -0.9633485674858093, + -12.442211151123047 + ], + [ + -0.13052275776863098, + -0.9558773040771484, + 0.26317769289016724, + -13.725685119628906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1569, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638958_842267036", + "mask_path": "../../mask/hdr_front_01569.png" + }, + { + "file_path": "../../rgb/hdr_front_01570.png", + "transform_matrix": [ + [ + -0.9869346022605896, + 0.15909217298030853, + 0.025491904467344284, + -25.50642967224121 + ], + [ + -0.06576941162347794, + -0.25335612893104553, + -0.9651347398757935, + -12.500287055969238 + ], + [ + -0.14708687365055084, + -0.9542014598846436, + 0.26050931215286255, + -13.71530532836914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1570, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638958_942268848", + "mask_path": "../../mask/hdr_front_01570.png" + }, + { + "file_path": "../../rgb/hdr_front_01571.png", + "transform_matrix": [ + [ + -0.985038697719574, + 0.16950786113739014, + 0.031078891828656197, + -25.509733200073242 + ], + [ + -0.07697902619838715, + -0.2714393138885498, + -0.9593721628189087, + -12.550956726074219 + ], + [ + -0.15418508648872375, + -0.9474111199378967, + 0.2804267108440399, + -13.766847610473633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1571, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638959_42268991", + "mask_path": "../../mask/hdr_front_01571.png" + }, + { + "file_path": "../../rgb/hdr_front_01618.png", + "transform_matrix": [ + [ + -0.982336163520813, + 0.15207929909229279, + 0.10902998596429825, + -25.478036880493164 + ], + [ + -0.14296072721481323, + -0.23398582637310028, + -0.9616719484329224, + -12.566043853759766 + ], + [ + -0.1207389235496521, + -0.9602721333503723, + 0.2515941262245178, + -13.811416625976562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1618, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638963_742267370", + "mask_path": "../../mask/hdr_front_01618.png" + }, + { + "file_path": "../../rgb/hdr_front_01623.png", + "transform_matrix": [ + [ + -0.9696211218833923, + 0.19725491106510162, + 0.1446560174226761, + -25.472166061401367 + ], + [ + -0.19750504195690155, + -0.2824338674545288, + -0.9387347102165222, + -12.667935371398926 + ], + [ + -0.1443142592906952, + -0.9387873411178589, + 0.3128126859664917, + -13.798487663269043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1623, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638964_242267847", + "mask_path": "../../mask/hdr_front_01623.png" + }, + { + "file_path": "../../rgb/hdr_front_01636.png", + "transform_matrix": [ + [ + -0.9561076760292053, + 0.2523234486579895, + 0.14896588027477264, + -25.4681396484375 + ], + [ + -0.23186556994915009, + -0.34067076444625854, + -0.9111431837081909, + -12.750258445739746 + ], + [ + -0.1791544407606125, + -0.9056910872459412, + 0.3842231035232544, + -13.778358459472656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1636, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638965_542268037", + "mask_path": "../../mask/hdr_front_01636.png" + }, + { + "file_path": "../../rgb/hdr_front_01646.png", + "transform_matrix": [ + [ + -0.9505772590637207, + 0.2034691423177719, + 0.23452763259410858, + -25.6160831451416 + ], + [ + -0.2968854606151581, + -0.3745129704475403, + -0.8784071207046509, + -12.902047157287598 + ], + [ + -0.09089512377977371, + -0.9046217203140259, + 0.41641050577163696, + -13.76135540008545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1646, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638966_542267799", + "mask_path": "../../mask/hdr_front_01646.png" + }, + { + "file_path": "../../rgb/hdr_front_01667.png", + "transform_matrix": [ + [ + -0.9622613787651062, + 0.11732184886932373, + 0.24553698301315308, + -25.6390380859375 + ], + [ + -0.2720016539096832, + -0.38733989000320435, + -0.8808989524841309, + -13.052404403686523 + ], + [ + -0.008242427371442318, + -0.9144415855407715, + 0.4046339690685272, + -13.752284049987793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1667, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638968_642268180", + "mask_path": "../../mask/hdr_front_01667.png" + }, + { + "file_path": "../../rgb/hdr_front_01673.png", + "transform_matrix": [ + [ + -0.958337664604187, + 0.1576494574546814, + 0.23819231986999512, + -25.72552490234375 + ], + [ + -0.28262579441070557, + -0.4025691747665405, + -0.8706667423248291, + -12.914233207702637 + ], + [ + -0.04137125983834267, + -0.90171217918396, + 0.430353045463562, + -13.841691017150879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1673, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638969_242268085", + "mask_path": "../../mask/hdr_front_01673.png" + }, + { + "file_path": "../../rgb/hdr_front_01685.png", + "transform_matrix": [ + [ + -0.9927700757980347, + 0.10803374648094177, + 0.052311092615127563, + -25.65147590637207 + ], + [ + -0.0991378128528595, + -0.49229249358177185, + -0.8647658228874207, + -12.7695951461792 + ], + [ + -0.0676715224981308, + -0.8636994957923889, + 0.4994434714317322, + -13.924660682678223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1685, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638970_442266702", + "mask_path": "../../mask/hdr_front_01685.png" + }, + { + "file_path": "../../rgb/hdr_front_01689.png", + "transform_matrix": [ + [ + -0.9911538362503052, + 0.1211630180478096, + 0.05416324734687805, + -25.635534286499023 + ], + [ + -0.10680679976940155, + -0.4859462082386017, + -0.8674379587173462, + -12.629587173461914 + ], + [ + -0.07878097146749496, + -0.8655494451522827, + 0.4945884346961975, + -14.052263259887695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1689, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638970_842267274", + "mask_path": "../../mask/hdr_front_01689.png" + }, + { + "file_path": "../../rgb/hdr_front_01690.png", + "transform_matrix": [ + [ + -0.993165135383606, + 0.10556746274232864, + 0.04978594183921814, + -25.64227867126465 + ], + [ + -0.09422148019075394, + -0.47339528799057007, + -0.875796377658844, + -12.564733505249023 + ], + [ + -0.06888715922832489, + -0.8745012879371643, + 0.480106383562088, + -14.090466499328613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1690, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638970_942267179", + "mask_path": "../../mask/hdr_front_01690.png" + }, + { + "file_path": "../../rgb/hdr_front_01693.png", + "transform_matrix": [ + [ + -0.9950382709503174, + 0.07616224139928818, + 0.06401700526475906, + -25.67654800415039 + ], + [ + -0.09223218262195587, + -0.46482476592063904, + -0.8805857300758362, + -12.437170028686523 + ], + [ + -0.03731069713830948, + -0.8821209669113159, + 0.4695429801940918, + -14.15769100189209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1693, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638971_242267608", + "mask_path": "../../mask/hdr_front_01693.png" + }, + { + "file_path": "../../rgb/hdr_front_01694.png", + "transform_matrix": [ + [ + -0.9954116344451904, + 0.06707804650068283, + 0.06823747605085373, + -25.699180603027344 + ], + [ + -0.09177020192146301, + -0.4673248827457428, + -0.8793098330497742, + -12.395530700683594 + ], + [ + -0.0270933136343956, + -0.8815373182296753, + 0.47133636474609375, + -14.190206527709961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1694, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638971_342268228", + "mask_path": "../../mask/hdr_front_01694.png" + }, + { + "file_path": "../../rgb/hdr_front_01695.png", + "transform_matrix": [ + [ + -0.9949918985366821, + 0.06515488028526306, + 0.07580216228961945, + -25.717899322509766 + ], + [ + -0.0975574404001236, + -0.46789032220840454, + -0.878385603427887, + -12.350074768066406 + ], + [ + -0.021764000877738, + -0.8813816905021667, + 0.4719034433364868, + -14.23274040222168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1695, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638971_442268371", + "mask_path": "../../mask/hdr_front_01695.png" + }, + { + "file_path": "../../rgb/hdr_front_01696.png", + "transform_matrix": [ + [ + -0.9940752983093262, + 0.06784894317388535, + 0.08491750061511993, + -25.732261657714844 + ], + [ + -0.10692931711673737, + -0.47022444009780884, + -0.8760452270507812, + -12.29784107208252 + ], + [ + -0.019508451223373413, + -0.8799349665641785, + 0.47469353675842285, + -14.26579475402832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1696, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638971_542268991", + "mask_path": "../../mask/hdr_front_01696.png" + }, + { + "file_path": "../../rgb/hdr_front_01700.png", + "transform_matrix": [ + [ + -0.9893748164176941, + 0.11687096208333969, + 0.08647916465997696, + -25.729999542236328 + ], + [ + -0.13272006809711456, + -0.48319223523139954, + -0.86539626121521, + -12.158185005187988 + ], + [ + -0.059353627264499664, + -0.8676787614822388, + 0.49356934428215027, + -14.385699272155762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1700, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638971_942267656", + "mask_path": "../../mask/hdr_front_01700.png" + }, + { + "file_path": "../../rgb/hdr_front_01701.png", + "transform_matrix": [ + [ + -0.9885643124580383, + 0.12455384433269501, + 0.08501181751489639, + -25.729516983032227 + ], + [ + -0.1353648155927658, + -0.484482079744339, + -0.8642647862434387, + -12.106865882873535 + ], + [ + -0.06646078079938889, + -0.8658888339996338, + 0.4958018958568573, + -14.434944152832031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1701, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_42267084", + "mask_path": "../../mask/hdr_front_01701.png" + }, + { + "file_path": "../../rgb/hdr_front_01704.png", + "transform_matrix": [ + [ + -0.9897912740707397, + 0.10837434232234955, + 0.09256456792354584, + -25.748380661010742 + ], + [ + -0.13378451764583588, + -0.48254451155662537, + -0.8655937314033508, + -11.97219181060791 + ], + [ + -0.04914162680506706, + -0.8691408038139343, + 0.49211716651916504, + -14.535116195678711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1704, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_342267751", + "mask_path": "../../mask/hdr_front_01704.png" + }, + { + "file_path": "../../rgb/hdr_front_01705.png", + "transform_matrix": [ + [ + -0.9911946654319763, + 0.09695537388324738, + 0.09018205851316452, + -25.749563217163086 + ], + [ + -0.12613840401172638, + -0.4842158854007721, + -0.8658083081245422, + -11.914106369018555 + ], + [ + -0.040277186781167984, + -0.8695601224899292, + 0.49218201637268066, + -14.553360939025879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1705, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_442270278", + "mask_path": "../../mask/hdr_front_01705.png" + }, + { + "file_path": "../../rgb/hdr_front_01706.png", + "transform_matrix": [ + [ + -0.9909822940826416, + 0.09808442741632462, + 0.09128829091787338, + -25.74445343017578 + ], + [ + -0.12780939042568207, + -0.4873577356338501, + -0.8637981414794922, + -11.84464168548584 + ], + [ + -0.040235091000795364, + -0.8676761984825134, + 0.49549901485443115, + -14.601646423339844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1706, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_542267799", + "mask_path": "../../mask/hdr_front_01706.png" + }, + { + "file_path": "../../rgb/hdr_front_01707.png", + "transform_matrix": [ + [ + -0.9896336793899536, + 0.1058257669210434, + 0.09708868712186813, + -25.753650665283203 + ], + [ + -0.1369352638721466, + -0.4915359318256378, + -0.8600239157676697, + -11.79658317565918 + ], + [ + -0.043290119618177414, + -0.8644035458564758, + 0.5009317398071289, + -14.644755363464355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1707, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_642268896", + "mask_path": "../../mask/hdr_front_01707.png" + }, + { + "file_path": "../../rgb/hdr_front_01709.png", + "transform_matrix": [ + [ + -0.9869871735572815, + 0.12842845916748047, + 0.09675981104373932, + -25.745548248291016 + ], + [ + -0.14851261675357819, + -0.4973680377006531, + -0.8547333478927612, + -11.74199390411377 + ], + [ + -0.061646852642297745, + -0.8579809069633484, + 0.509969174861908, + -14.696311950683594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1709, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_842268705", + "mask_path": "../../mask/hdr_front_01709.png" + }, + { + "file_path": "../../rgb/hdr_front_01710.png", + "transform_matrix": [ + [ + -0.9848329424858093, + 0.144036203622818, + 0.09673532843589783, + -25.744747161865234 + ], + [ + -0.156887948513031, + -0.5011613965034485, + -0.85101318359375, + -11.692536354064941 + ], + [ + -0.0740966871380806, + -0.8532823920249939, + 0.5161578059196472, + -14.734951972961426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1710, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_942268371", + "mask_path": "../../mask/hdr_front_01710.png" + }, + { + "file_path": "../../rgb/hdr_front_01711.png", + "transform_matrix": [ + [ + -0.9846907258033752, + 0.14587411284446716, + 0.0954190343618393, + -25.755878448486328 + ], + [ + -0.15625382959842682, + -0.4960682690143585, + -0.8541083335876465, + -11.625198364257812 + ], + [ + -0.07725794613361359, + -0.8559422492980957, + 0.5112672448158264, + -14.77674388885498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1711, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_42268991", + "mask_path": "../../mask/hdr_front_01711.png" + }, + { + "file_path": "../../rgb/hdr_front_01712.png", + "transform_matrix": [ + [ + -0.9858062267303467, + 0.14340008795261383, + 0.08730656653642654, + -25.763687133789062 + ], + [ + -0.14717517793178558, + -0.48792657256126404, + -0.8603878021240234, + -11.563227653503418 + ], + [ + -0.08078049123287201, + -0.8610250353813171, + 0.5021060109138489, + -14.8201322555542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1712, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_142267942", + "mask_path": "../../mask/hdr_front_01712.png" + }, + { + "file_path": "../../rgb/hdr_front_01715.png", + "transform_matrix": [ + [ + -0.9914842247962952, + 0.11265191435813904, + 0.06533429026603699, + -25.758649826049805 + ], + [ + -0.11144083738327026, + -0.4743753969669342, + -0.8732404708862305, + -11.456944465637207 + ], + [ + -0.06737923622131348, + -0.8730850219726562, + 0.48288974165916443, + -14.886839866638184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1715, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_442268610", + "mask_path": "../../mask/hdr_front_01715.png" + }, + { + "file_path": "../../rgb/hdr_front_01716.png", + "transform_matrix": [ + [ + -0.9933901429176331, + 0.09499034285545349, + 0.0644415020942688, + -25.773571014404297 + ], + [ + -0.10258785635232925, + -0.4828606843948364, + -0.8696673512458801, + -11.4072265625 + ], + [ + -0.051493726670742035, + -0.8705300092697144, + 0.4894139766693115, + -14.920849800109863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1716, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_542268037", + "mask_path": "../../mask/hdr_front_01716.png" + }, + { + "file_path": "../../rgb/hdr_front_01717.png", + "transform_matrix": [ + [ + -0.9935832023620605, + 0.09056460857391357, + 0.06775318831205368, + -25.776229858398438 + ], + [ + -0.10383545607328415, + -0.49290114641189575, + -0.8638673424720764, + -11.349289894104004 + ], + [ + -0.04484017565846443, + -0.8653591871261597, + 0.4991421401500702, + -14.970126152038574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1717, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_642269372", + "mask_path": "../../mask/hdr_front_01717.png" + }, + { + "file_path": "../../rgb/hdr_front_01718.png", + "transform_matrix": [ + [ + -0.9934542775154114, + 0.08492512255907059, + 0.07639554142951965, + -25.78245735168457 + ], + [ + -0.10872349888086319, + -0.4978379011154175, + -0.8604282140731812, + -11.298735618591309 + ], + [ + -0.03503936156630516, + -0.86310213804245, + 0.5038125514984131, + -15.010333061218262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1718, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_742269277", + "mask_path": "../../mask/hdr_front_01718.png" + }, + { + "file_path": "../../rgb/hdr_front_01720.png", + "transform_matrix": [ + [ + -0.9928359985351562, + 0.09140323102474213, + 0.07695482671260834, + -25.78128433227539 + ], + [ + -0.11295633018016815, + -0.5080246925354004, + -0.8539039492607117, + -11.252936363220215 + ], + [ + -0.03895462676882744, + -0.8564790487289429, + 0.5147097706794739, + -15.059930801391602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1720, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_942267894", + "mask_path": "../../mask/hdr_front_01720.png" + }, + { + "file_path": "../../rgb/hdr_front_01721.png", + "transform_matrix": [ + [ + -0.9911495447158813, + 0.1058962345123291, + 0.08005283027887344, + -25.789461135864258 + ], + [ + -0.12341595441102982, + -0.5129377841949463, + -0.849507749080658, + -11.214359283447266 + ], + [ + -0.04889754578471184, + -0.8518690466880798, + 0.5214673280715942, + -15.106073379516602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1721, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_42269468", + "mask_path": "../../mask/hdr_front_01721.png" + }, + { + "file_path": "../../rgb/hdr_front_01722.png", + "transform_matrix": [ + [ + -0.9906514286994934, + 0.10951486974954605, + 0.08134005963802338, + -25.800636291503906 + ], + [ + -0.12619832158088684, + -0.509283185005188, + -0.8512958884239197, + -11.13604736328125 + ], + [ + -0.05180440843105316, + -0.853602409362793, + 0.5183427929878235, + -15.144878387451172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1722, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_142267227", + "mask_path": "../../mask/hdr_front_01722.png" + }, + { + "file_path": "../../rgb/hdr_front_01723.png", + "transform_matrix": [ + [ + -0.9915147423744202, + 0.1051495149731636, + 0.07643288373947144, + -25.81023597717285 + ], + [ + -0.11954660713672638, + -0.5066172480583191, + -0.8538427948951721, + -11.075413703918457 + ], + [ + -0.051058944314718246, + -0.8557350635528564, + 0.5148888826370239, + -15.186419486999512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1723, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_242268562", + "mask_path": "../../mask/hdr_front_01723.png" + }, + { + "file_path": "../../rgb/hdr_front_01726.png", + "transform_matrix": [ + [ + -0.9939339756965637, + 0.06977903842926025, + 0.08500708639621735, + -25.84733009338379 + ], + [ + -0.10871461778879166, + -0.5065258145332336, + -0.8553436398506165, + -10.974828720092773 + ], + [ + -0.01662677340209484, + -0.8593965768814087, + 0.5110392570495605, + -15.282483100891113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1726, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_542268753", + "mask_path": "../../mask/hdr_front_01726.png" + }, + { + "file_path": "../../rgb/hdr_front_01727.png", + "transform_matrix": [ + [ + -0.9948166608810425, + 0.05722619965672493, + 0.08405327796936035, + -25.853092193603516 + ], + [ + -0.1015225425362587, + -0.5122973918914795, + -0.8527864217758179, + -10.936727523803711 + ], + [ + -0.005741444882005453, + -0.8568994402885437, + 0.5154517889022827, + -15.317888259887695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1727, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_642268180", + "mask_path": "../../mask/hdr_front_01727.png" + }, + { + "file_path": "../../rgb/hdr_front_01728.png", + "transform_matrix": [ + [ + -0.9943833947181702, + 0.06136411428451538, + 0.08623291552066803, + -25.861366271972656 + ], + [ + -0.10553210973739624, + -0.5129762291908264, + -0.8518911004066467, + -10.880395889282227 + ], + [ + -0.008040105924010277, + -0.8562067151069641, + 0.5165708065032959, + -15.353205680847168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1728, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_742268323", + "mask_path": "../../mask/hdr_front_01728.png" + }, + { + "file_path": "../../rgb/hdr_front_01729.png", + "transform_matrix": [ + [ + -0.9936777353286743, + 0.06008101999759674, + 0.09484066814184189, + -25.867740631103516 + ], + [ + -0.11222360283136368, + -0.5073476433753967, + -0.8544028401374817, + -10.813673973083496 + ], + [ + -0.003216208191588521, + -0.8596445322036743, + 0.5108826160430908, + -15.38176155090332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1729, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_842268466", + "mask_path": "../../mask/hdr_front_01729.png" + }, + { + "file_path": "../../rgb/hdr_front_01733.png", + "transform_matrix": [ + [ + -0.990889847278595, + 0.09494438022375107, + 0.09551374614238739, + -25.858959197998047 + ], + [ + -0.13118232786655426, + -0.5199838876724243, + -0.8440427184104919, + -10.685240745544434 + ], + [ + -0.030471498146653175, + -0.8488830924034119, + 0.5277017951011658, + -15.497817993164062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1733, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_242267608", + "mask_path": "../../mask/hdr_front_01733.png" + }, + { + "file_path": "../../rgb/hdr_front_01734.png", + "transform_matrix": [ + [ + -0.9904316067695618, + 0.09587126225233078, + 0.09926623851060867, + -25.8680477142334 + ], + [ + -0.1347968727350235, + -0.5178945660591125, + -0.8447573781013489, + -10.621365547180176 + ], + [ + -0.029578514397144318, + -0.8500552773475647, + 0.5258622765541077, + -15.54858112335205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1734, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_342268228", + "mask_path": "../../mask/hdr_front_01734.png" + }, + { + "file_path": "../../rgb/hdr_front_01735.png", + "transform_matrix": [ + [ + -0.9913005232810974, + 0.09041298180818558, + 0.0956493690609932, + -25.867069244384766 + ], + [ + -0.12867555022239685, + -0.5129291415214539, + -0.8487321734428406, + -10.579483985900879 + ], + [ + -0.027675073593854904, + -0.8536563515663147, + 0.5201007723808289, + -15.578436851501465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1735, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_442268133", + "mask_path": "../../mask/hdr_front_01735.png" + }, + { + "file_path": "../../rgb/hdr_front_01737.png", + "transform_matrix": [ + [ + -0.9928538203239441, + 0.0684872642159462, + 0.09772844612598419, + -25.89004135131836 + ], + [ + -0.11906126886606216, + -0.5128270983695984, + -0.8501957654953003, + -10.516151428222656 + ], + [ + -0.008109791204333305, + -0.8557558059692383, + 0.517316460609436, + -15.625168800354004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1737, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_642266988", + "mask_path": "../../mask/hdr_front_01737.png" + }, + { + "file_path": "../../rgb/hdr_front_01738.png", + "transform_matrix": [ + [ + -0.9935306310653687, + 0.05567660182714462, + 0.09898035228252411, + -25.908296585083008 + ], + [ + -0.11351433396339417, + -0.512885332107544, + -0.8509190678596497, + -10.472044944763184 + ], + [ + 0.0033892877399921417, + -0.8566497564315796, + 0.5158873200416565, + -15.651677131652832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1738, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_742268323", + "mask_path": "../../mask/hdr_front_01738.png" + }, + { + "file_path": "../../rgb/hdr_front_01740.png", + "transform_matrix": [ + [ + -0.9940580129623413, + 0.04114381596446037, + 0.10077615827322006, + -25.94143295288086 + ], + [ + -0.10749208927154541, + -0.516902506351471, + -0.8492687344551086, + -10.388020515441895 + ], + [ + 0.017149293795228004, + -0.8550550937652588, + 0.5182536840438843, + -15.716180801391602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1740, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_942268371", + "mask_path": "../../mask/hdr_front_01740.png" + }, + { + "file_path": "../../rgb/hdr_front_01741.png", + "transform_matrix": [ + [ + -0.9932647347450256, + 0.038760457187891006, + 0.1091918870806694, + -25.960853576660156 + ], + [ + -0.1135229840874672, + -0.5141592025756836, + -0.8501487374305725, + -10.331511497497559 + ], + [ + 0.023189855739474297, + -0.8568185567855835, + 0.5150963664054871, + -15.742940902709961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1741, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_42267322", + "mask_path": "../../mask/hdr_front_01741.png" + }, + { + "file_path": "../../rgb/hdr_front_01744.png", + "transform_matrix": [ + [ + -0.9909442663192749, + 0.06904495507478714, + 0.11516208201646805, + -25.96805191040039 + ], + [ + -0.13425517082214355, + -0.5238440632820129, + -0.841167688369751, + -10.237249374389648 + ], + [ + 0.0022485849913209677, + -0.8490113615989685, + 0.5283699035644531, + -15.825798988342285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1744, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_342268466", + "mask_path": "../../mask/hdr_front_01744.png" + }, + { + "file_path": "../../rgb/hdr_front_01745.png", + "transform_matrix": [ + [ + -0.9895870685577393, + 0.08106579631567001, + 0.11893592774868011, + -25.966978073120117 + ], + [ + -0.14384624361991882, + -0.5279074907302856, + -0.8370317220687866, + -10.193365097045898 + ], + [ + -0.005067478399723768, + -0.845424234867096, + 0.5340714454650879, + -15.868846893310547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1745, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_442267417", + "mask_path": "../../mask/hdr_front_01745.png" + }, + { + "file_path": "../../rgb/hdr_front_01746.png", + "transform_matrix": [ + [ + -0.988811731338501, + 0.08573848009109497, + 0.12206721305847168, + -25.980731964111328 + ], + [ + -0.14897684752941132, + -0.5260487794876099, + -0.837304413318634, + -10.127452850341797 + ], + [ + -0.007575896568596363, + -0.8461215496063232, + 0.5329362750053406, + -15.918890953063965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1746, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_542269229", + "mask_path": "../../mask/hdr_front_01746.png" + }, + { + "file_path": "../../rgb/hdr_front_01747.png", + "transform_matrix": [ + [ + -0.9900936484336853, + 0.07829702645540237, + 0.11655081808567047, + -25.985292434692383 + ], + [ + -0.14032071828842163, + -0.5224394798278809, + -0.8410512208938599, + -10.08089828491211 + ], + [ + -0.004961054772138596, + -0.8490740060806274, + 0.5282507538795471, + -15.948912620544434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1747, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_642267704", + "mask_path": "../../mask/hdr_front_01747.png" + }, + { + "file_path": "../../rgb/hdr_front_01749.png", + "transform_matrix": [ + [ + -0.9918959736824036, + 0.05556882917881012, + 0.11425529420375824, + -26.00617790222168 + ], + [ + -0.1264360398054123, + -0.5201570987701416, + -0.8446600437164307, + -10.018975257873535 + ], + [ + 0.012493927963078022, + -0.8522610068321228, + 0.5229676365852356, + -16.002840042114258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1749, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_842267513", + "mask_path": "../../mask/hdr_front_01749.png" + }, + { + "file_path": "../../rgb/hdr_front_01750.png", + "transform_matrix": [ + [ + -0.9927472472190857, + 0.04399190470576286, + 0.11188206076622009, + -26.020099639892578 + ], + [ + -0.11836457252502441, + -0.5205462574958801, + -0.8455894589424133, + -9.970935821533203 + ], + [ + 0.021040696650743484, + -0.8526993989944458, + 0.521977961063385, + -16.03443717956543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1750, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_942268371", + "mask_path": "../../mask/hdr_front_01750.png" + }, + { + "file_path": "../../rgb/hdr_front_01751.png", + "transform_matrix": [ + [ + -0.9932969808578491, + 0.03461750969290733, + 0.11028464883565903, + -26.03215217590332 + ], + [ + -0.11202678084373474, + -0.5233808755874634, + -0.8447024822235107, + -9.925207138061523 + ], + [ + 0.02847938984632492, + -0.8513953685760498, + 0.5237507820129395, + -16.064167022705078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1751, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_42268514", + "mask_path": "../../mask/hdr_front_01751.png" + }, + { + "file_path": "../../rgb/hdr_front_01752.png", + "transform_matrix": [ + [ + -0.9929080605506897, + 0.04538619518280029, + 0.10988066345453262, + -26.04178810119629 + ], + [ + -0.11731137335300446, + -0.5239282250404358, + -0.8436451554298401, + -9.87503433227539 + ], + [ + 0.019279731437563896, + -0.8505523800849915, + 0.5255368947982788, + -16.11199378967285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1752, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_142267704", + "mask_path": "../../mask/hdr_front_01752.png" + }, + { + "file_path": "../../rgb/hdr_front_01753.png", + "transform_matrix": [ + [ + -0.9921407699584961, + 0.055697400122880936, + 0.11204661428928375, + -26.0497989654541 + ], + [ + -0.12464547157287598, + -0.5183770060539246, + -0.846019446849823, + -9.81998062133789 + ], + [ + 0.010961306281387806, + -0.85333651304245, + 0.5212454199790955, + -16.13541603088379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1753, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_242267847", + "mask_path": "../../mask/hdr_front_01753.png" + }, + { + "file_path": "../../rgb/hdr_front_01755.png", + "transform_matrix": [ + [ + -0.9913437366485596, + 0.06989981979131699, + 0.11113759875297546, + -26.042348861694336 + ], + [ + -0.13126760721206665, + -0.5114228129386902, + -0.8492440581321716, + -9.761341094970703 + ], + [ + -0.002523714443668723, + -0.8564816117286682, + 0.5161713361740112, + -16.176435470581055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1755, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_442267179", + "mask_path": "../../mask/hdr_front_01755.png" + }, + { + "file_path": "../../rgb/hdr_front_01756.png", + "transform_matrix": [ + [ + -0.9902435541152954, + 0.08187604695558548, + 0.11275593191385269, + -26.04178237915039 + ], + [ + -0.1388384848833084, + -0.5106479525566101, + -0.8485061526298523, + -9.712154388427734 + ], + [ + -0.011893736198544502, + -0.8558826446533203, + 0.5170333981513977, + -16.204851150512695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1756, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_542269229", + "mask_path": "../../mask/hdr_front_01756.png" + }, + { + "file_path": "../../rgb/hdr_front_01757.png", + "transform_matrix": [ + [ + -0.9900627136230469, + 0.08435399830341339, + 0.11251700669527054, + -26.050931930541992 + ], + [ + -0.13985463976860046, + -0.5069390535354614, + -0.8505607843399048, + -9.651171684265137 + ], + [ + -0.014708932489156723, + -0.8578445911407471, + 0.5136987566947937, + -16.250930786132812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1757, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_642267227", + "mask_path": "../../mask/hdr_front_01757.png" + }, + { + "file_path": "../../rgb/hdr_front_01758.png", + "transform_matrix": [ + [ + -0.9905557632446289, + 0.08360863476991653, + 0.10866927355527878, + -26.05958366394043 + ], + [ + -0.13612717390060425, + -0.5049220323562622, + -0.8523632287979126, + -9.599874496459961 + ], + [ + -0.016395414248108864, + -0.859106183052063, + 0.5115348100662231, + -16.295658111572266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1758, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_742266893", + "mask_path": "../../mask/hdr_front_01758.png" + }, + { + "file_path": "../../rgb/hdr_front_01761.png", + "transform_matrix": [ + [ + -0.9926905035972595, + 0.053631871938705444, + 0.10811619460582733, + -26.071455001831055 + ], + [ + -0.1204226016998291, + -0.49949905276298523, + -0.8579039573669434, + -9.486305236816406 + ], + [ + 0.007992944680154324, + -0.8646527528762817, + 0.5023065209388733, + -16.347471237182617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1761, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_42268276", + "mask_path": "../../mask/hdr_front_01761.png" + }, + { + "file_path": "../../rgb/hdr_front_01762.png", + "transform_matrix": [ + [ + -0.993219792842865, + 0.04527541249990463, + 0.10707312822341919, + -26.0795955657959 + ], + [ + -0.11528375744819641, + -0.5022197961807251, + -0.8570209741592407, + -9.428239822387695 + ], + [ + 0.014972261153161526, + -0.8635540008544922, + 0.504034161567688, + -16.36551284790039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1762, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_142267465", + "mask_path": "../../mask/hdr_front_01762.png" + }, + { + "file_path": "../../rgb/hdr_front_01763.png", + "transform_matrix": [ + [ + -0.9929656386375427, + 0.04517127200961113, + 0.10944816470146179, + -26.089866638183594 + ], + [ + -0.11721587926149368, + -0.505605161190033, + -0.8547654151916504, + -9.383407592773438 + ], + [ + 0.016726717352867126, + -0.8615816831588745, + 0.5073433518409729, + -16.404634475708008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1763, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_242267131", + "mask_path": "../../mask/hdr_front_01763.png" + }, + { + "file_path": "../../rgb/hdr_front_01764.png", + "transform_matrix": [ + [ + -0.991991400718689, + 0.048317793756723404, + 0.11669766902923584, + -26.10310173034668 + ], + [ + -0.12502717971801758, + -0.50673907995224, + -0.8529852628707886, + -9.3251314163208 + ], + [ + 0.017920898273587227, + -0.8607444763183594, + 0.5087218880653381, + -16.447322845458984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1764, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_342267036", + "mask_path": "../../mask/hdr_front_01764.png" + }, + { + "file_path": "../../rgb/hdr_front_01767.png", + "transform_matrix": [ + [ + -0.9894750118255615, + 0.07527270168066025, + 0.12358545511960983, + -26.10289764404297 + ], + [ + -0.14470303058624268, + -0.511085033416748, + -0.8472622036933899, + -9.23139762878418 + ], + [ + -0.000613041571341455, + -0.8562279343605042, + 0.5165979266166687, + -16.52337646484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1767, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_642268896", + "mask_path": "../../mask/hdr_front_01767.png" + }, + { + "file_path": "../../rgb/hdr_front_01768.png", + "transform_matrix": [ + [ + -0.9878787398338318, + 0.08394794166088104, + 0.13056893646717072, + -26.103511810302734 + ], + [ + -0.15517540276050568, + -0.5123279094696045, + -0.8446542024612427, + -9.1765775680542 + ], + [ + -0.00401286780834198, + -0.8546770811080933, + 0.5191444754600525, + -16.555768966674805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1768, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_742268085", + "mask_path": "../../mask/hdr_front_01768.png" + }, + { + "file_path": "../../rgb/hdr_front_01769.png", + "transform_matrix": [ + [ + -0.9868794083595276, + 0.08179708570241928, + 0.13920529186725616, + -26.110389709472656 + ], + [ + -0.16145002841949463, + -0.5088225603103638, + -0.8455966114997864, + -9.125757217407227 + ], + [ + 0.0016634776256978512, + -0.8569765686988831, + 0.515352725982666, + -16.607513427734375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1769, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_842267990", + "mask_path": "../../mask/hdr_front_01769.png" + }, + { + "file_path": "../../rgb/hdr_front_01770.png", + "transform_matrix": [ + [ + -0.9872333407402039, + 0.07770277559757233, + 0.1390416920185089, + -26.110681533813477 + ], + [ + -0.15925322473049164, + -0.4977132976055145, + -0.8525960445404053, + -9.061823844909668 + ], + [ + 0.0029538199305534363, + -0.863854169845581, + 0.5037335753440857, + -16.629777908325195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1770, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_942267417", + "mask_path": "../../mask/hdr_front_01770.png" + }, + { + "file_path": "../../rgb/hdr_front_01773.png", + "transform_matrix": [ + [ + -0.9861502647399902, + 0.04451325535774231, + 0.15976934134960175, + -26.167692184448242 + ], + [ + -0.16104717552661896, + -0.48724645376205444, + -0.8582859635353088, + -8.964077949523926 + ], + [ + 0.039641931653022766, + -0.8721292614936829, + 0.4876669645309448, + -16.691970825195312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1773, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638979_242267370", + "mask_path": "../../mask/hdr_front_01773.png" + }, + { + "file_path": "../../rgb/hdr_front_01776.png", + "transform_matrix": [ + [ + -0.9811824560165405, + 0.023172620683908463, + 0.19168739020824432, + -26.248369216918945 + ], + [ + -0.17968511581420898, + -0.4729490280151367, + -0.8625731468200684, + -8.829492568969727 + ], + [ + 0.07067027688026428, + -0.8807849884033203, + 0.4682130515575409, + -16.7608585357666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1776, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638979_542267560", + "mask_path": "../../mask/hdr_front_01776.png" + }, + { + "file_path": "../../rgb/hdr_front_01778.png", + "transform_matrix": [ + [ + -0.9785120487213135, + 0.026757635176181793, + 0.2044459879398346, + -26.272750854492188 + ], + [ + -0.19366240501403809, + -0.45961475372314453, + -0.8667463064193726, + -8.779212951660156 + ], + [ + 0.07077430933713913, + -0.887715220451355, + 0.45492053031921387, + -16.803373336791992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1778, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638979_742268323", + "mask_path": "../../mask/hdr_front_01778.png" + }, + { + "file_path": "../../rgb/hdr_front_01780.png", + "transform_matrix": [ + [ + -0.9738937020301819, + 0.04916468635201454, + 0.2216162532567978, + -26.311622619628906 + ], + [ + -0.21929554641246796, + -0.45601755380630493, + -0.8625296950340271, + -8.717987060546875 + ], + [ + 0.058654896914958954, + -0.8886117339134216, + 0.45489421486854553, + -16.918519973754883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1780, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638979_942268848", + "mask_path": "../../mask/hdr_front_01780.png" + }, + { + "file_path": "../../rgb/hdr_front_01781.png", + "transform_matrix": [ + [ + -0.969875693321228, + 0.07791422307491302, + 0.23080427944660187, + -26.333005905151367 + ], + [ + -0.2404203563928604, + -0.45875614881515503, + -0.8554185032844543, + -8.671279907226562 + ], + [ + 0.039233602583408356, + -0.8851397037506104, + 0.4636685848236084, + -16.96025848388672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1781, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_42267799", + "mask_path": "../../mask/hdr_front_01781.png" + }, + { + "file_path": "../../rgb/hdr_front_01783.png", + "transform_matrix": [ + [ + -0.9631852507591248, + 0.09725023061037064, + 0.250632107257843, + -26.349199295043945 + ], + [ + -0.2664445638656616, + -0.46945592761039734, + -0.8417947888374329, + -8.615019798278809 + ], + [ + 0.03579600527882576, + -0.877583920955658, + 0.47808483242988586, + -16.933303833007812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1783, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_242267370", + "mask_path": "../../mask/hdr_front_01783.png" + }, + { + "file_path": "../../rgb/hdr_front_01784.png", + "transform_matrix": [ + [ + -0.9603524208068848, + 0.08849753439426422, + 0.2643696665763855, + -26.38084602355957 + ], + [ + -0.27518001198768616, + -0.45298540592193604, + -0.8479859232902527, + -8.560140609741211 + ], + [ + 0.0447109192609787, + -0.8871147036552429, + 0.4593784213066101, + -16.970108032226562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1784, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_342267274", + "mask_path": "../../mask/hdr_front_01784.png" + }, + { + "file_path": "../../rgb/hdr_front_01785.png", + "transform_matrix": [ + [ + -0.9590109586715698, + 0.06728367507457733, + 0.2752651870250702, + -26.395784378051758 + ], + [ + -0.27726805210113525, + -0.42329439520835876, + -0.8625220656394958, + -8.480544090270996 + ], + [ + 0.05848454311490059, + -0.9034903049468994, + 0.4245995581150055, + -16.95359230041504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1785, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_442266941", + "mask_path": "../../mask/hdr_front_01785.png" + }, + { + "file_path": "../../rgb/hdr_front_01788.png", + "transform_matrix": [ + [ + -0.9549123048782349, + 0.059718530625104904, + 0.29081991314888, + -26.4757022857666 + ], + [ + -0.29316264390945435, + -0.3443615734577179, + -0.8918917775154114, + -8.360391616821289 + ], + [ + 0.04688471928238869, + -0.9369359016418457, + 0.3463423550128937, + -16.975038528442383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1788, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_742267131", + "mask_path": "../../mask/hdr_front_01788.png" + }, + { + "file_path": "../../rgb/hdr_front_01789.png", + "transform_matrix": [ + [ + -0.9509541988372803, + 0.057464320212602615, + 0.3039473295211792, + -26.519689559936523 + ], + [ + -0.3061463236808777, + -0.31548768281936646, + -0.8981881141662598, + -8.231108665466309 + ], + [ + 0.0442778654396534, + -0.947188138961792, + 0.3176068067550659, + -16.923309326171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1789, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_842267274", + "mask_path": "../../mask/hdr_front_01789.png" + }, + { + "file_path": "../../rgb/hdr_front_01791.png", + "transform_matrix": [ + [ + -0.9526190757751465, + 0.05711701139807701, + 0.2987549304962158, + -26.5339412689209 + ], + [ + -0.301786333322525, + -0.3001057505607605, + -0.9049097299575806, + -8.262956619262695 + ], + [ + 0.0379723496735096, + -0.9521944522857666, + 0.3031235933303833, + -16.951799392700195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1791, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_42267322", + "mask_path": "../../mask/hdr_front_01791.png" + }, + { + "file_path": "../../rgb/hdr_front_01792.png", + "transform_matrix": [ + [ + -0.9457725882530212, + 0.061379410326480865, + 0.318977415561676, + -26.571550369262695 + ], + [ + -0.32305872440338135, + -0.2801263630390167, + -0.9039703011512756, + -8.264756202697754 + ], + [ + 0.033868830651044846, + -0.9579988718032837, + 0.28476500511169434, + -17.007171630859375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1792, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_142266988", + "mask_path": "../../mask/hdr_front_01792.png" + }, + { + "file_path": "../../rgb/hdr_front_01793.png", + "transform_matrix": [ + [ + -0.9428881406784058, + 0.048843421041965485, + 0.32950901985168457, + -26.60492515563965 + ], + [ + -0.3311644494533539, + -0.2441861629486084, + -0.9114292860031128, + -8.19101619720459 + ], + [ + 0.03594422712922096, + -0.9684975147247314, + 0.24641548097133636, + -16.98423957824707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1793, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_242267131", + "mask_path": "../../mask/hdr_front_01793.png" + }, + { + "file_path": "../../rgb/hdr_front_01794.png", + "transform_matrix": [ + [ + -0.9493707418441772, + 0.013583938591182232, + 0.3138640224933624, + -26.628002166748047 + ], + [ + -0.3111475110054016, + -0.17863263189792633, + -0.9334225058555603, + -8.129982948303223 + ], + [ + 0.043386802077293396, + -0.9838221073150635, + 0.17381520569324493, + -16.896482467651367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1794, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_342267036", + "mask_path": "../../mask/hdr_front_01794.png" + }, + { + "file_path": "../../rgb/hdr_front_01797.png", + "transform_matrix": [ + [ + -0.9474105834960938, + 0.006979405414313078, + 0.319944828748703, + -26.705896377563477 + ], + [ + -0.31831806898117065, + -0.12355238944292068, + -0.9398980736732483, + -8.043646812438965 + ], + [ + 0.032970014959573746, + -0.9923135638237, + 0.1192765012383461, + -16.854761123657227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1797, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_642266988", + "mask_path": "../../mask/hdr_front_01797.png" + }, + { + "file_path": "../../rgb/hdr_front_01800.png", + "transform_matrix": [ + [ + -0.9396111965179443, + -0.018077485263347626, + 0.34176596999168396, + -26.785816192626953 + ], + [ + -0.33898964524269104, + -0.08822046965360641, + -0.9366446733474731, + -7.983862400054932 + ], + [ + 0.04708292707800865, + -0.995936930179596, + 0.07676485925912857, + -16.904191970825195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1800, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_942269086", + "mask_path": "../../mask/hdr_front_01800.png" + }, + { + "file_path": "../../rgb/hdr_front_01801.png", + "transform_matrix": [ + [ + -0.9353976845741272, + -0.013196309097111225, + 0.3533511459827423, + -26.795272827148438 + ], + [ + -0.35054588317871094, + -0.09639458358287811, + -0.9315716028213501, + -7.920928001403809 + ], + [ + 0.04635443538427353, + -0.9952557682991028, + 0.08554135262966156, + -16.881305694580078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1801, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_42263984", + "mask_path": "../../mask/hdr_front_01801.png" + }, + { + "file_path": "../../rgb/hdr_front_01802.png", + "transform_matrix": [ + [ + -0.9255324006080627, + -0.009272773750126362, + 0.3785548508167267, + -26.794300079345703 + ], + [ + -0.3757800757884979, + -0.10074778646230698, + -0.9212162494659424, + -7.9110870361328125 + ], + [ + 0.046680789440870285, + -0.9948688745498657, + 0.08976082503795624, + -16.82708740234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1802, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_142267227", + "mask_path": "../../mask/hdr_front_01802.png" + }, + { + "file_path": "../../rgb/hdr_front_01805.png", + "transform_matrix": [ + [ + -0.897233784198761, + -0.0396994911134243, + 0.4397677183151245, + -26.839391708374023 + ], + [ + -0.43625691533088684, + -0.07413355261087418, + -0.8967631459236145, + -7.8819732666015625 + ], + [ + 0.06820258498191833, + -0.9964578151702881, + 0.049195945262908936, + -16.89077377319336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1805, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_442267179", + "mask_path": "../../mask/hdr_front_01805.png" + }, + { + "file_path": "../../rgb/hdr_front_01807.png", + "transform_matrix": [ + [ + -0.8728331923484802, + -0.06059419736266136, + 0.48424232006073, + -26.917583465576172 + ], + [ + -0.48131969571113586, + -0.05695865675806999, + -0.8746926188468933, + -7.840082168579102 + ], + [ + 0.08058308809995651, + -0.9965360164642334, + 0.02055022493004799, + -16.859561920166016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1807, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_642267227", + "mask_path": "../../mask/hdr_front_01807.png" + }, + { + "file_path": "../../rgb/hdr_front_01809.png", + "transform_matrix": [ + [ + -0.8539087772369385, + -0.06079762428998947, + 0.516859233379364, + -26.964590072631836 + ], + [ + -0.5153124928474426, + -0.04005922004580498, + -0.8560656905174255, + -7.739285469055176 + ], + [ + 0.0727517306804657, + -0.9973459839820862, + 0.0028771464712917805, + -16.8250732421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1809, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_842267274", + "mask_path": "../../mask/hdr_front_01809.png" + }, + { + "file_path": "../../rgb/hdr_front_01810.png", + "transform_matrix": [ + [ + -0.8369032740592957, + -0.059268537908792496, + 0.54413241147995, + -26.987712860107422 + ], + [ + -0.5430015325546265, + -0.03517119958996773, + -0.8389948606491089, + -7.678349018096924 + ], + [ + 0.06886377930641174, + -0.9976223111152649, + -0.002748010912910104, + -16.818572998046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1810, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_942268848", + "mask_path": "../../mask/hdr_front_01810.png" + }, + { + "file_path": "../../rgb/hdr_front_01812.png", + "transform_matrix": [ + [ + -0.764171302318573, + -0.06040387973189354, + 0.6421787738800049, + -27.09412956237793 + ], + [ + -0.6423519849777222, + -0.01908198557794094, + -0.7661722898483276, + -7.718981742858887 + ], + [ + 0.058533813804388046, + -0.9979916214942932, + -0.024218641221523285, + -16.78092384338379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1812, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638983_142267227", + "mask_path": "../../mask/hdr_front_01812.png" + }, + { + "file_path": "../../rgb/hdr_front_01813.png", + "transform_matrix": [ + [ + -0.7080851197242737, + -0.058064401149749756, + 0.7037357687950134, + -27.13189125061035 + ], + [ + -0.704440176486969, + -0.0107615627348423, + -0.7096818089485168, + -7.650588512420654 + ], + [ + 0.048780541867017746, + -0.9982548952102661, + -0.03328278660774231, + -16.77991485595703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1813, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638983_242266654", + "mask_path": "../../mask/hdr_front_01813.png" + }, + { + "file_path": "../../rgb/hdr_front_01816.png", + "transform_matrix": [ + [ + -0.4880797564983368, + -0.05037848278880119, + 0.8713439702987671, + -27.218259811401367 + ], + [ + -0.8722562789916992, + -0.007048142608255148, + -0.4889983534812927, + -7.705415725708008 + ], + [ + 0.03077634423971176, + -0.9987053275108337, + -0.040502894669771194, + -16.81386375427246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1816, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638983_542268991", + "mask_path": "../../mask/hdr_front_01816.png" + }, + { + "file_path": "../../rgb/hdr_front_01821.png", + "transform_matrix": [ + [ + -0.012959363870322704, + -0.037852298468351364, + 0.9991993308067322, + -27.408132553100586 + ], + [ + -0.9998798370361328, + -0.008012037724256516, + -0.013271708972752094, + -7.888970375061035 + ], + [ + 0.008507988415658474, + -0.9992513060569763, + -0.03774392232298851, + -16.836414337158203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1821, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638984_42268276", + "mask_path": "../../mask/hdr_front_01821.png" + }, + { + "file_path": "../../rgb/hdr_front_01824.png", + "transform_matrix": [ + [ + 0.19557423889636993, + -0.03506465628743172, + 0.9800618290901184, + -27.515487670898438 + ], + [ + -0.9805781245231628, + -0.02200675569474697, + 0.19488993287086487, + -7.992814064025879 + ], + [ + 0.014734232798218727, + -0.9991427063941956, + -0.03868758678436279, + -16.855022430419922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1824, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638984_342267990", + "mask_path": "../../mask/hdr_front_01824.png" + }, + { + "file_path": "../../rgb/hdr_front_01825.png", + "transform_matrix": [ + [ + 0.2567727267742157, + -0.02882538177073002, + 0.9660418629646301, + -27.56005859375 + ], + [ + -0.9664289951324463, + -0.017069928348064423, + 0.2563662528991699, + -7.9900102615356445 + ], + [ + 0.009100409224629402, + -0.9994387626647949, + -0.032240770757198334, + -16.85011863708496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1825, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638984_442267179", + "mask_path": "../../mask/hdr_front_01825.png" + }, + { + "file_path": "../../rgb/hdr_front_01826.png", + "transform_matrix": [ + [ + 0.3256465494632721, + -0.02765696682035923, + 0.9450870156288147, + -27.60621452331543 + ], + [ + -0.9454663395881653, + -0.002223158488050103, + 0.3257122039794922, + -8.021441459655762 + ], + [ + -0.006907131522893906, + -0.9996150135993958, + -0.026872698217630386, + -16.875062942504883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1826, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638984_542268276", + "mask_path": "../../mask/hdr_front_01826.png" + }, + { + "file_path": "../../rgb/hdr_front_01829.png", + "transform_matrix": [ + [ + 0.5363758206367493, + -0.02381965145468712, + 0.8436430096626282, + -27.71033477783203 + ], + [ + -0.8437873721122742, + 0.006175229325890541, + 0.5366420149803162, + -8.160211563110352 + ], + [ + -0.01799231581389904, + -0.999697208404541, + -0.016786478459835052, + -16.853845596313477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1829, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638984_842268466", + "mask_path": "../../mask/hdr_front_01829.png" + }, + { + "file_path": "../../rgb/hdr_front_01831.png", + "transform_matrix": [ + [ + 0.6394043564796448, + -0.018863294273614883, + 0.7686392068862915, + -27.763723373413086 + ], + [ + -0.7688255906105042, + -0.004873684607446194, + 0.6394398808479309, + -8.2515869140625 + ], + [ + -0.00831583607941866, + -0.9998102188110352, + -0.01761884056031704, + -16.836843490600586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1831, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638985_42267560", + "mask_path": "../../mask/hdr_front_01831.png" + }, + { + "file_path": "../../rgb/hdr_front_01833.png", + "transform_matrix": [ + [ + 0.7399865388870239, + -0.01489260420203209, + 0.6724569201469421, + -27.794801712036133 + ], + [ + -0.672420084476471, + 0.008099185302853584, + 0.7401254177093506, + -8.350010871887207 + ], + [ + -0.016468742862343788, + -0.9998563528060913, + -0.004020798951387405, + -16.84231948852539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1833, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638985_242268085", + "mask_path": "../../mask/hdr_front_01833.png" + }, + { + "file_path": "../../rgb/hdr_front_01837.png", + "transform_matrix": [ + [ + 0.8846124410629272, + 0.003036768641322851, + 0.46631699800491333, + -27.801733016967773 + ], + [ + -0.46630337834358215, + 0.015807997435331345, + 0.8844836354255676, + -8.548761367797852 + ], + [ + -0.004685565829277039, + -0.9998704195022583, + 0.015400007367134094, + -16.87970733642578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1837, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638985_642267942", + "mask_path": "../../mask/hdr_front_01837.png" + }, + { + "file_path": "../../rgb/hdr_front_01839.png", + "transform_matrix": [ + [ + 0.9227358102798462, + 0.012571855448186398, + 0.3852280080318451, + -27.803844451904297 + ], + [ + -0.3853907883167267, + 0.015283054672181606, + 0.9226269125938416, + -8.661571502685547 + ], + [ + 0.0057116723619401455, + -0.9998041987419128, + 0.0189472995698452, + -16.902326583862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1839, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638985_842267036", + "mask_path": "../../mask/hdr_front_01839.png" + }, + { + "file_path": "../../rgb/hdr_front_01842.png", + "transform_matrix": [ + [ + 0.9611031413078308, + -0.0014369699638336897, + 0.27618592977523804, + -27.804262161254883 + ], + [ + -0.27597367763519287, + 0.03454117104411125, + 0.9605442881584167, + -8.799650192260742 + ], + [ + -0.010920056141912937, + -0.9994022846221924, + 0.032801058143377304, + -16.9387264251709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1842, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638986_142267465", + "mask_path": "../../mask/hdr_front_01842.png" + }, + { + "file_path": "../../rgb/hdr_front_01844.png", + "transform_matrix": [ + [ + 0.9628801345825195, + -0.002042712178081274, + 0.2699216604232788, + -27.825010299682617 + ], + [ + -0.2695656716823578, + 0.044617608189582825, + 0.9619478583335876, + -8.884127616882324 + ], + [ + -0.014008238911628723, + -0.9990020990371704, + 0.04241076484322548, + -16.930879592895508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1844, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638986_342268228", + "mask_path": "../../mask/hdr_front_01844.png" + }, + { + "file_path": "../../rgb/hdr_front_01846.png", + "transform_matrix": [ + [ + 0.9582937955856323, + 0.001971957739442587, + 0.28577807545661926, + -27.845598220825195 + ], + [ + -0.2855897843837738, + 0.04354426637291908, + 0.9573622345924377, + -8.96862506866455 + ], + [ + -0.01055611576884985, + -0.9990496039390564, + 0.042291365563869476, + -16.924610137939453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1846, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638986_542267322", + "mask_path": "../../mask/hdr_front_01846.png" + }, + { + "file_path": "../../rgb/hdr_front_01848.png", + "transform_matrix": [ + [ + 0.9585423469543457, + -0.011391689069569111, + 0.28472232818603516, + -27.861316680908203 + ], + [ + -0.28376418352127075, + 0.05290573462843895, + 0.9574335217475891, + -9.086827278137207 + ], + [ + -0.025970222428441048, + -0.9985345602035522, + 0.04747983440756798, + -16.939281463623047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1848, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638986_742267608", + "mask_path": "../../mask/hdr_front_01848.png" + }, + { + "file_path": "../../rgb/hdr_front_01899.png", + "transform_matrix": [ + [ + 0.9414783120155334, + -0.03859619051218033, + 0.33485639095306396, + -28.059585571289062 + ], + [ + -0.333436518907547, + 0.038898766040802, + 0.9419698119163513, + -9.42310905456543 + ], + [ + -0.04938194528222084, + -0.998497486114502, + 0.02375296875834465, + -16.915010452270508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1899, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638991_842267274", + "mask_path": "../../mask/hdr_front_01899.png" + }, + { + "file_path": "../../rgb/hdr_front_01901.png", + "transform_matrix": [ + [ + 0.9510130882263184, + -0.03579805791378021, + 0.3070710003376007, + -28.099109649658203 + ], + [ + -0.3058648407459259, + 0.03547917306423187, + 0.9514136910438538, + -9.546154975891113 + ], + [ + -0.04495337978005409, + -0.9987290501594543, + 0.022791791707277298, + -16.997791290283203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1901, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_42267799", + "mask_path": "../../mask/hdr_front_01901.png" + }, + { + "file_path": "../../rgb/hdr_front_01902.png", + "transform_matrix": [ + [ + 0.9616245627403259, + -0.029138218611478806, + 0.2728170156478882, + -28.10919952392578 + ], + [ + -0.27194586396217346, + 0.030627315863966942, + 0.9618251323699951, + -9.611148834228516 + ], + [ + -0.036381520330905914, + -0.9991061091423035, + 0.021527964621782303, + -17.03536605834961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1902, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_142267704", + "mask_path": "../../mask/hdr_front_01902.png" + }, + { + "file_path": "../../rgb/hdr_front_01904.png", + "transform_matrix": [ + [ + 0.982107400894165, + -0.0116463303565979, + 0.18796074390411377, + -28.094614028930664 + ], + [ + -0.18771199882030487, + 0.019676193594932556, + 0.9820270538330078, + -9.698200225830078 + ], + [ + -0.01513536274433136, + -0.9997386336326599, + 0.017137980088591576, + -17.027767181396484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1904, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_342268228", + "mask_path": "../../mask/hdr_front_01904.png" + }, + { + "file_path": "../../rgb/hdr_front_01906.png", + "transform_matrix": [ + [ + 0.9964450597763062, + -0.01128560770303011, + 0.08348540216684341, + -28.0640926361084 + ], + [ + -0.08312993496656418, + 0.02896399237215519, + 0.9961177110671997, + -9.791119575500488 + ], + [ + -0.013659864664077759, + -0.9995167851448059, + 0.0279228575527668, + -17.025360107421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1906, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_542268514", + "mask_path": "../../mask/hdr_front_01906.png" + }, + { + "file_path": "../../rgb/hdr_front_01908.png", + "transform_matrix": [ + [ + 0.9999696612358093, + -0.0067037614062428474, + 0.003971608355641365, + -28.027252197265625 + ], + [ + -0.003771853633224964, + 0.02955159731209278, + 0.9995561242103577, + -9.891528129577637 + ], + [ + -0.0068181524984538555, + -0.9995408058166504, + 0.02952541597187519, + -17.05799102783203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1908, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_742268085", + "mask_path": "../../mask/hdr_front_01908.png" + }, + { + "file_path": "../../rgb/hdr_front_01909.png", + "transform_matrix": [ + [ + 0.9999930262565613, + -0.003405833849683404, + -0.0014915949432179332, + -28.016571044921875 + ], + [ + 0.001613448141142726, + 0.03606007620692253, + 0.9993483424186707, + -9.951446533203125 + ], + [ + -0.003349826904013753, + -0.9993438124656677, + 0.036065321415662766, + -17.046791076660156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1909, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_842268228", + "mask_path": "../../mask/hdr_front_01909.png" + }, + { + "file_path": "../../rgb/hdr_front_01910.png", + "transform_matrix": [ + [ + 0.999987781047821, + -0.004721272736787796, + 0.0014066931325942278, + -28.009702682495117 + ], + [ + -0.001224034116603434, + 0.03847062960267067, + 0.9992589354515076, + -10.016493797302246 + ], + [ + -0.004771888256072998, + -0.9992486238479614, + 0.03846437856554985, + -17.031028747558594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1910, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_942269563", + "mask_path": "../../mask/hdr_front_01910.png" + }, + { + "file_path": "../../rgb/hdr_front_01911.png", + "transform_matrix": [ + [ + 0.9999571442604065, + -0.003317628987133503, + 0.008638765662908554, + -28.00629425048828 + ], + [ + -0.008513310924172401, + 0.03612954914569855, + 0.9993109107017517, + -10.070691108703613 + ], + [ + -0.003627456957474351, + -0.999341607093811, + 0.03609975427389145, + -17.020376205444336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1911, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_42268037", + "mask_path": "../../mask/hdr_front_01911.png" + }, + { + "file_path": "../../rgb/hdr_front_01912.png", + "transform_matrix": [ + [ + 0.9998215436935425, + -0.005358488764613867, + 0.01811506412923336, + -28.002119064331055 + ], + [ + -0.01793862320482731, + 0.03132143244147301, + 0.9993484020233154, + -10.153532028198242 + ], + [ + -0.005922386422753334, + -0.9994950294494629, + 0.031219718977808952, + -17.014150619506836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1912, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_142268419", + "mask_path": "../../mask/hdr_front_01912.png" + }, + { + "file_path": "../../rgb/hdr_front_01913.png", + "transform_matrix": [ + [ + 0.9997653961181641, + -0.011850869283080101, + 0.01812579482793808, + -27.99654769897461 + ], + [ + -0.017727673053741455, + 0.03287779912352562, + 0.9993021488189697, + -10.248247146606445 + ], + [ + -0.012438533827662468, + -0.9993891716003418, + 0.032660000026226044, + -17.019758224487305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1913, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_242265701", + "mask_path": "../../mask/hdr_front_01913.png" + }, + { + "file_path": "../../rgb/hdr_front_01914.png", + "transform_matrix": [ + [ + 0.9997819066047668, + -0.01653062179684639, + 0.012756831012666225, + -27.9877872467041 + ], + [ + -0.012163299135863781, + 0.03552123159170151, + 0.9992948770523071, + -10.321176528930664 + ], + [ + -0.016972102224826813, + -0.999232292175293, + 0.03531241789460182, + -17.0285587310791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1914, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_342267751", + "mask_path": "../../mask/hdr_front_01914.png" + }, + { + "file_path": "../../rgb/hdr_front_01915.png", + "transform_matrix": [ + [ + 0.9998931288719177, + -0.012167233973741531, + 0.008098690770566463, + -27.976642608642578 + ], + [ + -0.00763944536447525, + 0.03732806444168091, + 0.9992738366127014, + -10.400164604187012 + ], + [ + -0.012460704892873764, + -0.9992290735244751, + 0.03723112493753433, + -17.06063461303711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1915, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_442267179", + "mask_path": "../../mask/hdr_front_01915.png" + }, + { + "file_path": "../../rgb/hdr_front_01916.png", + "transform_matrix": [ + [ + 0.9998915195465088, + -0.010487119667232037, + 0.010344290174543858, + -27.97509002685547 + ], + [ + -0.009876136668026447, + 0.04375055059790611, + 0.9989936947822571, + -10.495232582092285 + ], + [ + -0.010929135605692863, + -0.9989875555038452, + 0.043642234057188034, + -17.09063720703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1916, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_542270898", + "mask_path": "../../mask/hdr_front_01916.png" + }, + { + "file_path": "../../rgb/hdr_front_01917.png", + "transform_matrix": [ + [ + 0.9997615814208984, + -0.012156219221651554, + 0.01813618466258049, + -27.982547760009766 + ], + [ + -0.01754589192569256, + 0.047022413462400436, + 0.9987397193908691, + -10.575604438781738 + ], + [ + -0.012993703596293926, + -0.998819887638092, + 0.046797916293144226, + -17.083032608032227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1917, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_642268180", + "mask_path": "../../mask/hdr_front_01917.png" + }, + { + "file_path": "../../rgb/hdr_front_01918.png", + "transform_matrix": [ + [ + 0.9995096325874329, + -0.013094278983771801, + 0.02844485454261303, + -27.986743927001953 + ], + [ + -0.027845004573464394, + 0.04391380771994591, + 0.9986472725868225, + -10.642810821533203 + ], + [ + -0.01432569045573473, + -0.9989495277404785, + 0.04352766275405884, + -17.06310272216797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1918, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_742268323", + "mask_path": "../../mask/hdr_front_01918.png" + }, + { + "file_path": "../../rgb/hdr_front_01919.png", + "transform_matrix": [ + [ + 0.9991052150726318, + -0.018557514995336533, + 0.03800532594323158, + -27.98639678955078 + ], + [ + -0.03719646856188774, + 0.04214203730225563, + 0.9984189867973328, + -10.749228477478027 + ], + [ + -0.020129796117544174, + -0.9989392757415771, + 0.0414140522480011, + -17.051748275756836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1919, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_842267751", + "mask_path": "../../mask/hdr_front_01919.png" + }, + { + "file_path": "../../rgb/hdr_front_01920.png", + "transform_matrix": [ + [ + 0.9988106489181519, + -0.02943834662437439, + 0.03886759653687477, + -27.990419387817383 + ], + [ + -0.03750431537628174, + 0.04552611708641052, + 0.9982589483261108, + -10.861465454101562 + ], + [ + -0.03115657903254032, + -0.998529314994812, + 0.04436790198087692, + -17.07963752746582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1920, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_942268610", + "mask_path": "../../mask/hdr_front_01920.png" + }, + { + "file_path": "../../rgb/hdr_front_01921.png", + "transform_matrix": [ + [ + 0.9986505508422852, + -0.037639468908309937, + 0.03578199818730354, + -27.996610641479492 + ], + [ + -0.033986661583185196, + 0.04730271175503731, + 0.9983022212982178, + -10.930035591125488 + ], + [ + -0.039268143475055695, + -0.9981712102890015, + 0.04595963656902313, + -17.075483322143555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1921, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_42268514", + "mask_path": "../../mask/hdr_front_01921.png" + }, + { + "file_path": "../../rgb/hdr_front_01922.png", + "transform_matrix": [ + [ + 0.9986955523490906, + -0.037954673171043396, + 0.03415679186582565, + -27.999475479125977 + ], + [ + -0.03239596635103226, + 0.04607754945755005, + 0.9984124302864075, + -11.011696815490723 + ], + [ + -0.039468273520469666, + -0.9982165694236755, + 0.04478786513209343, + -17.07784080505371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1922, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_142268657", + "mask_path": "../../mask/hdr_front_01922.png" + }, + { + "file_path": "../../rgb/hdr_front_01923.png", + "transform_matrix": [ + [ + 0.9986208081245422, + -0.03447970002889633, + 0.03959156572818756, + -28.00982666015625 + ], + [ + -0.03782458230853081, + 0.050473716109991074, + 0.9980089068412781, + -11.12057876586914 + ], + [ + -0.03640937805175781, + -0.9981300830841064, + 0.04909991845488548, + -17.116941452026367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1923, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_242267131", + "mask_path": "../../mask/hdr_front_01923.png" + }, + { + "file_path": "../../rgb/hdr_front_01924.png", + "transform_matrix": [ + [ + 0.9982518553733826, + -0.03038329817354679, + 0.05069493502378464, + -28.022703170776367 + ], + [ + -0.049037810415029526, + 0.05300627276301384, + 0.9973893761634827, + -11.206259727478027 + ], + [ + -0.03299112245440483, + -0.9981318712234497, + 0.051423683762550354, + -17.12091064453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1924, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_342268705", + "mask_path": "../../mask/hdr_front_01924.png" + }, + { + "file_path": "../../rgb/hdr_front_01925.png", + "transform_matrix": [ + [ + 0.9974748492240906, + -0.03089042939245701, + 0.06395100057125092, + -28.03519058227539 + ], + [ + -0.06234234198927879, + 0.05049899220466614, + 0.9967764616012573, + -11.269177436828613 + ], + [ + -0.0340203121304512, + -0.9982463717460632, + 0.0484456904232502, + -17.08206558227539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1925, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_442267417", + "mask_path": "../../mask/hdr_front_01925.png" + }, + { + "file_path": "../../rgb/hdr_front_01926.png", + "transform_matrix": [ + [ + 0.9965994358062744, + -0.03469466045498848, + 0.074738509953022, + -28.040058135986328 + ], + [ + -0.07300535589456558, + 0.04878917336463928, + 0.9961374998092651, + -11.359601020812988 + ], + [ + -0.03820708021521568, + -0.998206377029419, + 0.046090371906757355, + -17.09560775756836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1926, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_542267560", + "mask_path": "../../mask/hdr_front_01926.png" + }, + { + "file_path": "../../rgb/hdr_front_01927.png", + "transform_matrix": [ + [ + 0.9961198568344116, + -0.04367903992533684, + 0.07640360295772552, + -28.04490089416504 + ], + [ + -0.07405372709035873, + 0.05309954285621643, + 0.9958396553993225, + -11.461105346679688 + ], + [ + -0.047554317861795425, + -0.9976335167884827, + 0.04965890571475029, + -17.13326644897461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1927, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_642268180", + "mask_path": "../../mask/hdr_front_01927.png" + }, + { + "file_path": "../../rgb/hdr_front_01928.png", + "transform_matrix": [ + [ + 0.9959436058998108, + -0.05032287538051605, + 0.0745924636721611, + -28.05221176147461 + ], + [ + -0.07189466059207916, + 0.053445421159267426, + 0.995979368686676, + -11.541573524475098 + ], + [ + -0.05410716310143471, + -0.9973020553588867, + 0.049610674381256104, + -17.12200927734375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1928, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_742269039", + "mask_path": "../../mask/hdr_front_01928.png" + }, + { + "file_path": "../../rgb/hdr_front_01929.png", + "transform_matrix": [ + [ + 0.996208906173706, + -0.048973023891448975, + 0.07189802080392838, + -28.056020736694336 + ], + [ + -0.06942589581012726, + 0.05043797194957733, + 0.9963113069534302, + -11.626124382019043 + ], + [ + -0.05241876095533371, + -0.9975258111953735, + 0.04684675857424736, + -17.13058853149414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1929, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_842268228", + "mask_path": "../../mask/hdr_front_01929.png" + }, + { + "file_path": "../../rgb/hdr_front_01930.png", + "transform_matrix": [ + [ + 0.9971771240234375, + -0.04468371346592903, + 0.06034226343035698, + -28.06377601623535 + ], + [ + -0.057936836034059525, + 0.053301192820072174, + 0.9968963861465454, + -11.734623908996582 + ], + [ + -0.04776134341955185, + -0.9975782632827759, + 0.050561901181936264, + -17.13051414489746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1930, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_942269325", + "mask_path": "../../mask/hdr_front_01930.png" + }, + { + "file_path": "../../rgb/hdr_front_01931.png", + "transform_matrix": [ + [ + 0.9983405470848083, + -0.038974929600954056, + 0.04239131510257721, + -28.06410026550293 + ], + [ + -0.040334586054086685, + 0.05212295055389404, + 0.9978258013725281, + -11.801813125610352 + ], + [ + -0.04109974950551987, + -0.9978798627853394, + 0.050464414060115814, + -17.11884307861328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1931, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_42267799", + "mask_path": "../../mask/hdr_front_01931.png" + }, + { + "file_path": "../../rgb/hdr_front_01933.png", + "transform_matrix": [ + [ + 0.999809205532074, + -0.019408464431762695, + 0.002217198722064495, + -28.03826141357422 + ], + [ + -0.0013126670382916927, + 0.04649423435330391, + 0.9989176988601685, + -11.925028800964355 + ], + [ + -0.019490543752908707, + -0.9987300038337708, + 0.046459879726171494, + -17.12294578552246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1933, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_242267370", + "mask_path": "../../mask/hdr_front_01933.png" + }, + { + "file_path": "../../rgb/hdr_front_01934.png", + "transform_matrix": [ + [ + 0.9995000958442688, + -0.020592397078871727, + -0.02399030700325966, + -28.027511596679688 + ], + [ + 0.025084208697080612, + 0.054618921130895615, + 0.9981920719146729, + -11.998380661010742 + ], + [ + -0.01924484223127365, + -0.9982948899269104, + 0.05510815605521202, + -17.14225196838379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1934, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_342268466", + "mask_path": "../../mask/hdr_front_01934.png" + }, + { + "file_path": "../../rgb/hdr_front_01935.png", + "transform_matrix": [ + [ + 0.9989829063415527, + -0.02637563645839691, + -0.03657037019729614, + -28.019298553466797 + ], + [ + 0.03808867186307907, + 0.05956568196415901, + 0.99749755859375, + -12.05254077911377 + ], + [ + -0.02413129061460495, + -0.9978758692741394, + 0.060509711503982544, + -17.15923500061035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1935, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_442268133", + "mask_path": "../../mask/hdr_front_01935.png" + }, + { + "file_path": "../../rgb/hdr_front_01936.png", + "transform_matrix": [ + [ + 0.9988657832145691, + -0.02514065057039261, + -0.040434837341308594, + -28.007545471191406 + ], + [ + 0.04187096282839775, + 0.059496793895959854, + 0.9973499178886414, + -12.119497299194336 + ], + [ + -0.022668279707431793, + -0.9979119300842285, + 0.060481976717710495, + -17.16098403930664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1936, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_542267560", + "mask_path": "../../mask/hdr_front_01936.png" + }, + { + "file_path": "../../rgb/hdr_front_01937.png", + "transform_matrix": [ + [ + 0.9989033341407776, + -0.01708478108048439, + -0.04359078034758568, + -27.99083709716797 + ], + [ + 0.04454740881919861, + 0.0603167749941349, + 0.9971847534179688, + -12.201750755310059 + ], + [ + -0.014407426118850708, + -0.9980331063270569, + 0.06101171672344208, + -17.177536010742188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1937, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_642268896", + "mask_path": "../../mask/hdr_front_01937.png" + }, + { + "file_path": "../../rgb/hdr_front_01938.png", + "transform_matrix": [ + [ + 0.9990299344062805, + -0.01753496378660202, + -0.04039539024233818, + -27.97748374938965 + ], + [ + 0.04144573584198952, + 0.06436855345964432, + 0.9970651268959045, + -12.294340133666992 + ], + [ + -0.014883306808769703, + -0.9977721571922302, + 0.06503284722566605, + -17.179061889648438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1938, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_742269754", + "mask_path": "../../mask/hdr_front_01938.png" + }, + { + "file_path": "../../rgb/hdr_front_01939.png", + "transform_matrix": [ + [ + 0.9992983937263489, + -0.01690281368792057, + -0.03342175483703613, + -27.968721389770508 + ], + [ + 0.03444796800613403, + 0.06458714604377747, + 0.997317373752594, + -12.375746726989746 + ], + [ + -0.01469885278493166, + -0.9977689385414124, + 0.06512409448623657, + -17.191444396972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1939, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_842267990", + "mask_path": "../../mask/hdr_front_01939.png" + }, + { + "file_path": "../../rgb/hdr_front_01940.png", + "transform_matrix": [ + [ + 0.9996156692504883, + -0.01651223562657833, + -0.02226504124701023, + -27.96053123474121 + ], + [ + 0.023197459056973457, + 0.05860977992415428, + 0.9980114698410034, + -12.45604133605957 + ], + [ + -0.015174449421465397, + -0.9981443881988525, + 0.05897030234336853, + -17.201461791992188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1940, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_942269086", + "mask_path": "../../mask/hdr_front_01940.png" + }, + { + "file_path": "../../rgb/hdr_front_01941.png", + "transform_matrix": [ + [ + 0.9996411800384521, + -0.022664807736873627, + -0.014276632107794285, + -27.95673942565918 + ], + [ + 0.015509112738072872, + 0.05516819655895233, + 0.9983566999435425, + -12.557052612304688 + ], + [ + -0.021839944645762444, + -0.9982198476791382, + 0.055499911308288574, + -17.2071590423584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1941, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_42267560", + "mask_path": "../../mask/hdr_front_01941.png" + }, + { + "file_path": "../../rgb/hdr_front_01942.png", + "transform_matrix": [ + [ + 0.9994077086448669, + -0.031141139566898346, + -0.014645096845924854, + -27.950292587280273 + ], + [ + 0.016352210193872452, + 0.055290017277002335, + 0.9983364343643188, + -12.653173446655273 + ], + [ + -0.030279604718089104, + -0.9979846477508545, + 0.05576649680733681, + -17.21198844909668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1942, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_142267465", + "mask_path": "../../mask/hdr_front_01942.png" + }, + { + "file_path": "../../rgb/hdr_front_01943.png", + "transform_matrix": [ + [ + 0.9992636442184448, + -0.0333622582256794, + -0.01894787698984146, + -27.941425323486328 + ], + [ + 0.020742760971188545, + 0.05430249869823456, + 0.9983090758323669, + -12.730427742004395 + ], + [ + -0.032276928424835205, + -0.9979670643806458, + 0.054954539984464645, + -17.235706329345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1943, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_242267370", + "mask_path": "../../mask/hdr_front_01943.png" + }, + { + "file_path": "../../rgb/hdr_front_01944.png", + "transform_matrix": [ + [ + 0.9991829991340637, + -0.030893024057149887, + -0.026056472212076187, + -27.934228897094727 + ], + [ + 0.027734803035855293, + 0.05520503968000412, + 0.9980898499488831, + -12.823128700256348 + ], + [ + -0.029395561665296555, + -0.997996985912323, + 0.05601675435900688, + -17.24132537841797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1944, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_342267513", + "mask_path": "../../mask/hdr_front_01944.png" + }, + { + "file_path": "../../rgb/hdr_front_01945.png", + "transform_matrix": [ + [ + 0.9990583658218384, + -0.030830927193164825, + -0.03052440658211708, + -27.936697006225586 + ], + [ + 0.03220624849200249, + 0.05561358854174614, + 0.9979327917098999, + -12.925008773803711 + ], + [ + -0.029069622978568077, + -0.9979762434959412, + 0.056554168462753296, + -17.221881866455078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1945, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_442268848", + "mask_path": "../../mask/hdr_front_01945.png" + }, + { + "file_path": "../../rgb/hdr_front_01946.png", + "transform_matrix": [ + [ + 0.9988082051277161, + -0.029806526377797127, + -0.03864812105894089, + -27.935504913330078 + ], + [ + 0.04018039256334305, + 0.052647583186626434, + 0.9978045225143433, + -12.998185157775879 + ], + [ + -0.027706356719136238, + -0.9981682300567627, + 0.053782474249601364, + -17.21585464477539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1946, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_542267560", + "mask_path": "../../mask/hdr_front_01946.png" + }, + { + "file_path": "../../rgb/hdr_front_01947.png", + "transform_matrix": [ + [ + 0.99831223487854, + -0.02615576982498169, + -0.05185142531991005, + -27.924274444580078 + ], + [ + 0.05310733616352081, + 0.04985617473721504, + 0.9973434805870056, + -13.067848205566406 + ], + [ + -0.02350117266178131, + -0.9984138607978821, + 0.05116109177470207, + -17.229328155517578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1947, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_642269372", + "mask_path": "../../mask/hdr_front_01947.png" + }, + { + "file_path": "../../rgb/hdr_front_01948.png", + "transform_matrix": [ + [ + 0.99699467420578, + -0.028478797525167465, + -0.07204532623291016, + -27.908872604370117 + ], + [ + 0.07348092645406723, + 0.053069137036800385, + 0.9958837032318115, + -13.1568021774292 + ], + [ + -0.024538185447454453, + -0.9981846809387207, + 0.05500229820609093, + -17.252294540405273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1948, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_742267608", + "mask_path": "../../mask/hdr_front_01948.png" + }, + { + "file_path": "../../rgb/hdr_front_01949.png", + "transform_matrix": [ + [ + 0.9944236874580383, + -0.03608964383602142, + -0.0990908071398735, + -27.89533805847168 + ], + [ + 0.10104400664567947, + 0.05705660581588745, + 0.9932445883750916, + -13.24986743927002 + ], + [ + -0.030192052945494652, + -0.9977185130119324, + 0.0603850893676281, + -17.247140884399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1949, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_842268705", + "mask_path": "../../mask/hdr_front_01949.png" + }, + { + "file_path": "../../rgb/hdr_front_01950.png", + "transform_matrix": [ + [ + 0.9913318157196045, + -0.03555124253034592, + -0.12648020684719086, + -27.877256393432617 + ], + [ + 0.12839177250862122, + 0.05793562904000282, + 0.9900298714637756, + -13.328335762023926 + ], + [ + -0.027869081124663353, + -0.9976871609687805, + 0.0619979202747345, + -17.250104904174805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1950, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_942267656", + "mask_path": "../../mask/hdr_front_01950.png" + }, + { + "file_path": "../../rgb/hdr_front_01951.png", + "transform_matrix": [ + [ + 0.9887967109680176, + -0.02888580597937107, + -0.1464468091726303, + -27.860301971435547 + ], + [ + 0.1479090303182602, + 0.05750085785984993, + 0.9873279333114624, + -13.419581413269043 + ], + [ + -0.02009894698858261, + -0.9979274868965149, + 0.0611291266977787, + -17.275794982910156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1951, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_42268037", + "mask_path": "../../mask/hdr_front_01951.png" + }, + { + "file_path": "../../rgb/hdr_front_01952.png", + "transform_matrix": [ + [ + 0.9889254570007324, + -0.028564808890223503, + -0.14563819766044617, + -27.8446044921875 + ], + [ + 0.1471068561077118, + 0.05875551700592041, + 0.9873740077018738, + -13.517581939697266 + ], + [ + -0.019647102802991867, + -0.9978636503219604, + 0.062306903302669525, + -17.28853416442871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1952, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_142266988", + "mask_path": "../../mask/hdr_front_01952.png" + }, + { + "file_path": "../../rgb/hdr_front_01953.png", + "transform_matrix": [ + [ + 0.9906623363494873, + -0.023683585226535797, + -0.13426515460014343, + -27.836458206176758 + ], + [ + 0.13545279204845428, + 0.05893528833985329, + 0.9890294075012207, + -13.596148490905762 + ], + [ + -0.0155108030885458, + -0.9979808330535889, + 0.06159298121929169, + -17.276763916015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1953, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_242267608", + "mask_path": "../../mask/hdr_front_01953.png" + }, + { + "file_path": "../../rgb/hdr_front_01954.png", + "transform_matrix": [ + [ + 0.992356538772583, + -0.02540978416800499, + -0.1207597404718399, + -27.83110809326172 + ], + [ + 0.12198988348245621, + 0.05426725000143051, + 0.991046667098999, + -13.67082691192627 + ], + [ + -0.018628982827067375, + -0.9982030987739563, + 0.05695219710469246, + -17.226444244384766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1954, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_342267751", + "mask_path": "../../mask/hdr_front_01954.png" + }, + { + "file_path": "../../rgb/hdr_front_01955.png", + "transform_matrix": [ + [ + 0.992675244808197, + -0.03564179688692093, + -0.11543626338243484, + -27.814912796020508 + ], + [ + 0.11725648492574692, + 0.05408884212374687, + 0.9916276335716248, + -13.788225173950195 + ], + [ + -0.029099570587277412, + -0.9978998899459839, + 0.05787188559770584, + -17.241893768310547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1955, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_442267894", + "mask_path": "../../mask/hdr_front_01955.png" + }, + { + "file_path": "../../rgb/hdr_front_01956.png", + "transform_matrix": [ + [ + 0.9922558665275574, + -0.04391387850046158, + -0.11618898063898087, + -27.796855926513672 + ], + [ + 0.11852220445871353, + 0.05489880219101906, + 0.9914326667785645, + -13.89065933227539 + ], + [ + -0.03715901076793671, + -0.9975258111953735, + 0.05967843160033226, + -17.25525665283203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1956, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_542267560", + "mask_path": "../../mask/hdr_front_01956.png" + }, + { + "file_path": "../../rgb/hdr_front_01957.png", + "transform_matrix": [ + [ + 0.9920185208320618, + -0.043560925871133804, + -0.11832836270332336, + -27.7796573638916 + ], + [ + 0.1205737441778183, + 0.05313747003674507, + 0.9912811517715454, + -13.972942352294922 + ], + [ + -0.03689345344901085, + -0.9976367354393005, + 0.057965654879808426, + -17.279027938842773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1957, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_642268657", + "mask_path": "../../mask/hdr_front_01957.png" + }, + { + "file_path": "../../rgb/hdr_front_01958.png", + "transform_matrix": [ + [ + 0.9924516081809998, + -0.044510725885629654, + -0.11427386105060577, + -27.76909637451172 + ], + [ + 0.11673841625452042, + 0.057386741042137146, + 0.9915033578872681, + -14.081840515136719 + ], + [ + -0.03757472708821297, + -0.9973592758178711, + 0.06214967370033264, + -17.285106658935547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1958, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_742267370", + "mask_path": "../../mask/hdr_front_01958.png" + }, + { + "file_path": "../../rgb/hdr_front_01959.png", + "transform_matrix": [ + [ + 0.9935239553451538, + -0.044531505554914474, + -0.10453197360038757, + -27.762977600097656 + ], + [ + 0.1070830449461937, + 0.05937761813402176, + 0.9924754500389099, + -14.176137924194336 + ], + [ + -0.03798956796526909, + -0.9972418546676636, + 0.0637616440653801, + -17.277969360351562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1959, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_842266559", + "mask_path": "../../mask/hdr_front_01959.png" + }, + { + "file_path": "../../rgb/hdr_front_01960.png", + "transform_matrix": [ + [ + 0.9947021007537842, + -0.04377149045467377, + -0.09301472455263138, + -27.75929832458496 + ], + [ + 0.09538975358009338, + 0.05572088062763214, + 0.9938791990280151, + -14.24622631072998 + ], + [ + -0.03832071274518967, + -0.9974864721298218, + 0.05960102751851082, + -17.2601318359375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1960, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_942267656", + "mask_path": "../../mask/hdr_front_01960.png" + }, + { + "file_path": "../../rgb/hdr_front_01961.png", + "transform_matrix": [ + [ + 0.9954138398170471, + -0.04662962257862091, + -0.08352850377559662, + -27.749191284179688 + ], + [ + 0.08593884110450745, + 0.05232944339513779, + 0.9949252009391785, + -14.343297004699707 + ], + [ + -0.0420219823718071, + -0.9975406527519226, + 0.05609674006700516, + -17.283727645874023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1961, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_42267560", + "mask_path": "../../mask/hdr_front_01961.png" + }, + { + "file_path": "../../rgb/hdr_front_01962.png", + "transform_matrix": [ + [ + 0.9950984716415405, + -0.055225666612386703, + -0.08203250169754028, + -27.73904037475586 + ], + [ + 0.08504258841276169, + 0.054558780044317245, + 0.9948824644088745, + -14.445574760437012 + ], + [ + -0.05046745017170906, + -0.9969821572303772, + 0.05898788571357727, + -17.30078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1962, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_142269134", + "mask_path": "../../mask/hdr_front_01962.png" + }, + { + "file_path": "../../rgb/hdr_front_01963.png", + "transform_matrix": [ + [ + 0.9945907592773438, + -0.05883101373910904, + -0.08560490608215332, + -27.72661018371582 + ], + [ + 0.08886080980300903, + 0.055152878165245056, + 0.9945159554481506, + -14.528533935546875 + ], + [ + -0.05378701537847519, + -0.9967433214187622, + 0.060082316398620605, + -17.314498901367188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1963, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_242267370", + "mask_path": "../../mask/hdr_front_01963.png" + }, + { + "file_path": "../../rgb/hdr_front_01964.png", + "transform_matrix": [ + [ + 0.9944911599159241, + -0.056115005165338516, + -0.08853522688150406, + -27.71976089477539 + ], + [ + 0.09154300391674042, + 0.05350809544324875, + 0.9943624138832092, + -14.623014450073242 + ], + [ + -0.05106130614876747, + -0.9969895482063293, + 0.05835026502609253, + -17.319015502929688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1964, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_342267513", + "mask_path": "../../mask/hdr_front_01964.png" + }, + { + "file_path": "../../rgb/hdr_front_01965.png", + "transform_matrix": [ + [ + 0.9950721859931946, + -0.0547831729054451, + -0.08264411985874176, + -27.7161922454834 + ], + [ + 0.08577018976211548, + 0.057403407990932465, + 0.9946599006652832, + -14.732949256896973 + ], + [ + -0.049746572971343994, + -0.9968468546867371, + 0.061819303780794144, + -17.316482543945312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1965, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_442267417", + "mask_path": "../../mask/hdr_front_01965.png" + }, + { + "file_path": "../../rgb/hdr_front_01966.png", + "transform_matrix": [ + [ + 0.9960979223251343, + -0.05089114233851433, + -0.07210427522659302, + -27.717464447021484 + ], + [ + 0.07509536296129227, + 0.05953728035092354, + 0.9953974485397339, + -14.818574905395508 + ], + [ + -0.046364013105630875, + -0.9969280362129211, + 0.06312665343284607, + -17.297134399414062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1966, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_542267560", + "mask_path": "../../mask/hdr_front_01966.png" + }, + { + "file_path": "../../rgb/hdr_front_01967.png", + "transform_matrix": [ + [ + 0.9968716502189636, + -0.04699933901429176, + -0.06354524195194244, + -27.71319580078125 + ], + [ + 0.06617391109466553, + 0.0566662922501564, + 0.9961977601051331, + -14.886312484741211 + ], + [ + -0.04321976378560066, + -0.9972863793373108, + 0.059599149972200394, + -17.283611297607422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1967, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_642268657", + "mask_path": "../../mask/hdr_front_01967.png" + }, + { + "file_path": "../../rgb/hdr_front_01968.png", + "transform_matrix": [ + [ + 0.9968171119689941, + -0.04964202269911766, + -0.06237976253032684, + -27.700529098510742 + ], + [ + 0.06516669690608978, + 0.05665609985589981, + 0.9962646961212158, + -14.986159324645996 + ], + [ + -0.045922402292490005, + -0.9971588850021362, + 0.059710774570703506, + -17.30225944519043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1968, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_742268323", + "mask_path": "../../mask/hdr_front_01968.png" + }, + { + "file_path": "../../rgb/hdr_front_01969.png", + "transform_matrix": [ + [ + 0.9957820773124695, + -0.05899634212255478, + -0.07026772201061249, + -27.686767578125 + ], + [ + 0.07375670224428177, + 0.05920488387346268, + 0.995517373085022, + -15.092657089233398 + ], + [ + -0.05457168072462082, + -0.996501088142395, + 0.0633065328001976, + -17.312515258789062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1969, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_842267751", + "mask_path": "../../mask/hdr_front_01969.png" + }, + { + "file_path": "../../rgb/hdr_front_01970.png", + "transform_matrix": [ + [ + 0.9941341876983643, + -0.06434623897075653, + -0.08692962676286697, + -27.676027297973633 + ], + [ + 0.09071458131074905, + 0.05844109505414963, + 0.9941606521606445, + -15.171844482421875 + ], + [ + -0.05889023840427399, + -0.9962149858474731, + 0.06393542140722275, + -17.303844451904297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1970, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_942267656", + "mask_path": "../../mask/hdr_front_01970.png" + }, + { + "file_path": "../../rgb/hdr_front_01971.png", + "transform_matrix": [ + [ + 0.9925687313079834, + -0.05947960913181305, + -0.10615692287683487, + -27.65450668334961 + ], + [ + 0.10952485352754593, + 0.05655013024806976, + 0.9923741817474365, + -15.24850082397461 + ], + [ + -0.0530228391289711, + -0.9966264367103577, + 0.06264438480138779, + -17.33818817138672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1971, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_42267084", + "mask_path": "../../mask/hdr_front_01971.png" + }, + { + "file_path": "../../rgb/hdr_left_01498.png", + "transform_matrix": [ + [ + -0.9315929412841797, + 0.2710288166999817, + 0.2422352433204651, + -25.227699279785156 + ], + [ + -0.21227678656578064, + 0.1353292614221573, + -0.9677936434745789, + -14.280696868896484 + ], + [ + -0.2950814366340637, + -0.9530107378959656, + -0.06853864341974258, + -13.255080223083496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1498, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638949_242267847", + "mask_path": "../../mask/hdr_left_01498.png" + }, + { + "file_path": "../../rgb/hdr_left_01522.png", + "transform_matrix": [ + [ + -0.7798631191253662, + 0.23979687690734863, + -0.5781962275505066, + -25.216983795166016 + ], + [ + 0.6080528497695923, + 0.07091414928436279, + -0.7907229661941528, + -14.11821460723877 + ], + [ + -0.14861060678958893, + -0.9682297110557556, + -0.20111249387264252, + -13.236410140991211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1522, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638951_642268180", + "mask_path": "../../mask/hdr_left_01522.png" + }, + { + "file_path": "../../rgb/hdr_left_01525.png", + "transform_matrix": [ + [ + -0.67833012342453, + 0.23777532577514648, + -0.6952202320098877, + -25.159975051879883 + ], + [ + 0.7255246043205261, + 0.0672304630279541, + -0.6849044561386108, + -14.044567108154297 + ], + [ + -0.11611340939998627, + -0.968990683555603, + -0.21811626851558685, + -13.227497100830078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1525, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638951_942266941", + "mask_path": "../../mask/hdr_left_01525.png" + }, + { + "file_path": "../../rgb/hdr_left_01528.png", + "transform_matrix": [ + [ + -0.6343495845794678, + 0.22418543696403503, + -0.7398253083229065, + -25.1202335357666 + ], + [ + 0.7670192122459412, + 0.0632551982998848, + -0.6384985446929932, + -13.994982719421387 + ], + [ + -0.09634426236152649, + -0.9724915027618408, + -0.21208041906356812, + -13.20732593536377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1528, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638952_242267370", + "mask_path": "../../mask/hdr_left_01528.png" + }, + { + "file_path": "../../rgb/hdr_left_01530.png", + "transform_matrix": [ + [ + -0.6236576437950134, + 0.20724472403526306, + -0.7537245154380798, + -25.119400024414062 + ], + [ + 0.7764967083930969, + 0.05320426821708679, + -0.6278710961341858, + -13.939446449279785 + ], + [ + -0.09002159535884857, + -0.9768413305282593, + -0.1941060870885849, + -13.188552856445312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1530, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638952_442267417", + "mask_path": "../../mask/hdr_left_01530.png" + }, + { + "file_path": "../../rgb/hdr_left_01532.png", + "transform_matrix": [ + [ + -0.6263374090194702, + 0.1932971328496933, + -0.7552071213722229, + -25.164270401000977 + ], + [ + 0.772689700126648, + 0.025677723810076714, + -0.6342644095420837, + -13.885456085205078 + ], + [ + -0.1032094806432724, + -0.9808042645454407, + -0.1654416024684906, + -13.217741012573242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1532, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638952_642267942", + "mask_path": "../../mask/hdr_left_01532.png" + }, + { + "file_path": "../../rgb/hdr_left_01534.png", + "transform_matrix": [ + [ + -0.6195709109306335, + 0.19083796441555023, + -0.7613887786865234, + -25.23098373413086 + ], + [ + 0.7750430703163147, + -0.004819474648684263, + -0.6318899989128113, + -13.844715118408203 + ], + [ + -0.1242581158876419, + -0.9816098213195801, + -0.14492161571979523, + -13.253132820129395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1534, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638952_842267513", + "mask_path": "../../mask/hdr_left_01534.png" + }, + { + "file_path": "../../rgb/hdr_left_01536.png", + "transform_matrix": [ + [ + -0.6069580912590027, + 0.198233500123024, + -0.7696136832237244, + -25.31255340576172 + ], + [ + 0.7823218703269958, + -0.02144799754023552, + -0.6225048899650574, + -13.792914390563965 + ], + [ + -0.13990798592567444, + -0.9799201488494873, + -0.14206437766551971, + -13.282869338989258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1536, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_42267799", + "mask_path": "../../mask/hdr_left_01536.png" + }, + { + "file_path": "../../rgb/hdr_left_01537.png", + "transform_matrix": [ + [ + -0.6062065362930298, + 0.2061574012041092, + -0.7681229114532471, + -25.35992431640625 + ], + [ + 0.7819249033927917, + -0.021935181692242622, + -0.6229864358901978, + -13.764774322509766 + ], + [ + -0.14528217911720276, + -0.9782729744911194, + -0.14790235459804535, + -13.283608436584473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1537, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_142267704", + "mask_path": "../../mask/hdr_left_01537.png" + }, + { + "file_path": "../../rgb/hdr_left_01539.png", + "transform_matrix": [ + [ + -0.5903174877166748, + 0.21086861193180084, + -0.7791402339935303, + -25.415834426879883 + ], + [ + 0.7943620681762695, + -0.019510744139552116, + -0.6071309447288513, + -13.712427139282227 + ], + [ + -0.14322645962238312, + -0.9773197174072266, + -0.15598851442337036, + -13.303332328796387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1539, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_342268228", + "mask_path": "../../mask/hdr_left_01539.png" + }, + { + "file_path": "../../rgb/hdr_left_01541.png", + "transform_matrix": [ + [ + -0.5414695739746094, + 0.20998799800872803, + -0.8140735030174255, + -25.450641632080078 + ], + [ + 0.8225364685058594, + -0.06798247992992401, + -0.5646344423294067, + -13.657923698425293 + ], + [ + -0.17390918731689453, + -0.9753376245498657, + -0.13591232895851135, + -13.338712692260742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1541, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_542268276", + "mask_path": "../../mask/hdr_left_01541.png" + }, + { + "file_path": "../../rgb/hdr_left_01543.png", + "transform_matrix": [ + [ + -0.47400176525115967, + 0.2248769849538803, + -0.8513239622116089, + -25.447587966918945 + ], + [ + 0.8617892265319824, + -0.07990065217018127, + -0.5009344220161438, + -13.608824729919434 + ], + [ + -0.18066993355751038, + -0.971105694770813, + -0.1559235006570816, + -13.351862907409668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1543, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_742269277", + "mask_path": "../../mask/hdr_left_01543.png" + }, + { + "file_path": "../../rgb/hdr_left_01545.png", + "transform_matrix": [ + [ + -0.3634798526763916, + 0.21330225467681885, + -0.9068541526794434, + -25.43370246887207 + ], + [ + 0.9149895310401917, + -0.10127308964729309, + -0.3905612528324127, + -13.557843208312988 + ], + [ + -0.17514750361442566, + -0.971723198890686, + -0.1583585888147354, + -13.360573768615723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1545, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_942267656", + "mask_path": "../../mask/hdr_left_01545.png" + }, + { + "file_path": "../../rgb/hdr_left_01577.png", + "transform_matrix": [ + [ + 0.1506868302822113, + 0.25697192549705505, + -0.9545988440513611, + -25.44609260559082 + ], + [ + 0.9431521892547607, + -0.32672902941703796, + 0.06092658266425133, + -13.162518501281738 + ], + [ + -0.29623863101005554, + -0.9095128774642944, + -0.2915973961353302, + -13.626328468322754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1577, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638957_142267465", + "mask_path": "../../mask/hdr_left_01577.png" + }, + { + "file_path": "../../rgb/hdr_left_01578.png", + "transform_matrix": [ + [ + 0.1476568877696991, + 0.23807094991207123, + -0.9599581956863403, + -25.44182586669922 + ], + [ + 0.9373241662979126, + -0.3434266746044159, + 0.05900513008236885, + -13.109024047851562 + ], + [ + -0.3156278133392334, + -0.9085044860839844, + -0.273858904838562, + -13.664514541625977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1578, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638957_242269277", + "mask_path": "../../mask/hdr_left_01578.png" + }, + { + "file_path": "../../rgb/hdr_left_01590.png", + "transform_matrix": [ + [ + 0.06455040723085403, + 0.1357114166021347, + -0.9886432886123657, + -25.483417510986328 + ], + [ + 0.9215589165687561, + -0.38817763328552246, + 0.00688506942242384, + -12.729355812072754 + ], + [ + -0.3828347623348236, + -0.9115374684333801, + -0.15012307465076447, + -13.763928413391113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1590, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638958_442270994", + "mask_path": "../../mask/hdr_left_01590.png" + }, + { + "file_path": "../../rgb/hdr_left_01591.png", + "transform_matrix": [ + [ + 0.05606384575366974, + 0.1434193104505539, + -0.9880726933479309, + -25.504005432128906 + ], + [ + 0.9268163442611694, + -0.37551000714302063, + -0.0019173328764736652, + -12.670656204223633 + ], + [ + -0.3713061809539795, + -0.9156544804573059, + -0.15397588908672333, + -13.800210952758789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1591, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638958_542269706", + "mask_path": "../../mask/hdr_left_01591.png" + }, + { + "file_path": "../../rgb/hdr_left_01593.png", + "transform_matrix": [ + [ + 0.07080959528684616, + 0.15598006546497345, + -0.98521888256073, + -25.446439743041992 + ], + [ + 0.951207160949707, + -0.30792874097824097, + 0.019613737240433693, + -12.552409172058105 + ], + [ + -0.3003178536891937, + -0.9385362267494202, + -0.17017364501953125, + -13.773172378540039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1593, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638958_742268323", + "mask_path": "../../mask/hdr_left_01593.png" + }, + { + "file_path": "../../rgb/hdr_left_01594.png", + "transform_matrix": [ + [ + 0.12825140357017517, + 0.13616326451301575, + -0.9823498129844666, + -25.409870147705078 + ], + [ + 0.9625726938247681, + -0.25555670261383057, + 0.09024673700332642, + -12.509506225585938 + ], + [ + -0.23875777423381805, + -0.9571574926376343, + -0.16384254395961761, + -13.692573547363281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1594, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638958_842267036", + "mask_path": "../../mask/hdr_left_01594.png" + }, + { + "file_path": "../../rgb/hdr_left_01595.png", + "transform_matrix": [ + [ + 0.154199481010437, + 0.1460924744606018, + -0.9771794080734253, + -25.40298080444336 + ], + [ + 0.9601424336433411, + -0.25551334023475647, + 0.11331068724393845, + -12.57009506225586 + ], + [ + -0.23312851786613464, + -0.9557039737701416, + -0.17966961860656738, + -13.680703163146973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1595, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638958_942268848", + "mask_path": "../../mask/hdr_left_01595.png" + }, + { + "file_path": "../../rgb/hdr_left_01596.png", + "transform_matrix": [ + [ + 0.1484004110097885, + 0.15653985738754272, + -0.9764592051506042, + -25.406023025512695 + ], + [ + 0.9564372301101685, + -0.273734986782074, + 0.10147400945425034, + -12.619179725646973 + ], + [ + -0.2514062821865082, + -0.9489808082580566, + -0.19034291803836823, + -13.729936599731445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1596, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638959_42268991", + "mask_path": "../../mask/hdr_left_01596.png" + }, + { + "file_path": "../../rgb/hdr_left_01643.png", + "transform_matrix": [ + [ + 0.07118378579616547, + 0.13925442099571228, + -0.9876947999000549, + -25.36846351623535 + ], + [ + 0.9707839488983154, + -0.23715840280056, + 0.03652818128466606, + -12.627636909484863 + ], + [ + -0.22915339469909668, + -0.9614385962486267, + -0.15206779539585114, + -13.780229568481445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1643, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638963_742267370", + "mask_path": "../../mask/hdr_left_01643.png" + }, + { + "file_path": "../../rgb/hdr_left_01648.png", + "transform_matrix": [ + [ + 0.0340130515396595, + 0.1846422255039215, + -0.982217013835907, + -25.36103057861328 + ], + [ + 0.9579203128814697, + -0.28629061579704285, + -0.020646683871746063, + -12.722173690795898 + ], + [ + -0.28501173853874207, + -0.9401834607124329, + -0.186610147356987, + -13.760019302368164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1648, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638964_242267847", + "mask_path": "../../mask/hdr_left_01648.png" + }, + { + "file_path": "../../rgb/hdr_left_01661.png", + "transform_matrix": [ + [ + 0.027533087879419327, + 0.23989006876945496, + -0.9704094529151917, + -25.357988357543945 + ], + [ + 0.9367886185646057, + -0.34493815898895264, + -0.05869125574827194, + -12.798856735229492 + ], + [ + -0.34881073236465454, + -0.9074527025222778, + -0.23422348499298096, + -13.730635643005371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1661, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638965_542268037", + "mask_path": "../../mask/hdr_left_01661.png" + }, + { + "file_path": "../../rgb/hdr_left_01671.png", + "transform_matrix": [ + [ + -0.05779740959405899, + 0.19122931361198425, + -0.9798422455787659, + -25.499792098999023 + ], + [ + 0.9162390828132629, + -0.3795907199382782, + -0.12812788784503937, + -12.941426277160645 + ], + [ + -0.3964407444000244, + -0.9051753282546997, + -0.15327242016792297, + -13.720142364501953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1671, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638966_542267799", + "mask_path": "../../mask/hdr_left_01671.png" + }, + { + "file_path": "../../rgb/hdr_left_01692.png", + "transform_matrix": [ + [ + -0.0668303593993187, + 0.1049504205584526, + -0.9922292828559875, + -25.520776748657227 + ], + [ + 0.9141369462013245, + -0.3920916020870209, + -0.10304301977157593, + -13.094548225402832 + ], + [ + -0.39985916018486023, + -0.9139199256896973, + -0.06973542273044586, + -13.720492362976074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1692, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638968_642268180", + "mask_path": "../../mask/hdr_left_01692.png" + }, + { + "file_path": "../../rgb/hdr_left_01698.png", + "transform_matrix": [ + [ + -0.06016725301742554, + 0.1453162580728531, + -0.987554132938385, + -25.60820198059082 + ], + [ + 0.905940592288971, + -0.4074457883834839, + -0.11514957994222641, + -12.954495429992676 + ], + [ + -0.4191078841686249, + -0.9015937447547913, + -0.10713299363851547, + -13.80445384979248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1698, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638969_242268085", + "mask_path": "../../mask/hdr_left_01698.png" + }, + { + "file_path": "../../rgb/hdr_left_01710.png", + "transform_matrix": [ + [ + 0.12868990004062653, + 0.09499800205230713, + -0.9871242642402649, + -25.545364379882812 + ], + [ + 0.8665837049484253, + -0.49473249912261963, + 0.0653635635972023, + -12.828316688537598 + ], + [ + -0.4821530282497406, + -0.863837480545044, + -0.145990788936615, + -13.879222869873047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1710, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638970_442266702", + "mask_path": "../../mask/hdr_left_01710.png" + }, + { + "file_path": "../../rgb/hdr_left_01714.png", + "transform_matrix": [ + [ + 0.12662465870380402, + 0.10814996063709259, + -0.9860374331474304, + -25.529428482055664 + ], + [ + 0.8706238269805908, + -0.48849156498908997, + 0.058225084096193314, + -12.687726974487305 + ], + [ + -0.47537389397621155, + -0.8658404350280762, + -0.15601299703121185, + -14.006071090698242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1714, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638970_842267274", + "mask_path": "../../mask/hdr_left_01714.png" + }, + { + "file_path": "../../rgb/hdr_left_01715.png", + "transform_matrix": [ + [ + 0.13123562932014465, + 0.09252329170703888, + -0.9870241284370422, + -25.53632926940918 + ], + [ + 0.8766122460365295, + -0.47578707337379456, + 0.07195505499839783, + -12.624811172485352 + ], + [ + -0.4629558026790619, + -0.8746805787086487, + -0.14354725182056427, + -14.0464448928833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1715, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638970_942267179", + "mask_path": "../../mask/hdr_left_01715.png" + }, + { + "file_path": "../../rgb/hdr_left_01718.png", + "transform_matrix": [ + [ + 0.1174694150686264, + 0.06311528384685516, + -0.9910687804222107, + -25.56931495666504 + ], + [ + 0.8809942007064819, + -0.46719759702682495, + 0.07466945052146912, + -12.497819900512695 + ], + [ + -0.45831212401390076, + -0.8818973898887634, + -0.11048560589551926, + -14.117751121520996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1718, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638971_242267608", + "mask_path": "../../mask/hdr_left_01718.png" + }, + { + "file_path": "../../rgb/hdr_left_01719.png", + "transform_matrix": [ + [ + 0.1133524626493454, + 0.05403270199894905, + -0.9920845627784729, + -25.59158706665039 + ], + [ + 0.8796464800834656, + -0.46968963742256165, + 0.07492455840110779, + -12.456130027770996 + ], + [ + -0.46192342042922974, + -0.8811765909194946, + -0.10077013820409775, + -14.15117359161377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1719, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638971_342268228", + "mask_path": "../../mask/hdr_left_01719.png" + }, + { + "file_path": "../../rgb/hdr_left_01720.png", + "transform_matrix": [ + [ + 0.10582967847585678, + 0.05212552100419998, + -0.9930171370506287, + -25.609752655029297 + ], + [ + 0.8797832131385803, + -0.470330148935318, + 0.06907328963279724, + -12.410008430480957 + ], + [ + -0.46344536542892456, + -0.880949854850769, + -0.09563402831554413, + -14.194209098815918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1720, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638971_442268371", + "mask_path": "../../mask/hdr_left_01720.png" + }, + { + "file_path": "../../rgb/hdr_left_01721.png", + "transform_matrix": [ + [ + 0.09670913219451904, + 0.054843831807374954, + -0.9938005805015564, + -25.623485565185547 + ], + [ + 0.8791694641113281, + -0.47278451919555664, + 0.059463031589984894, + -12.3566312789917 + ], + [ + -0.46659234166145325, + -0.8794697523117065, + -0.09393959492444992, + -14.227272033691406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1721, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638971_542268991", + "mask_path": "../../mask/hdr_left_01721.png" + }, + { + "file_path": "../../rgb/hdr_left_01725.png", + "transform_matrix": [ + [ + 0.09450492262840271, + 0.1039256751537323, + -0.9900850057601929, + -25.62152671813965 + ], + [ + 0.8733174800872803, + -0.4860769212245941, + 0.032337550073862076, + -12.2135009765625 + ], + [ + -0.4778967499732971, + -0.8677146434783936, + -0.13669677078723907, + -14.341583251953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1725, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638971_942267656", + "mask_path": "../../mask/hdr_left_01725.png" + }, + { + "file_path": "../../rgb/hdr_left_01726.png", + "transform_matrix": [ + [ + 0.09582989662885666, + 0.1116165816783905, + -0.9891200661659241, + -25.621234893798828 + ], + [ + 0.8726787567138672, + -0.48740002512931824, + 0.029548272490501404, + -12.161822319030762 + ], + [ + -0.4787989854812622, + -0.866015613079071, + -0.14411289989948273, + -14.389921188354492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1726, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_42267084", + "mask_path": "../../mask/hdr_left_01726.png" + }, + { + "file_path": "../../rgb/hdr_left_01729.png", + "transform_matrix": [ + [ + 0.08856386691331863, + 0.0954325795173645, + -0.9914882779121399, + -25.639392852783203 + ], + [ + 0.8737068176269531, + -0.4854435920715332, + 0.031318292021751404, + -12.027414321899414 + ], + [ + -0.4783228635787964, + -0.86904376745224, + -0.12637285888195038, + -14.492164611816406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1729, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_342267751", + "mask_path": "../../mask/hdr_left_01729.png" + }, + { + "file_path": "../../rgb/hdr_left_01730.png", + "transform_matrix": [ + [ + 0.09111852198839188, + 0.0839928612112999, + -0.9922916293144226, + -25.64063262939453 + ], + [ + 0.8725273609161377, + -0.4870142340660095, + 0.038897525519132614, + -11.970131874084473 + ], + [ + -0.47999298572540283, + -0.869346022605896, + -0.11766207963228226, + -14.511313438415527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1730, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_442270278", + "mask_path": "../../mask/hdr_left_01730.png" + }, + { + "file_path": "../../rgb/hdr_left_01731.png", + "transform_matrix": [ + [ + 0.0899963304400444, + 0.0851261243224144, + -0.9922974109649658, + -25.635456085205078 + ], + [ + 0.8708412051200867, + -0.49017512798309326, + 0.03693027049303055, + -11.900341033935547 + ], + [ + -0.4832557439804077, + -0.8674572110176086, + -0.11824529618024826, + -14.55933952331543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1731, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_542267799", + "mask_path": "../../mask/hdr_left_01731.png" + }, + { + "file_path": "../../rgb/hdr_left_01732.png", + "transform_matrix": [ + [ + 0.08407651633024216, + 0.09289246052503586, + -0.9921200275421143, + -25.644325256347656 + ], + [ + 0.8687659502029419, + -0.49446818232536316, + 0.02732577733695507, + -11.851052284240723 + ], + [ + -0.48803338408470154, + -0.8642177581787109, + -0.1222749575972557, + -14.601701736450195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1732, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_642268896", + "mask_path": "../../mask/hdr_left_01732.png" + }, + { + "file_path": "../../rgb/hdr_left_01734.png", + "transform_matrix": [ + [ + 0.08400502800941467, + 0.11552762985229492, + -0.9897456765174866, + -25.63649559020996 + ], + [ + 0.8656371235847473, + -0.5004453659057617, + 0.015056993812322617, + -11.7948637008667 + ], + [ + -0.4935741722583771, + -0.8580256104469299, + -0.14204494655132294, + -14.650653839111328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1734, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_842268705", + "mask_path": "../../mask/hdr_left_01734.png" + }, + { + "file_path": "../../rgb/hdr_left_01735.png", + "transform_matrix": [ + [ + 0.08369724452495575, + 0.1311623901128769, + -0.9878214001655579, + -25.63589859008789 + ], + [ + 0.8634806871414185, + -0.5043438076972961, + 0.00619546789675951, + -11.744256973266602 + ], + [ + -0.4973890483379364, + -0.8534833192825317, + -0.15546837449073792, + -14.687521934509277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1735, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_942268371", + "mask_path": "../../mask/hdr_left_01735.png" + }, + { + "file_path": "../../rgb/hdr_left_01736.png", + "transform_matrix": [ + [ + 0.08497288078069687, + 0.1330002248287201, + -0.9874666929244995, + -25.647146224975586 + ], + [ + 0.866428792476654, + -0.4992469549179077, + 0.007314667571336031, + -11.67722225189209 + ], + [ + -0.49201691150665283, + -0.8561912775039673, + -0.1576576828956604, + -14.729379653930664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1736, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_42268991", + "mask_path": "../../mask/hdr_left_01736.png" + }, + { + "file_path": "../../rgb/hdr_left_01737.png", + "transform_matrix": [ + [ + 0.09314397722482681, + 0.1305006742477417, + -0.9870631694793701, + -25.655485153198242 + ], + [ + 0.8709911704063416, + -0.49099475145339966, + 0.017275922000408173, + -11.616670608520508 + ], + [ + -0.48238831758499146, + -0.8613325953483582, + -0.1593981236219406, + -14.7731351852417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1737, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_142267942", + "mask_path": "../../mask/hdr_left_01737.png" + }, + { + "file_path": "../../rgb/hdr_left_01740.png", + "transform_matrix": [ + [ + 0.11566641181707382, + 0.09965043514966965, + -0.9882767796516418, + -25.651636123657227 + ], + [ + 0.8772124648094177, + -0.47699078917503357, + 0.05457144230604172, + -11.515053749084473 + ], + [ + -0.46596086025238037, + -0.8732408285140991, + -0.14258641004562378, + -14.842750549316406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1740, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_442268610", + "mask_path": "../../mask/hdr_left_01740.png" + }, + { + "file_path": "../../rgb/hdr_left_01741.png", + "transform_matrix": [ + [ + 0.1168236956000328, + 0.08196405321359634, + -0.9897646307945251, + -25.666452407836914 + ], + [ + 0.8720639944076538, + -0.4853537082672119, + 0.0627383291721344, + -11.465970993041992 + ], + [ + -0.4752436578273773, + -0.8704676032066345, + -0.12817871570587158, + -14.8778715133667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1741, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_542268037", + "mask_path": "../../mask/hdr_left_01741.png" + }, + { + "file_path": "../../rgb/hdr_left_01742.png", + "transform_matrix": [ + [ + 0.1135852187871933, + 0.07754066586494446, + -0.9904977679252625, + -25.668834686279297 + ], + [ + 0.8665482997894287, + -0.4954018294811249, + 0.0605890192091465, + -11.407459259033203 + ], + [ + -0.4859963357448578, + -0.8651962280273438, + -0.12346304953098297, + -14.927056312561035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1742, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_642269372", + "mask_path": "../../mask/hdr_left_01742.png" + }, + { + "file_path": "../../rgb/hdr_left_01743.png", + "transform_matrix": [ + [ + 0.10504139214754105, + 0.07191511988639832, + -0.9918641448020935, + -25.67439842224121 + ], + [ + 0.8640325665473938, + -0.5003979802131653, + 0.055222272872924805, + -11.356138229370117 + ], + [ + -0.49235543608665466, + -0.8628036975860596, + -0.11469949036836624, + -14.967896461486816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1743, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_742269277", + "mask_path": "../../mask/hdr_left_01743.png" + }, + { + "file_path": "../../rgb/hdr_left_01745.png", + "transform_matrix": [ + [ + 0.10440356284379959, + 0.07840157300233841, + -0.991439938545227, + -25.673236846923828 + ], + [ + 0.858344554901123, + -0.5106308460235596, + 0.050008051097393036, + -11.30940055847168 + ], + [ + -0.5023390054702759, + -0.8562180995941162, + -0.12060722708702087, + -15.016223907470703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1745, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_942267894", + "mask_path": "../../mask/hdr_left_01745.png" + }, + { + "file_path": "../../rgb/hdr_left_01746.png", + "transform_matrix": [ + [ + 0.10110544413328171, + 0.09291976690292358, + -0.9905269742012024, + -25.681325912475586 + ], + [ + 0.8558963537216187, + -0.5156754851341248, + 0.038988690823316574, + -11.269408226013184 + ], + [ + -0.507167637348175, + -0.851730465888977, + -0.13166727125644684, + -15.060808181762695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1746, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_42269468", + "mask_path": "../../mask/hdr_left_01746.png" + }, + { + "file_path": "../../rgb/hdr_left_01747.png", + "transform_matrix": [ + [ + 0.09976278245449066, + 0.09654640406370163, + -0.9903162121772766, + -25.692445755004883 + ], + [ + 0.8581722974777222, + -0.5120604038238525, + 0.03652980551123619, + -11.190947532653809 + ], + [ + -0.5035749077796936, + -0.8535062670707703, + -0.1339380145072937, + -15.099563598632812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1747, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_142267227", + "mask_path": "../../mask/hdr_left_01747.png" + }, + { + "file_path": "../../rgb/hdr_left_01748.png", + "transform_matrix": [ + [ + 0.10472887754440308, + 0.09216337651014328, + -0.9902210235595703, + -25.702350616455078 + ], + [ + 0.8594828844070435, + -0.5093104243278503, + 0.04349828138947487, + -11.131195068359375 + ], + [ + -0.5003209710121155, + -0.8556336164474487, + -0.132552370429039, + -15.14145565032959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1748, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_242268562", + "mask_path": "../../mask/hdr_left_01748.png" + }, + { + "file_path": "../../rgb/hdr_left_01751.png", + "transform_matrix": [ + [ + 0.09660261869430542, + 0.056775741279125214, + -0.9937024116516113, + -25.73855972290039 + ], + [ + 0.8589981198310852, + -0.5090780854225159, + 0.05442090332508087, + -11.031840324401855 + ], + [ + -0.5027823448181152, + -0.8588457703590393, + -0.09794854372739792, + -15.241360664367676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1751, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_542268753", + "mask_path": "../../mask/hdr_left_01751.png" + }, + { + "file_path": "../../rgb/hdr_left_01752.png", + "transform_matrix": [ + [ + 0.09765370935201645, + 0.044211067259311676, + -0.9942379593849182, + -25.744319915771484 + ], + [ + 0.85515958070755, + -0.5147508382797241, + 0.061103906482458115, + -10.994280815124512 + ], + [ + -0.5090833306312561, + -0.8561992049217224, + -0.08807484060525894, + -15.277531623840332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1752, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_642268180", + "mask_path": "../../mask/hdr_left_01752.png" + }, + { + "file_path": "../../rgb/hdr_left_01753.png", + "transform_matrix": [ + [ + 0.09544707834720612, + 0.04835730046033859, + -0.994259238243103, + -25.75246238708496 + ], + [ + 0.8550024032592773, + -0.5154812932014465, + 0.057007480412721634, + -10.937468528747559 + ], + [ + -0.5097652077674866, + -0.8555353283882141, + -0.09054676443338394, + -15.31252384185791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1753, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_742268323", + "mask_path": "../../mask/hdr_left_01753.png" + }, + { + "file_path": "../../rgb/hdr_left_01754.png", + "transform_matrix": [ + [ + 0.08684910833835602, + 0.04709532856941223, + -0.9951076507568359, + -25.758228302001953 + ], + [ + 0.8587051033973694, + -0.5099448561668396, + 0.0508103184401989, + -10.870251655578613 + ], + [ + -0.5050570964813232, + -0.8589169383049011, + -0.08472925424575806, + -15.34202766418457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1754, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_842268466", + "mask_path": "../../mask/hdr_left_01754.png" + }, + { + "file_path": "../../rgb/hdr_left_01758.png", + "transform_matrix": [ + [ + 0.08581230789422989, + 0.08199331164360046, + -0.9929316639900208, + -25.74964141845703 + ], + [ + 0.8519015312194824, + -0.522816002368927, + 0.030451439321041107, + -10.739068984985352 + ], + [ + -0.5166237950325012, + -0.8484931588172913, + -0.11471426486968994, + -15.453947067260742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1758, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_242267608", + "mask_path": "../../mask/hdr_left_01758.png" + }, + { + "file_path": "../../rgb/hdr_left_01759.png", + "transform_matrix": [ + [ + 0.08204234391450882, + 0.08293125778436661, + -0.9931723475456238, + -25.758480072021484 + ], + [ + 0.8532665371894836, + -0.520775556564331, + 0.02699975296854973, + -10.674877166748047 + ], + [ + -0.5149807333946228, + -0.8496559858322144, + -0.1134881004691124, + -15.504948616027832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1759, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_342268228", + "mask_path": "../../mask/hdr_left_01759.png" + }, + { + "file_path": "../../rgb/hdr_left_01760.png", + "transform_matrix": [ + [ + 0.08573639392852783, + 0.07745708525180817, + -0.9933024048805237, + -25.75770378112793 + ], + [ + 0.8560858964920044, + -0.5157352089881897, + 0.03367592766880989, + -10.633932113647461 + ], + [ + -0.5096724629402161, + -0.8532394766807556, + -0.11052718013525009, + -15.535457611083984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1760, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_442268133", + "mask_path": "../../mask/hdr_left_01760.png" + }, + { + "file_path": "../../rgb/hdr_left_01762.png", + "transform_matrix": [ + [ + 0.08389121294021606, + 0.05551562458276749, + -0.9949272871017456, + -25.780376434326172 + ], + [ + 0.8557851314544678, + -0.5155082941055298, + 0.04339420050382614, + -10.571701049804688 + ], + [ + -0.5104842185974121, + -0.8550843596458435, + -0.09075604379177094, + -15.584420204162598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1762, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_642266988", + "mask_path": "../../mask/hdr_left_01762.png" + }, + { + "file_path": "../../rgb/hdr_left_01763.png", + "transform_matrix": [ + [ + 0.08273480087518692, + 0.04269886389374733, + -0.995656430721283, + -25.798479080200195 + ], + [ + 0.8554919362068176, + -0.5154944062232971, + 0.04898068308830261, + -10.528221130371094 + ], + [ + -0.5111638903617859, + -0.8558285236358643, + -0.0791778564453125, + -15.612221717834473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1763, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_742268323", + "mask_path": "../../mask/hdr_left_01763.png" + }, + { + "file_path": "../../rgb/hdr_left_01765.png", + "transform_matrix": [ + [ + 0.08101001381874084, + 0.028162837028503418, + -0.9963153600692749, + -25.831436157226562 + ], + [ + 0.8527636528015137, + -0.5194294452667236, + 0.054655175656080246, + -10.44468879699707 + ], + [ + -0.5159763097763062, + -0.8540492057800293, + -0.06609522551298141, + -15.677947998046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1765, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_942268371", + "mask_path": "../../mask/hdr_left_01765.png" + }, + { + "file_path": "../../rgb/hdr_left_01766.png", + "transform_matrix": [ + [ + 0.07258092612028122, + 0.02580159157514572, + -0.9970287084579468, + -25.85027503967285 + ], + [ + 0.8547312021255493, + -0.5167672038078308, + 0.04884891211986542, + -10.387627601623535 + ], + [ + -0.5139713287353516, + -0.8557371497154236, + -0.0595608651638031, + -15.705580711364746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1766, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_42267322", + "mask_path": "../../mask/hdr_left_01766.png" + }, + { + "file_path": "../../rgb/hdr_left_01769.png", + "transform_matrix": [ + [ + 0.0664021447300911, + 0.05612215772271156, + -0.9962133765220642, + -25.857206344604492 + ], + [ + 0.8496158719062805, + -0.5267125368118286, + 0.026958173140883446, + -10.290539741516113 + ], + [ + -0.5232049822807312, + -0.8481888771057129, + -0.0826571062207222, + -15.785231590270996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1769, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_342268466", + "mask_path": "../../mask/hdr_left_01769.png" + }, + { + "file_path": "../../rgb/hdr_left_01770.png", + "transform_matrix": [ + [ + 0.06248977407813072, + 0.06816497445106506, + -0.9957150816917419, + -25.855958938598633 + ], + [ + 0.8472695350646973, + -0.5308964848518372, + 0.016829242929816246, + -10.245348930358887 + ], + [ + -0.5274744629859924, + -0.8446908593177795, + -0.09092970937490463, + -15.827075004577637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1770, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_442267417", + "mask_path": "../../mask/hdr_left_01770.png" + }, + { + "file_path": "../../rgb/hdr_left_01771.png", + "transform_matrix": [ + [ + 0.059287287294864655, + 0.07285173237323761, + -0.9955791234970093, + -25.869539260864258 + ], + [ + 0.8484734892845154, + -0.5291060209274292, + 0.011809589341282845, + -10.178929328918457 + ], + [ + -0.525906503200531, + -0.8454226851463318, + -0.0931820273399353, + -15.876952171325684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1771, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_542269229", + "mask_path": "../../mask/hdr_left_01771.png" + }, + { + "file_path": "../../rgb/hdr_left_01772.png", + "transform_matrix": [ + [ + 0.06491685658693314, + 0.06538651883602142, + -0.9957461357116699, + -25.874412536621094 + ], + [ + 0.850604772567749, + -0.5253879427909851, + 0.020954418927431107, + -10.13355541229248 + ], + [ + -0.5217828154563904, + -0.8483467698097229, + -0.089724600315094, + -15.907615661621094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1772, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_642267704", + "mask_path": "../../mask/hdr_left_01772.png" + }, + { + "file_path": "../../rgb/hdr_left_01774.png", + "transform_matrix": [ + [ + 0.06741604954004288, + 0.042633429169654846, + -0.9968135952949524, + -25.895320892333984 + ], + [ + 0.85164874792099, + -0.522927463054657, + 0.035232868045568466, + -10.073339462280273 + ], + [ + -0.5197591185569763, + -0.8513104319572449, + -0.07156240940093994, + -15.963753700256348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1774, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_842267513", + "mask_path": "../../mask/hdr_left_01774.png" + }, + { + "file_path": "../../rgb/hdr_left_01775.png", + "transform_matrix": [ + [ + 0.0698610320687294, + 0.03104306384921074, + -0.9970735907554626, + -25.90935516357422 + ], + [ + 0.851099967956543, + -0.5232113599777222, + 0.04334346950054169, + -10.026202201843262 + ], + [ + -0.5203347206115723, + -0.8516373634338379, + -0.06297283619642258, + -15.996307373046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1775, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_942268371", + "mask_path": "../../mask/hdr_left_01775.png" + }, + { + "file_path": "../../rgb/hdr_left_01776.png", + "transform_matrix": [ + [ + 0.0714966356754303, + 0.02166006714105606, + -0.9972056150436401, + -25.921489715576172 + ], + [ + 0.8490697741508484, + -0.5259609222412109, + 0.04945145547389984, + -9.981057167053223 + ], + [ + -0.5234200358390808, + -0.8502328991889954, + -0.055995337665081024, + -16.02665901184082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1776, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_42268514", + "mask_path": "../../mask/hdr_left_01776.png" + }, + { + "file_path": "../../rgb/hdr_left_01777.png", + "transform_matrix": [ + [ + 0.07186364382505417, + 0.03243239223957062, + -0.9968870282173157, + -25.931182861328125 + ], + [ + 0.8489845991134644, + -0.5265765190124512, + 0.04407016932964325, + -9.930258750915527 + ], + [ + -0.5235079526901245, + -0.8495089411735535, + -0.06537630409002304, + -16.073400497436523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1777, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_142267704", + "mask_path": "../../mask/hdr_left_01777.png" + }, + { + "file_path": "../../rgb/hdr_left_01778.png", + "transform_matrix": [ + [ + 0.06963300704956055, + 0.04275575280189514, + -0.9966559410095215, + -25.939090728759766 + ], + [ + 0.852668046951294, + -0.5211257338523865, + 0.03721718117594719, + -9.8746337890625 + ], + [ + -0.5177918672561646, + -0.8524084091186523, + -0.07274401187896729, + -16.096311569213867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1778, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_242267847", + "mask_path": "../../mask/hdr_left_01778.png" + }, + { + "file_path": "../../rgb/hdr_left_01780.png", + "transform_matrix": [ + [ + 0.07043561339378357, + 0.056966207921504974, + -0.9958884119987488, + -25.931777954101562 + ], + [ + 0.8570642471313477, + -0.5142638683319092, + 0.031200438737869263, + -9.815561294555664 + ], + [ + -0.5103720426559448, + -0.8557379841804504, + -0.08504618704319, + -16.1363525390625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1780, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_442267179", + "mask_path": "../../mask/hdr_left_01780.png" + }, + { + "file_path": "../../rgb/hdr_left_01781.png", + "transform_matrix": [ + [ + 0.06868948042392731, + 0.0689580887556076, + -0.9952519536018372, + -25.931182861328125 + ], + [ + 0.8577119708061218, + -0.513588011264801, + 0.02361183986067772, + -9.765539169311523 + ], + [ + -0.5095212459564209, + -0.8552615642547607, + -0.09442426264286041, + -16.16373634338379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1781, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_542269229", + "mask_path": "../../mask/hdr_left_01781.png" + }, + { + "file_path": "../../rgb/hdr_left_01782.png", + "transform_matrix": [ + [ + 0.0689009502530098, + 0.07143788784742355, + -0.9950624704360962, + -25.940366744995117 + ], + [ + 0.8599304556846619, + -0.5098956227302551, + 0.022937413305044174, + -9.704609870910645 + ], + [ + -0.5057393908500671, + -0.8572649955749512, + -0.0965638980269432, + -16.209793090820312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1782, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_642267227", + "mask_path": "../../mask/hdr_left_01782.png" + }, + { + "file_path": "../../rgb/hdr_left_01783.png", + "transform_matrix": [ + [ + 0.07277153432369232, + 0.07068085670471191, + -0.9948409795761108, + -25.94927406311035 + ], + [ + 0.8610357642173767, + -0.5078320503234863, + 0.026903672143816948, + -9.653836250305176 + ], + [ + -0.5033105611801147, + -0.8585516810417175, + -0.09781446307897568, + -16.254518508911133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1783, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_742266893", + "mask_path": "../../mask/hdr_left_01783.png" + }, + { + "file_path": "../../rgb/hdr_left_01786.png", + "transform_matrix": [ + [ + 0.07359027117490768, + 0.040677815675735474, + -0.9964585900306702, + -25.96100425720215 + ], + [ + 0.8636619448661804, + -0.5022099018096924, + 0.043281588703393936, + -9.542309761047363 + ], + [ + -0.4986707866191864, + -0.8637885451316833, + -0.07208964973688126, + -16.309572219848633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1786, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_42268276", + "mask_path": "../../mask/hdr_left_01786.png" + }, + { + "file_path": "../../rgb/hdr_left_01787.png", + "transform_matrix": [ + [ + 0.07468080520629883, + 0.03231368958950043, + -0.9966838359832764, + -25.969181060791016 + ], + [ + 0.8618530631065369, + -0.5048613548278809, + 0.04820980131626129, + -9.484704971313477 + ], + [ + -0.5016292929649353, + -0.8625954389572144, + -0.06555308401584625, + -16.32819175720215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1787, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_142267465", + "mask_path": "../../mask/hdr_left_01787.png" + }, + { + "file_path": "../../rgb/hdr_left_01788.png", + "transform_matrix": [ + [ + 0.07229861617088318, + 0.032216139137744904, + -0.9968625903129578, + -25.979290008544922 + ], + [ + 0.8599720001220703, + -0.5082689523696899, + 0.0459444522857666, + -9.439499855041504 + ], + [ + -0.5051941275596619, + -0.8605956435203552, + -0.06445211917161942, + -16.36722755432129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1788, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_242267131", + "mask_path": "../../mask/hdr_left_01788.png" + }, + { + "file_path": "../../rgb/hdr_left_01789.png", + "transform_matrix": [ + [ + 0.06500431895256042, + 0.03538509085774422, + -0.99725741147995, + -25.992048263549805 + ], + [ + 0.8596312403678894, + -0.5095033645629883, + 0.03795501962304115, + -9.38028335571289 + ], + [ + -0.5067628622055054, + -0.8597408533096313, + -0.06353802978992462, + -16.409929275512695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1789, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_342267036", + "mask_path": "../../mask/hdr_left_01789.png" + }, + { + "file_path": "../../rgb/hdr_left_01792.png", + "transform_matrix": [ + [ + 0.05787523835897446, + 0.06238018348813057, + -0.9963731169700623, + -25.99152946472168 + ], + [ + 0.8575487732887268, + -0.5141007304191589, + 0.017625069245696068, + -9.284083366394043 + ], + [ + -0.511136531829834, + -0.8554585576057434, + -0.08324772864580154, + -16.48345375061035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1792, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_642268896", + "mask_path": "../../mask/hdr_left_01792.png" + }, + { + "file_path": "../../rgb/hdr_left_01793.png", + "transform_matrix": [ + [ + 0.050750523805618286, + 0.07108521461486816, + -0.9961782693862915, + -25.991744995117188 + ], + [ + 0.8568751811981201, + -0.5154781341552734, + 0.006870248820632696, + -9.227983474731445 + ], + [ + -0.5130196809768677, + -0.853949248790741, + -0.08707193285226822, + -16.515295028686523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1793, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_742268085", + "mask_path": "../../mask/hdr_left_01793.png" + }, + { + "file_path": "../../rgb/hdr_left_01794.png", + "transform_matrix": [ + [ + 0.04206801578402519, + 0.06895946711301804, + -0.9967319965362549, + -25.998044967651367 + ], + [ + 0.8589510321617126, + -0.5120571255683899, + 0.0008258760208263993, + -9.176589965820312 + ], + [ + -0.5103268027305603, + -0.8561787605285645, + -0.08077402412891388, + -16.56792449951172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1794, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_842267990", + "mask_path": "../../mask/hdr_left_01794.png" + }, + { + "file_path": "../../rgb/hdr_left_01795.png", + "transform_matrix": [ + [ + 0.04227771237492561, + 0.06486063450574875, + -0.9969983100891113, + -25.998319625854492 + ], + [ + 0.8654783964157104, + -0.5009293556213379, + 0.0041122050024569035, + -9.113422393798828 + ], + [ + -0.49915894865989685, + -0.8630545139312744, + -0.0773136243224144, + -16.59124755859375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1795, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_942267417", + "mask_path": "../../mask/hdr_left_01795.png" + }, + { + "file_path": "../../rgb/hdr_left_01798.png", + "transform_matrix": [ + [ + 0.0215730182826519, + 0.031716492027044296, + -0.9992640018463135, + -26.05384063720703 + ], + [ + 0.8714380860328674, + -0.49049484729766846, + 0.003245156491175294, + -9.015931129455566 + ], + [ + -0.4900309145450592, + -0.8708667755126953, + -0.03822041302919388, + -16.65848159790039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1798, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638979_242267370", + "mask_path": "../../mask/hdr_left_01798.png" + }, + { + "file_path": "../../rgb/hdr_left_01801.png", + "transform_matrix": [ + [ + -0.010796250775456429, + 0.010486655868589878, + -0.9998867511749268, + -26.13252830505371 + ], + [ + 0.8790819048881531, + -0.4764503836631775, + -0.014488833025097847, + -8.879755973815918 + ], + [ + -0.47654831409454346, + -0.8791388273239136, + -0.004074737895280123, + -16.732101440429688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1801, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638979_542267560", + "mask_path": "../../mask/hdr_left_01801.png" + }, + { + "file_path": "../../rgb/hdr_left_01803.png", + "transform_matrix": [ + [ + -0.02381402999162674, + 0.014123925007879734, + -0.9996166229248047, + -26.156171798706055 + ], + [ + 0.885766327381134, + -0.46330738067626953, + -0.02764797769486904, + -8.828356742858887 + ], + [ + -0.46352022886276245, + -0.8860851526260376, + -0.0014772771392017603, + -16.775684356689453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1803, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638979_742268323", + "mask_path": "../../mask/hdr_left_01803.png" + }, + { + "file_path": "../../rgb/hdr_left_01805.png", + "transform_matrix": [ + [ + -0.041453078389167786, + 0.03661327436566353, + -0.9984692931175232, + -26.194135665893555 + ], + [ + 0.8862734436988831, + -0.46004292368888855, + -0.05366458743810654, + -8.764163970947266 + ], + [ + -0.4613035321235657, + -0.8871414661407471, + -0.0133791733533144, + -16.889591217041016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1805, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638979_942268848", + "mask_path": "../../mask/hdr_left_01805.png" + }, + { + "file_path": "../../rgb/hdr_left_01806.png", + "transform_matrix": [ + [ + -0.051109522581100464, + 0.06542577594518661, + -0.9965476989746094, + -26.215171813964844 + ], + [ + 0.883094072341919, + -0.46305030584335327, + -0.07569126039743423, + -8.714731216430664 + ], + [ + -0.4664038121700287, + -0.883914053440094, + -0.03411082550883293, + -16.928638458251953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1806, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_42267799", + "mask_path": "../../mask/hdr_left_01806.png" + }, + { + "file_path": "../../rgb/hdr_left_01808.png", + "transform_matrix": [ + [ + -0.0717487782239914, + 0.08487530052661896, + -0.9938048720359802, + -26.2304630279541 + ], + [ + 0.8743672370910645, + -0.47407394647598267, + -0.10361386835575104, + -8.654735565185547 + ], + [ + -0.4799312651157379, + -0.8763846755027771, + -0.04019793123006821, + -16.900184631347656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1808, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_242267370", + "mask_path": "../../mask/hdr_left_01808.png" + }, + { + "file_path": "../../rgb/hdr_left_01809.png", + "transform_matrix": [ + [ + -0.08580471575260162, + 0.07617941498756409, + -0.993395209312439, + -26.26132583618164 + ], + [ + 0.8820988535881042, + -0.4577285349369049, + -0.111292764544487, + -8.599431037902832 + ], + [ + -0.46318355202674866, + -0.8858224153518677, + -0.027922529727220535, + -16.93939208984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1809, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_342267274", + "mask_path": "../../mask/hdr_left_01809.png" + }, + { + "file_path": "../../rgb/hdr_left_01810.png", + "transform_matrix": [ + [ + -0.09684201329946518, + 0.0549999363720417, + -0.9937790036201477, + -26.275564193725586 + ], + [ + 0.8968833684921265, + -0.428087443113327, + -0.11109188199043274, + -8.520735740661621 + ], + [ + -0.4315343201160431, + -0.902062177658081, + -0.007871679961681366, + -16.92705726623535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1810, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_442266941", + "mask_path": "../../mask/hdr_left_01810.png" + }, + { + "file_path": "../../rgb/hdr_left_01813.png", + "transform_matrix": [ + [ + -0.11290975660085678, + 0.04751066863536835, + -0.9924686551094055, + -26.35468292236328 + ], + [ + 0.928939163684845, + -0.34941115975379944, + -0.12240896373987198, + -8.401185035705566 + ], + [ + -0.35259535908699036, + -0.9357641935348511, + -0.004682584200054407, + -16.953535079956055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1813, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_742267131", + "mask_path": "../../mask/hdr_left_01813.png" + }, + { + "file_path": "../../rgb/hdr_left_01814.png", + "transform_matrix": [ + [ + -0.12654517590999603, + 0.04532671719789505, + -0.9909247159957886, + -26.398038864135742 + ], + [ + 0.9375895857810974, + -0.3207196593284607, + -0.13440437614917755, + -8.271034240722656 + ], + [ + -0.32390111684799194, + -0.9460890293121338, + -0.0019123210804536939, + -16.90382194519043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1814, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_842267274", + "mask_path": "../../mask/hdr_left_01814.png" + }, + { + "file_path": "../../rgb/hdr_left_01816.png", + "transform_matrix": [ + [ + -0.1211385503411293, + 0.044950418174266815, + -0.9916173219680786, + -26.412532806396484 + ], + [ + 0.9434680342674255, + -0.30529072880744934, + -0.12909545004367828, + -8.30384349822998 + ], + [ + -0.3085344433784485, + -0.9511977434158325, + -0.005426798947155476, + -16.93281364440918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1816, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_42267322", + "mask_path": "../../mask/hdr_left_01816.png" + }, + { + "file_path": "../../rgb/hdr_left_01817.png", + "transform_matrix": [ + [ + -0.14225031435489655, + 0.049330249428749084, + -0.9886006116867065, + -26.44923973083496 + ], + [ + 0.946469783782959, + -0.2855924367904663, + -0.15043887495994568, + -8.303364753723145 + ], + [ + -0.2897580564022064, + -0.9570807814598083, + -0.006063973065465689, + -16.98922348022461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1817, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_142266988", + "mask_path": "../../mask/hdr_left_01817.png" + }, + { + "file_path": "../../rgb/hdr_left_01818.png", + "transform_matrix": [ + [ + -0.1531767100095749, + 0.03684772923588753, + -0.9875115752220154, + -26.482093811035156 + ], + [ + 0.9554068446159363, + -0.24977247416973114, + -0.15751676261425018, + -8.229341506958008 + ], + [ + -0.2524573504924774, + -0.9676032066345215, + 0.0030547587666660547, + -16.969545364379883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1818, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_242267131", + "mask_path": "../../mask/hdr_left_01818.png" + }, + { + "file_path": "../../rgb/hdr_left_01819.png", + "transform_matrix": [ + [ + -0.13674809038639069, + 0.0014845635741949081, + -0.9906046986579895, + -26.505781173706055 + ], + [ + 0.9736567735671997, + -0.18399052321910858, + -0.13468430936336517, + -8.172025680541992 + ], + [ + -0.18246182799339294, + -0.9829269051551819, + 0.023714901879429817, + -16.888307571411133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1819, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_342267036", + "mask_path": "../../mask/hdr_left_01819.png" + }, + { + "file_path": "../../rgb/hdr_left_01822.png", + "transform_matrix": [ + [ + -0.1431078165769577, + -0.005085264332592487, + -0.9896941184997559, + -26.583402633666992 + ], + [ + 0.981528639793396, + -0.12901853024959564, + -0.14126427471637726, + -8.085404396057129 + ], + [ + -0.12697049975395203, + -0.9916291832923889, + 0.023454897105693817, + -16.849836349487305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1822, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_642266988", + "mask_path": "../../mask/hdr_left_01822.png" + }, + { + "file_path": "../../rgb/hdr_left_01825.png", + "transform_matrix": [ + [ + -0.16607360541820526, + -0.03000739775598049, + -0.9856566786766052, + -26.66242790222168 + ], + [ + 0.9822030663490295, + -0.09395800530910492, + -0.16263127326965332, + -8.023200988769531 + ], + [ + -0.08773019164800644, + -0.9951238632202148, + 0.04507729783654213, + -16.904077529907227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1825, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_942269086", + "mask_path": "../../mask/hdr_left_01825.png" + }, + { + "file_path": "../../rgb/hdr_left_01826.png", + "transform_matrix": [ + [ + -0.17821185290813446, + -0.02505531534552574, + -0.9836730360984802, + -26.671396255493164 + ], + [ + 0.979275643825531, + -0.10227696597576141, + -0.17481006681919098, + -7.958690166473389 + ], + [ + -0.09622716903686523, + -0.9944404363632202, + 0.042763032019138336, + -16.880422592163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1826, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_42263984", + "mask_path": "../../mask/hdr_left_01826.png" + }, + { + "file_path": "../../rgb/hdr_left_01827.png", + "transform_matrix": [ + [ + -0.20477034151554108, + -0.020967718213796616, + -0.978585422039032, + -26.6694393157959 + ], + [ + 0.9736436605453491, + -0.106948621571064, + -0.20144475996494293, + -7.945446014404297 + ], + [ + -0.10043451935052872, + -0.9940435290336609, + 0.04231499508023262, + -16.825904846191406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1827, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_142267227", + "mask_path": "../../mask/hdr_left_01827.png" + }, + { + "file_path": "../../rgb/hdr_left_01830.png", + "transform_matrix": [ + [ + -0.27020788192749023, + -0.05093521997332573, + -0.9614537954330444, + -26.712631225585938 + ], + [ + 0.96064293384552, + -0.08110134303569794, + -0.26568350195884705, + -7.908165454864502 + ], + [ + -0.06444254517555237, + -0.995403528213501, + 0.07084479182958603, + -16.89500617980957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1830, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_442267179", + "mask_path": "../../mask/hdr_left_01830.png" + }, + { + "file_path": "../../rgb/hdr_left_01832.png", + "transform_matrix": [ + [ + -0.31844261288642883, + -0.07144573330879211, + -0.9452458620071411, + -26.789833068847656 + ], + [ + 0.9471595287322998, + -0.06449245661497116, + -0.3142126798629761, + -7.859887599945068 + ], + [ + -0.03851207718253136, + -0.9953573346138, + 0.0882076546549797, + -16.867328643798828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1832, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_642267227", + "mask_path": "../../mask/hdr_left_01832.png" + }, + { + "file_path": "../../rgb/hdr_left_01834.png", + "transform_matrix": [ + [ + -0.3539471924304962, + -0.07135514169931412, + -0.9325394630432129, + -26.836204528808594 + ], + [ + 0.9350576400756836, + -0.04801764711737633, + -0.3512287437915802, + -7.754112243652344 + ], + [ + -0.019716376438736916, + -0.9962945580482483, + 0.08371688425540924, + -16.833433151245117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1834, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_842267274", + "mask_path": "../../mask/hdr_left_01834.png" + }, + { + "file_path": "../../rgb/hdr_left_01835.png", + "transform_matrix": [ + [ + -0.38384249806404114, + -0.06956476718187332, + -0.9207744002342224, + -26.858915328979492 + ], + [ + 0.9233001470565796, + -0.04347214847803116, + -0.3816111087799072, + -7.688980579376221 + ], + [ + -0.013481357134878635, + -0.9966298341751099, + 0.08091562241315842, + -16.826980590820312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1835, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_942268848", + "mask_path": "../../mask/hdr_left_01835.png" + }, + { + "file_path": "../../rgb/hdr_left_01837.png", + "transform_matrix": [ + [ + -0.49343985319137573, + -0.069607213139534, + -0.8669901490211487, + -26.96504783630371 + ], + [ + 0.8697280287742615, + -0.028596071526408195, + -0.4927022159099579, + -7.71364688873291 + ], + [ + 0.00950311217457056, + -0.9971645474433899, + 0.07464978098869324, + -16.789968490600586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1837, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638983_142267227", + "mask_path": "../../mask/hdr_left_01837.png" + }, + { + "file_path": "../../rgb/hdr_left_01838.png", + "transform_matrix": [ + [ + -0.5641244649887085, + -0.06644434481859207, + -0.8230120539665222, + -27.00369644165039 + ], + [ + 0.8254430890083313, + -0.02101871185004711, + -0.5640939474105835, + -7.634410381317139 + ], + [ + 0.020182186737656593, + -0.9975688457489014, + 0.0667031854391098, + -16.788673400878906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1838, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638983_242266654", + "mask_path": "../../mask/hdr_left_01838.png" + }, + { + "file_path": "../../rgb/hdr_left_01841.png", + "transform_matrix": [ + [ + -0.7687633633613586, + -0.05562881380319595, + -0.6371092796325684, + -27.099382400512695 + ], + [ + 0.6388036012649536, + -0.019219612702727318, + -0.769129753112793, + -7.654575824737549 + ], + [ + 0.03054077923297882, + -0.9982665181159973, + 0.050311218947172165, + -16.821348190307617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1841, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638983_542268991", + "mask_path": "../../mask/hdr_left_01841.png" + }, + { + "file_path": "../../rgb/hdr_left_01846.png", + "transform_matrix": [ + [ + -0.9804756045341492, + -0.03666181489825249, + -0.19319313764572144, + -27.327882766723633 + ], + [ + 0.1940433382987976, + -0.021220514550805092, + -0.9807633757591248, + -7.7874436378479 + ], + [ + 0.03185691311955452, + -0.9991024732589722, + 0.027920179069042206, + -16.84139633178711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1846, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638984_42268276", + "mask_path": "../../mask/hdr_left_01846.png" + }, + { + "file_path": "../../rgb/hdr_left_01849.png", + "transform_matrix": [ + [ + -0.9993975162506104, + -0.031149301677942276, + 0.015305913984775543, + -27.45814323425293 + ], + [ + -0.01422357652336359, + -0.03467642515897751, + -0.9992973208427429, + -7.876833438873291 + ], + [ + 0.03165816515684128, + -0.998913049697876, + 0.03421247750520706, + -16.8607177734375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1849, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638984_342267990", + "mask_path": "../../mask/hdr_left_01849.png" + }, + { + "file_path": "../../rgb/hdr_left_01850.png", + "transform_matrix": [ + [ + -0.9966655969619751, + -0.02412225864827633, + 0.07794693857431412, + -27.510093688964844 + ], + [ + -0.07722678780555725, + -0.02946980483829975, + -0.9965779185295105, + -7.870617389678955 + ], + [ + 0.0263367872685194, + -0.9992746114730835, + 0.027508655562996864, + -16.854726791381836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1850, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638984_442267179", + "mask_path": "../../mask/hdr_left_01850.png" + }, + { + "file_path": "../../rgb/hdr_left_01851.png", + "transform_matrix": [ + [ + -0.988521933555603, + -0.022073796018958092, + 0.14945606887340546, + -27.564970016479492 + ], + [ + -0.14916612207889557, + -0.014253531582653522, + -0.9887094497680664, + -7.898702144622803 + ], + [ + 0.02395484410226345, + -0.9996547698974609, + 0.01079726591706276, + -16.877605438232422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1851, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638984_542268276", + "mask_path": "../../mask/hdr_left_01851.png" + }, + { + "file_path": "../../rgb/hdr_left_01854.png", + "transform_matrix": [ + [ + -0.9268916845321655, + -0.015594606287777424, + 0.37500470876693726, + -27.69872283935547 + ], + [ + -0.37498584389686584, + -0.004227758850902319, + -0.9270208477973938, + -8.03122615814209 + ], + [ + 0.0160419549793005, + -0.9998694658279419, + -0.0019290794152766466, + -16.854454040527344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1854, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638984_842268466", + "mask_path": "../../mask/hdr_left_01854.png" + }, + { + "file_path": "../../rgb/hdr_left_01856.png", + "transform_matrix": [ + [ + -0.8717618584632874, + -0.009381404146552086, + 0.4898398816585541, + -27.76860237121582 + ], + [ + -0.4896966516971588, + -0.01414702832698822, + -0.8717780709266663, + -8.122180938720703 + ], + [ + 0.015108279883861542, + -0.9998559951782227, + 0.007738800253719091, + -16.83850860595703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1856, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638985_42267560", + "mask_path": "../../mask/hdr_left_01856.png" + }, + { + "file_path": "../../rgb/hdr_left_01858.png", + "transform_matrix": [ + [ + -0.795364499092102, + -0.00421484187245369, + 0.6061168313026428, + -27.817598342895508 + ], + [ + -0.6061228513717651, + 0.00023340586631093174, + -0.7953709959983826, + -8.222524642944336 + ], + [ + 0.003210891503840685, + -0.9999911189079285, + -0.002740351250395179, + -16.84207534790039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1858, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638985_242268085", + "mask_path": "../../mask/hdr_left_01858.png" + }, + { + "file_path": "../../rgb/hdr_left_01862.png", + "transform_matrix": [ + [ + -0.61874920129776, + 0.01534077525138855, + 0.7854387164115906, + -27.85563850402832 + ], + [ + -0.7853817939758301, + 0.010856996290385723, + -0.618916392326355, + -8.431004524230957 + ], + [ + -0.018022162839770317, + -0.9998233914375305, + 0.005330611485987902, + -16.87913703918457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1862, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638985_642267942", + "mask_path": "../../mask/hdr_left_01862.png" + }, + { + "file_path": "../../rgb/hdr_left_01864.png", + "transform_matrix": [ + [ + -0.5458671450614929, + 0.02526775747537613, + 0.8374906182289124, + -27.868057250976562 + ], + [ + -0.8375450968742371, + 0.011451400816440582, + -0.546248197555542, + -8.549102783203125 + ], + [ + -0.02339291013777256, + -0.9996151924133301, + 0.014911944977939129, + -16.902542114257812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1864, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638985_842267036", + "mask_path": "../../mask/hdr_left_01864.png" + }, + { + "file_path": "../../rgb/hdr_left_01867.png", + "transform_matrix": [ + [ + -0.44562605023384094, + 0.011618121527135372, + 0.8951437473297119, + -27.881044387817383 + ], + [ + -0.8945730924606323, + 0.03220287337899208, + -0.4457598924636841, + -8.695389747619629 + ], + [ + -0.03400509059429169, + -0.9994139075279236, + -0.003957174718379974, + -16.936140060424805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1867, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638986_142267465", + "mask_path": "../../mask/hdr_left_01867.png" + }, + { + "file_path": "../../rgb/hdr_left_01869.png", + "transform_matrix": [ + [ + -0.4397892951965332, + 0.011027362197637558, + 0.8980332612991333, + -27.902469635009766 + ], + [ + -0.8970759510993958, + 0.04236486926674843, + -0.43984076380729675, + -8.780402183532715 + ], + [ + -0.042895346879959106, + -0.9990413784980774, + -0.008739232085645199, + -16.927217483520508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1869, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638986_342268228", + "mask_path": "../../mask/hdr_left_01869.png" + }, + { + "file_path": "../../rgb/hdr_left_01871.png", + "transform_matrix": [ + [ + -0.4545383155345917, + 0.015002726577222347, + 0.8906008005142212, + -27.921329498291016 + ], + [ + -0.8896690607070923, + 0.041073985397815704, + -0.45475465059280396, + -8.863619804382324 + ], + [ + -0.043403077870607376, + -0.9990435242652893, + -0.005322234705090523, + -16.92131233215332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1871, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638986_542267322", + "mask_path": "../../mask/hdr_left_01871.png" + }, + { + "file_path": "../../rgb/hdr_left_01873.png", + "transform_matrix": [ + [ + -0.45359477400779724, + 0.0016420983010903, + 0.8912065029144287, + -27.93717384338379 + ], + [ + -0.8900348544120789, + 0.050458814948797226, + -0.45309141278266907, + -8.981992721557617 + ], + [ + -0.04571324586868286, + -0.9987248182296753, + -0.021426323801279068, + -16.933990478515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1873, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638986_742267608", + "mask_path": "../../mask/hdr_left_01873.png" + }, + { + "file_path": "../../rgb/hdr_left_01924.png", + "transform_matrix": [ + [ + -0.4999120831489563, + -0.025716988369822502, + 0.8656941652297974, + -28.1297607421875 + ], + [ + -0.8658860921859741, + 0.03577674552798271, + -0.4989601671695709, + -9.31441593170166 + ], + [ + -0.018139967694878578, + -0.9990288615226746, + -0.04015320912003517, + -16.909191131591797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1924, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638991_842267274", + "mask_path": "../../mask/hdr_left_01924.png" + }, + { + "file_path": "../../rgb/hdr_left_01926.png", + "transform_matrix": [ + [ + -0.474301815032959, + -0.022831076756119728, + 0.8800662159919739, + -28.172454833984375 + ], + [ + -0.8801783323287964, + 0.03273403272032738, + -0.47351303696632385, + -9.43954849243164 + ], + [ + -0.01799730397760868, + -0.9992033243179321, + -0.03562122583389282, + -16.992504119873047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1926, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_42267799", + "mask_path": "../../mask/hdr_left_01926.png" + }, + { + "file_path": "../../rgb/hdr_left_01927.png", + "transform_matrix": [ + [ + -0.4425104558467865, + -0.016078390181064606, + 0.8966192007064819, + -28.18633270263672 + ], + [ + -0.8965764045715332, + 0.02834424003958702, + -0.44198110699653625, + -9.507204055786133 + ], + [ + -0.018307646736502647, + -0.999468982219696, + -0.026958126574754715, + -17.031057357788086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1927, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_142267704", + "mask_path": "../../mask/hdr_left_01927.png" + }, + { + "file_path": "../../rgb/hdr_left_01929.png", + "transform_matrix": [ + [ + -0.36270010471343994, + 0.001566848368383944, + 0.9319045543670654, + -28.18053436279297 + ], + [ + -0.9317350387573242, + 0.01853281259536743, + -0.3626653254032135, + -9.601314544677734 + ], + [ + -0.01783905364573002, + -0.9998270869255066, + -0.00526196276769042, + -17.02598762512207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1929, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_342268228", + "mask_path": "../../mask/hdr_left_01929.png" + }, + { + "file_path": "../../rgb/hdr_left_01931.png", + "transform_matrix": [ + [ + -0.2625463306903839, + 0.0019746869802474976, + 0.9649173021316528, + -28.159740447998047 + ], + [ + -0.9644920229911804, + 0.02921866998076439, + -0.2624904215335846, + -9.703839302062988 + ], + [ + -0.028711939230561256, + -0.9995711445808411, + -0.00576668418943882, + -17.022878646850586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1931, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_542268514", + "mask_path": "../../mask/hdr_left_01931.png" + }, + { + "file_path": "../../rgb/hdr_left_01933.png", + "transform_matrix": [ + [ + -0.18496806919574738, + 0.006494552828371525, + 0.98272305727005, + -28.129541397094727 + ], + [ + -0.9822387099266052, + 0.03085784614086151, + -0.18508082628250122, + -9.812117576599121 + ], + [ + -0.03152673691511154, + -0.9995027780532837, + 0.0006714873597957194, + -17.05608558654785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1933, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_742268085", + "mask_path": "../../mask/hdr_left_01933.png" + }, + { + "file_path": "../../rgb/hdr_left_01934.png", + "transform_matrix": [ + [ + -0.17958712577819824, + 0.00978507287800312, + 0.9836934208869934, + -28.11928939819336 + ], + [ + -0.9829849600791931, + 0.03743651881814003, + -0.17983020842075348, + -9.872597694396973 + ], + [ + -0.03858570009469986, + -0.999251127243042, + 0.0028954660519957542, + -17.044723510742188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1934, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_842268228", + "mask_path": "../../mask/hdr_left_01934.png" + }, + { + "file_path": "../../rgb/hdr_left_01935.png", + "transform_matrix": [ + [ + -0.18244144320487976, + 0.008473619818687439, + 0.9831801056861877, + -28.112192153930664 + ], + [ + -0.9823744297027588, + 0.03980930522084236, + -0.18263503909111023, + -9.937357902526855 + ], + [ + -0.04068729281425476, + -0.9991713762283325, + 0.001061406102962792, + -17.028627395629883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1935, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_942269563", + "mask_path": "../../mask/hdr_left_01935.png" + }, + { + "file_path": "../../rgb/hdr_left_01936.png", + "transform_matrix": [ + [ + -0.18954318761825562, + 0.009886565618216991, + 0.9818225502967834, + -28.10820770263672 + ], + [ + -0.9811145663261414, + 0.03737233206629753, + -0.18978282809257507, + -9.990805625915527 + ], + [ + -0.03856929391622543, + -0.9992525577545166, + 0.0026161859277635813, + -17.01827621459961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1936, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_42268037", + "mask_path": "../../mask/hdr_left_01936.png" + }, + { + "file_path": "../../rgb/hdr_left_01937.png", + "transform_matrix": [ + [ + -0.19884587824344635, + 0.007856977172195911, + 0.9799991846084595, + -28.103273391723633 + ], + [ + -0.9794629216194153, + 0.032440345734357834, + -0.1989971548318863, + -10.07268238067627 + ], + [ + -0.03335502743721008, + -0.9994428157806396, + 0.0012449919013306499, + -17.012203216552734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1937, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_142268419", + "mask_path": "../../mask/hdr_left_01937.png" + }, + { + "file_path": "../../rgb/hdr_left_01938.png", + "transform_matrix": [ + [ + -0.198870450258255, + 0.0013644422870129347, + 0.9800247550010681, + -28.097702026367188 + ], + [ + -0.9794499278068542, + 0.03399929776787758, + -0.19880113005638123, + -10.167420387268066 + ], + [ + -0.03359140828251839, + -0.9994209408760071, + -0.005425049923360348, + -17.017026901245117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1938, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_242265701", + "mask_path": "../../mask/hdr_left_01938.png" + }, + { + "file_path": "../../rgb/hdr_left_01939.png", + "transform_matrix": [ + [ + -0.19361068308353424, + -0.003321979194879532, + 0.9810727834701538, + -28.089372634887695 + ], + [ + -0.9804402589797974, + 0.03671589493751526, + -0.1933615505695343, + -10.240918159484863 + ], + [ + -0.03537862375378609, + -0.9993203282356262, + -0.010365585796535015, + -17.0251522064209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1939, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_342267751", + "mask_path": "../../mask/hdr_left_01939.png" + }, + { + "file_path": "../../rgb/hdr_left_01940.png", + "transform_matrix": [ + [ + -0.18903343379497528, + 0.001036161556839943, + 0.9819700717926025, + -28.078601837158203 + ], + [ + -0.9812318682670593, + 0.038582220673561096, + -0.18893203139305115, + -10.3203706741333 + ], + [ + -0.03808235004544258, + -0.9992550015449524, + -0.006276610307395458, + -17.057538986206055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1940, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_442267179", + "mask_path": "../../mask/hdr_left_01940.png" + }, + { + "file_path": "../../rgb/hdr_left_01941.png", + "transform_matrix": [ + [ + -0.19123536348342896, + 0.00271915877237916, + 0.9815404415130615, + -28.07686996459961 + ], + [ + -0.9805275797843933, + 0.04497425630688667, + -0.1911625862121582, + -10.415223121643066 + ], + [ + -0.04466385021805763, + -0.9989845752716064, + -0.005934454966336489, + -17.08719253540039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1941, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_542270898", + "mask_path": "../../mask/hdr_left_01941.png" + }, + { + "file_path": "../../rgb/hdr_left_01942.png", + "transform_matrix": [ + [ + -0.1988811194896698, + 0.0010590829188004136, + 0.9800230264663696, + -28.083702087402344 + ], + [ + -0.9788769483566284, + 0.048144299536943436, + -0.19870057702064514, + -10.49482536315918 + ], + [ + -0.047392964363098145, + -0.9988398551940918, + -0.008538276888430119, + -17.07912826538086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1942, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_642268180", + "mask_path": "../../mask/hdr_left_01942.png" + }, + { + "file_path": "../../rgb/hdr_left_01943.png", + "transform_matrix": [ + [ + -0.20897725224494934, + 0.0001317925052717328, + 0.9779205322265625, + -28.087059020996094 + ], + [ + -0.9769330024719238, + 0.044899970293045044, + -0.20877227187156677, + -10.560985565185547 + ], + [ + -0.0439361110329628, + -0.9989914894104004, + -0.009254321455955505, + -17.0593204498291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1943, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_742268323", + "mask_path": "../../mask/hdr_left_01943.png" + }, + { + "file_path": "../../rgb/hdr_left_01944.png", + "transform_matrix": [ + [ + -0.21832680702209473, + -0.005323302932083607, + 0.9758611917495728, + -28.085920333862305 + ], + [ + -0.9750221371650696, + 0.04300466924905777, + -0.21790450811386108, + -10.666463851928711 + ], + [ + -0.040806613862514496, + -0.9990607500076294, + -0.0145794078707695, + -17.047534942626953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1944, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_842267751", + "mask_path": "../../mask/hdr_left_01944.png" + }, + { + "file_path": "../../rgb/hdr_left_01945.png", + "transform_matrix": [ + [ + -0.21916203200817108, + -0.016205891966819763, + 0.9755538702011108, + -28.08985710144043 + ], + [ + -0.9747963547706604, + 0.04638417437672615, + -0.21822132170200348, + -10.778678894042969 + ], + [ + -0.04171378165483475, + -0.9987922310829163, + -0.02596309222280979, + -17.074060440063477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1945, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_942268610", + "mask_path": "../../mask/hdr_left_01945.png" + }, + { + "file_path": "../../rgb/hdr_left_01946.png", + "transform_matrix": [ + [ + -0.21612900495529175, + -0.024412596598267555, + 0.9760595560073853, + -28.096282958984375 + ], + [ + -0.975469172000885, + 0.048207078129053116, + -0.21479256451129913, + -10.847603797912598 + ], + [ + -0.0418093316257, + -0.9985390305519104, + -0.03423267975449562, + -17.068946838378906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1946, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_42268514", + "mask_path": "../../mask/hdr_left_01946.png" + }, + { + "file_path": "../../rgb/hdr_left_01947.png", + "transform_matrix": [ + [ + -0.21453998982906342, + -0.024729391559958458, + 0.9764021635055542, + -28.09928321838379 + ], + [ + -0.9758700728416443, + 0.047003161162137985, + -0.2132326364517212, + -10.929421424865723 + ], + [ + -0.040620870888233185, + -0.9985885620117188, + -0.03421672433614731, + -17.071378707885742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1947, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_142268657", + "mask_path": "../../mask/hdr_left_01947.png" + }, + { + "file_path": "../../rgb/hdr_left_01948.png", + "transform_matrix": [ + [ + -0.21985845267772675, + -0.02124832384288311, + 0.9753003120422363, + -28.10919189453125 + ], + [ + -0.9744740724563599, + 0.051326774060726166, + -0.21855397522449493, + -11.037773132324219 + ], + [ + -0.04541510343551636, + -0.9984558820724487, + -0.03199055790901184, + -17.110450744628906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1948, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_242267131", + "mask_path": "../../mask/hdr_left_01948.png" + }, + { + "file_path": "../../rgb/hdr_left_01949.png", + "transform_matrix": [ + [ + -0.2306962013244629, + -0.017142057418823242, + 0.9728747606277466, + -28.12114906311035 + ], + [ + -0.9718253016471863, + 0.05371033400297165, + -0.22950096428394318, + -11.122349739074707 + ], + [ + -0.04831930622458458, + -0.9984094500541687, + -0.029049847275018692, + -17.114587783813477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1949, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_342268705", + "mask_path": "../../mask/hdr_left_01949.png" + }, + { + "file_path": "../../rgb/hdr_left_01950.png", + "transform_matrix": [ + [ + -0.24359433352947235, + -0.017641376703977585, + 0.9697167873382568, + -28.132509231567383 + ], + [ + -0.9688230752944946, + 0.05102691799402237, + -0.2424415647983551, + -11.183953285217285 + ], + [ + -0.04520465061068535, + -0.9985415935516357, + -0.029521236196160316, + -17.07587242126465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1950, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_442267417", + "mask_path": "../../mask/hdr_left_01950.png" + }, + { + "file_path": "../../rgb/hdr_left_01951.png", + "transform_matrix": [ + [ + -0.25405919551849365, + -0.02144216187298298, + 0.9669509530067444, + -28.13644027709961 + ], + [ + -0.9662705659866333, + 0.04917570576071739, + -0.2527899444103241, + -11.273335456848145 + ], + [ + -0.04213013872504234, + -0.9985599517822266, + -0.033212464302778244, + -17.089170455932617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1951, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_542267560", + "mask_path": "../../mask/hdr_left_01951.png" + }, + { + "file_path": "../../rgb/hdr_left_01952.png", + "transform_matrix": [ + [ + -0.255643367767334, + -0.030429812148213387, + 0.966292142868042, + -28.141111373901367 + ], + [ + -0.9657718539237976, + 0.053471460938453674, + -0.25382184982299805, + -11.374751091003418 + ], + [ + -0.04394529387354851, + -0.9981056451797485, + -0.043057881295681, + -17.125587463378906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1952, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_642268180", + "mask_path": "../../mask/hdr_left_01952.png" + }, + { + "file_path": "../../rgb/hdr_left_01953.png", + "transform_matrix": [ + [ + -0.25385504961013794, + -0.037077851593494415, + 0.9665313959121704, + -28.1485538482666 + ], + [ + -0.9662988781929016, + 0.053845979273319244, + -0.2517283260822296, + -11.455429077148438 + ], + [ + -0.04271027818322182, + -0.9978607892990112, + -0.04949735105037689, + -17.113662719726562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1953, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_742269039", + "mask_path": "../../mask/hdr_left_01953.png" + }, + { + "file_path": "../../rgb/hdr_left_01954.png", + "transform_matrix": [ + [ + -0.25124815106391907, + -0.03572828322649002, + 0.9672630429267883, + -28.15260124206543 + ], + [ + -0.9670833945274353, + 0.05087181553244591, + -0.24932242929935455, + -11.540210723876953 + ], + [ + -0.04029856249690056, + -0.9980659484863281, + -0.04733367636799812, + -17.12263298034668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1954, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_842268228", + "mask_path": "../../mask/hdr_left_01954.png" + }, + { + "file_path": "../../rgb/hdr_left_01955.png", + "transform_matrix": [ + [ + -0.24004273116588593, + -0.03144228085875511, + 0.9702529907226562, + -28.161365509033203 + ], + [ + -0.9697282314300537, + 0.053887154906988144, + -0.23816661536693573, + -11.649839401245117 + ], + [ + -0.04479566961526871, + -0.9980518817901611, + -0.04342568293213844, + -17.122743606567383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1955, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_942269325", + "mask_path": "../../mask/hdr_left_01955.png" + }, + { + "file_path": "../../rgb/hdr_left_01956.png", + "transform_matrix": [ + [ + -0.22257791459560394, + -0.025743048638105392, + 0.9745749235153198, + -28.16322135925293 + ], + [ + -0.973833441734314, + 0.05294249951839447, + -0.22101011872291565, + -11.718762397766113 + ], + [ + -0.045906953513622284, + -0.9982656836509705, + -0.03685327246785164, + -17.11176300048828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1956, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_42267799", + "mask_path": "../../mask/hdr_left_01956.png" + }, + { + "file_path": "../../rgb/hdr_left_01958.png", + "transform_matrix": [ + [ + -0.1832609474658966, + -0.006213534623384476, + 0.9830446839332581, + -28.14068603515625 + ], + [ + -0.9819929003715515, + 0.04783057048916817, + -0.18276254832744598, + -11.845901489257812 + ], + [ + -0.04588397964835167, + -0.9988361597061157, + -0.014867118559777737, + -17.11840057373047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1958, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_242267370", + "mask_path": "../../mask/hdr_left_01958.png" + }, + { + "file_path": "../../rgb/hdr_left_01959.png", + "transform_matrix": [ + [ + -0.15743514895439148, + -0.007437061984091997, + 0.987501323223114, + -28.131977081298828 + ], + [ + -0.9860279560089111, + 0.05630180239677429, + -0.15677621960639954, + -11.922009468078613 + ], + [ + -0.05443214252591133, + -0.9983860850334167, + -0.01619703136384487, + -17.137048721313477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1959, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_342268466", + "mask_path": "../../mask/hdr_left_01959.png" + }, + { + "file_path": "../../rgb/hdr_left_01960.png", + "transform_matrix": [ + [ + -0.1449909806251526, + -0.013243715278804302, + 0.9893442988395691, + -28.124711990356445 + ], + [ + -0.9876808524131775, + 0.061418745666742325, + -0.1439250111579895, + -11.977553367614746 + ], + [ + -0.05885818228125572, + -0.9980242252349854, + -0.021985724568367004, + -17.15310287475586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1960, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_442268133", + "mask_path": "../../mask/hdr_left_01960.png" + }, + { + "file_path": "../../rgb/hdr_left_01961.png", + "transform_matrix": [ + [ + -0.14116458594799042, + -0.012015635147690773, + 0.9899131655693054, + -28.113250732421875 + ], + [ + -0.9882206320762634, + 0.061399564146995544, + -0.14017796516418457, + -12.044909477233887 + ], + [ + -0.05909591168165207, + -0.9980409741401672, + -0.020541539415717125, + -17.155004501342773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1961, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_542267560", + "mask_path": "../../mask/hdr_left_01961.png" + }, + { + "file_path": "../../rgb/hdr_left_01962.png", + "transform_matrix": [ + [ + -0.13803759217262268, + -0.00396427046507597, + 0.9904189705848694, + -28.096784591674805 + ], + [ + -0.9885397553443909, + 0.06225455924868584, + -0.1375264972448349, + -12.127449989318848 + ], + [ + -0.0611129067838192, + -0.9980524778366089, + -0.01251230388879776, + -17.172361373901367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1962, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_642268896", + "mask_path": "../../mask/hdr_left_01962.png" + }, + { + "file_path": "../../rgb/hdr_left_01963.png", + "transform_matrix": [ + [ + -0.14120475947856903, + -0.004408399574458599, + 0.9899706244468689, + -28.083194732666016 + ], + [ + -0.9878454208374023, + 0.06626489758491516, + -0.1406065672636032, + -12.2197265625 + ], + [ + -0.06498043239116669, + -0.9977924227714539, + -0.01371172908693552, + -17.173521041870117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1963, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_742269754", + "mask_path": "../../mask/hdr_left_01963.png" + }, + { + "file_path": "../../rgb/hdr_left_01964.png", + "transform_matrix": [ + [ + -0.14810936152935028, + -0.0037632847670465708, + 0.9889638423919678, + -28.07390785217285 + ], + [ + -0.9868258237838745, + 0.0663914903998375, + -0.1475365161895752, + -12.300394058227539 + ], + [ + -0.06510356813669205, + -0.9977865815162659, + -0.013546905480325222, + -17.185914993286133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1964, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_842267990", + "mask_path": "../../mask/hdr_left_01964.png" + }, + { + "file_path": "../../rgb/hdr_left_01965.png", + "transform_matrix": [ + [ + -0.15913760662078857, + -0.0033533908426761627, + 0.9872506856918335, + -28.06486701965332 + ], + [ + -0.9854938983917236, + 0.06026717275381088, + -0.15864971280097961, + -12.379487037658691 + ], + [ + -0.05896679684519768, + -0.998176634311676, + -0.012895517982542515, + -17.196369171142578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1965, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_942269086", + "mask_path": "../../mask/hdr_left_01965.png" + }, + { + "file_path": "../../rgb/hdr_left_01966.png", + "transform_matrix": [ + [ + -0.1670214980840683, + -0.009494227357208729, + 0.9859075546264648, + -28.060453414916992 + ], + [ + -0.9844542741775513, + 0.05672492831945419, + -0.1662290245294571, + -12.47968578338623 + ], + [ + -0.05434731766581535, + -0.9983447194099426, + -0.01882091350853443, + -17.201658248901367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1966, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_42267560", + "mask_path": "../../mask/hdr_left_01966.png" + }, + { + "file_path": "../../rgb/hdr_left_01967.png", + "transform_matrix": [ + [ + -0.16664843261241913, + -0.017973395064473152, + 0.9858525395393372, + -28.054019927978516 + ], + [ + -0.9845864772796631, + 0.05685783922672272, + -0.16539782285690308, + -12.575895309448242 + ], + [ + -0.05308068171143532, + -0.9982205629348755, + -0.027171628549695015, + -17.20560073852539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1967, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_142267465", + "mask_path": "../../mask/hdr_left_01967.png" + }, + { + "file_path": "../../rgb/hdr_left_01968.png", + "transform_matrix": [ + [ + -0.16239899396896362, + -0.020202066749334335, + 0.9865183234214783, + -28.045482635498047 + ], + [ + -0.9853581786155701, + 0.055928293615579605, + -0.16106270253658295, + -12.653602600097656 + ], + [ + -0.051920484751462936, + -0.9982304573059082, + -0.028988968580961227, + -17.229175567626953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1968, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_242267370", + "mask_path": "../../mask/hdr_left_01968.png" + }, + { + "file_path": "../../rgb/hdr_left_01969.png", + "transform_matrix": [ + [ + -0.1553841233253479, + -0.017743775621056557, + 0.9876947999000549, + -28.038835525512695 + ], + [ + -0.9864050149917603, + 0.05692270025610924, + -0.1541586071252823, + -12.747036933898926 + ], + [ + -0.0534868948161602, + -0.9982209205627441, + -0.026347430422902107, + -17.23500633239746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1969, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_342267513", + "mask_path": "../../mask/hdr_left_01969.png" + }, + { + "file_path": "../../rgb/hdr_left_01970.png", + "transform_matrix": [ + [ + -0.15096725523471832, + -0.017689401283860207, + 0.988380491733551, + -28.041645050048828 + ], + [ + -0.9870585799217224, + 0.057389985769987106, + -0.14973820745944977, + -12.849388122558594 + ], + [ + -0.05407436192035675, + -0.9981951713562012, + -0.026124481111764908, + -17.21555519104004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1970, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_442268848", + "mask_path": "../../mask/hdr_left_01970.png" + }, + { + "file_path": "../../rgb/hdr_left_01971.png", + "transform_matrix": [ + [ + -0.14292871952056885, + -0.0166794341057539, + 0.989592432975769, + -28.04106903076172 + ], + [ + -0.9883871674537659, + 0.05452926829457283, + -0.141835555434227, + -12.923396110534668 + ], + [ + -0.051596008241176605, + -0.9983729124069214, + -0.024279534816741943, + -17.20988655090332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1971, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_542267560", + "mask_path": "../../mask/hdr_left_01971.png" + }, + { + "file_path": "../../rgb/hdr_left_01972.png", + "transform_matrix": [ + [ + -0.12984029948711395, + -0.013053485192358494, + 0.9914490580558777, + -28.030824661254883 + ], + [ + -0.9902845025062561, + 0.05190802365541458, + -0.1290043592453003, + -12.994424819946289 + ], + [ + -0.04978019371628761, + -0.9985665678977966, + -0.019666418433189392, + -17.2239990234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1972, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_642269372", + "mask_path": "../../mask/hdr_left_01972.png" + }, + { + "file_path": "../../rgb/hdr_left_01973.png", + "transform_matrix": [ + [ + -0.10975036025047302, + -0.01542113907635212, + 0.9938395619392395, + -28.016887664794922 + ], + [ + -0.9925252795219421, + 0.055387500673532486, + -0.10874579101800919, + -13.085580825805664 + ], + [ + -0.05336930602788925, + -0.9983459115028381, + -0.021384669467806816, + -17.24655532836914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1973, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_742267608", + "mask_path": "../../mask/hdr_left_01973.png" + }, + { + "file_path": "../../rgb/hdr_left_01974.png", + "transform_matrix": [ + [ + -0.08271488547325134, + -0.023101994767785072, + 0.9963054060935974, + -28.005233764648438 + ], + [ + -0.9949050545692444, + 0.05973466485738754, + -0.08121351152658463, + -13.18167781829834 + ], + [ + -0.0576377809047699, + -0.9979470372200012, + -0.02792523428797722, + -17.24039649963379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1974, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_842268705", + "mask_path": "../../mask/hdr_left_01974.png" + }, + { + "file_path": "../../rgb/hdr_left_01975.png", + "transform_matrix": [ + [ + -0.05521653592586517, + -0.022641658782958984, + 0.9982176423072815, + -27.988998413085938 + ], + [ + -0.9966913461685181, + 0.06097003072500229, + -0.05374917387962341, + -13.263204574584961 + ], + [ + -0.05964438244700432, + -0.9978827834129333, + -0.025933299213647842, + -17.243471145629883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1975, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_942267656", + "mask_path": "../../mask/hdr_left_01975.png" + }, + { + "file_path": "../../rgb/hdr_left_01976.png", + "transform_matrix": [ + [ + -0.03509620949625969, + -0.01603739522397518, + 0.9992552399635315, + -27.973356246948242 + ], + [ + -0.9975692629814148, + 0.060789115726947784, + -0.034061357378959656, + -13.356667518615723 + ], + [ + -0.06019757688045502, + -0.9980217814445496, + -0.01813187450170517, + -17.27002716064453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1976, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_42268037", + "mask_path": "../../mask/hdr_left_01976.png" + }, + { + "file_path": "../../rgb/hdr_left_01977.png", + "transform_matrix": [ + [ + -0.035913560539484024, + -0.015713626518845558, + 0.9992313385009766, + -27.957605361938477 + ], + [ + -0.9974645376205444, + 0.062033142894506454, + -0.034874528646469116, + -13.454580307006836 + ], + [ + -0.0614374503493309, + -0.9979504346847534, + -0.017901619896292686, + -17.282718658447266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1977, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_142266988", + "mask_path": "../../mask/hdr_left_01977.png" + }, + { + "file_path": "../../rgb/hdr_left_01978.png", + "transform_matrix": [ + [ + -0.04739485681056976, + -0.010794457979500294, + 0.9988179206848145, + -27.948734283447266 + ], + [ + -0.9969820976257324, + 0.06206139922142029, + -0.04663701727986336, + -13.531820297241211 + ], + [ + -0.06148461252450943, + -0.9980140328407288, + -0.013703268021345139, + -17.27143096923828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1978, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_242267608", + "mask_path": "../../mask/hdr_left_01978.png" + }, + { + "file_path": "../../rgb/hdr_left_01979.png", + "transform_matrix": [ + [ + -0.06099016219377518, + -0.01247979886829853, + 0.998060405254364, + -27.942493438720703 + ], + [ + -0.9965460300445557, + 0.05721890181303024, + -0.060182124376297, + -13.604963302612305 + ], + [ + -0.056356851011514664, + -0.9982836842536926, + -0.015926482155919075, + -17.22115707397461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1979, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_342267751", + "mask_path": "../../mask/hdr_left_01979.png" + }, + { + "file_path": "../../rgb/hdr_left_01980.png", + "transform_matrix": [ + [ + -0.06632143259048462, + -0.022699471563100815, + 0.9975400567054749, + -27.925920486450195 + ], + [ + -0.9962610602378845, + 0.056978851556777954, + -0.06493981927633286, + -13.721830368041992 + ], + [ + -0.05536458268761635, + -0.9981173872947693, + -0.02639351412653923, + -17.235458374023438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1980, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_442267894", + "mask_path": "../../mask/hdr_left_01980.png" + }, + { + "file_path": "../../rgb/hdr_left_01981.png", + "transform_matrix": [ + [ + -0.06553605943918228, + -0.03097737953066826, + 0.9973692893981934, + -27.90789031982422 + ], + [ + -0.9962955117225647, + 0.057805173099040985, + -0.06367012858390808, + -13.824408531188965 + ], + [ + -0.0556807667016983, + -0.9978471994400024, + -0.03465094044804573, + -17.247852325439453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1981, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_542267560", + "mask_path": "../../mask/hdr_left_01981.png" + }, + { + "file_path": "../../rgb/hdr_left_01982.png", + "transform_matrix": [ + [ + -0.06338776648044586, + -0.030630499124526978, + 0.99751877784729, + -27.89083480834961 + ], + [ + -0.9965245127677917, + 0.056070853024721146, + -0.06160282343626022, + -13.906916618347168 + ], + [ + -0.05404479801654816, + -0.9979569315910339, + -0.034078244119882584, + -17.271787643432617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1982, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_642268657", + "mask_path": "../../mask/hdr_left_01982.png" + }, + { + "file_path": "../../rgb/hdr_left_01983.png", + "transform_matrix": [ + [ + -0.0674571841955185, + -0.031568992882966995, + 0.9972225427627563, + -27.880001068115234 + ], + [ + -0.9960327744483948, + 0.06026945263147354, + -0.06546876579523087, + -14.015398979187012 + ], + [ + -0.05803527683019638, + -0.9976828098297119, + -0.03550935536623001, + -17.277463912963867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1983, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_742267370", + "mask_path": "../../mask/hdr_left_01983.png" + }, + { + "file_path": "../../rgb/hdr_left_01984.png", + "transform_matrix": [ + [ + -0.0772322416305542, + -0.031562384217977524, + 0.9965133666992188, + -27.873220443725586 + ], + [ + -0.9952332973480225, + 0.06213409826159477, + -0.07516507804393768, + -14.108626365661621 + ], + [ + -0.059545062482357025, + -0.997568666934967, + -0.03621068596839905, + -17.270156860351562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1984, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_842266559", + "mask_path": "../../mask/hdr_left_01984.png" + }, + { + "file_path": "../../rgb/hdr_left_01985.png", + "transform_matrix": [ + [ + -0.08876954764127731, + -0.03077123500406742, + 0.9955767393112183, + -27.868751525878906 + ], + [ + -0.9945105910301208, + 0.05832532420754433, + -0.08687176555395126, + -14.177408218383789 + ], + [ + -0.05539418011903763, + -0.9978232979774475, + -0.03577983006834984, + -17.252614974975586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1985, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_942267656", + "mask_path": "../../mask/hdr_left_01985.png" + }, + { + "file_path": "../../rgb/hdr_left_01986.png", + "transform_matrix": [ + [ + -0.09823843836784363, + -0.03360683470964432, + 0.9945952892303467, + -27.85797119140625 + ], + [ + -0.9938408732414246, + 0.05481092259287834, + -0.09631189703941345, + -14.273430824279785 + ], + [ + -0.05127794295549393, + -0.9979310631752014, + -0.03878437727689743, + -17.276107788085938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1986, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_42267560", + "mask_path": "../../mask/hdr_left_01986.png" + }, + { + "file_path": "../../rgb/hdr_left_01987.png", + "transform_matrix": [ + [ + -0.09968464076519012, + -0.042204245924949646, + 0.9941236972808838, + -27.847679138183594 + ], + [ + -0.9936282634735107, + 0.05702818185091019, + -0.09721388667821884, + -14.375617027282715 + ], + [ + -0.05259022116661072, + -0.9974800944328308, + -0.04762016236782074, + -17.29206657409668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1987, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_142269134", + "mask_path": "../../mask/hdr_left_01987.png" + }, + { + "file_path": "../../rgb/hdr_left_01988.png", + "transform_matrix": [ + [ + -0.09609279781579971, + -0.04582083225250244, + 0.9943171143531799, + -27.83548355102539 + ], + [ + -0.9939568638801575, + 0.05767210200428963, + -0.09340029954910278, + -14.458996772766113 + ], + [ + -0.053064681589603424, + -0.9972835779190063, + -0.05108579620718956, + -17.305355072021484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1988, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_242267370", + "mask_path": "../../mask/hdr_left_01988.png" + }, + { + "file_path": "../../rgb/hdr_left_01989.png", + "transform_matrix": [ + [ + -0.09318278729915619, + -0.04311035946011543, + 0.9947152733802795, + -27.8288516998291 + ], + [ + -0.9942976832389832, + 0.056062642484903336, + -0.09071394056081772, + -14.553766250610352 + ], + [ + -0.051855653524398804, + -0.9974961876869202, + -0.04808860272169113, + -17.31028938293457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1989, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_342267513", + "mask_path": "../../mask/hdr_left_01989.png" + }, + { + "file_path": "../../rgb/hdr_left_01990.png", + "transform_matrix": [ + [ + -0.09907672554254532, + -0.04176297038793564, + 0.9942030310630798, + -27.824874877929688 + ], + [ + -0.9935304522514343, + 0.05988185852766037, + -0.09649427980184555, + -14.663080215454102 + ], + [ + -0.05550483614206314, + -0.9973315000534058, + -0.047425687313079834, + -17.3076171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1990, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_442267417", + "mask_path": "../../mask/hdr_left_01990.png" + }, + { + "file_path": "../../rgb/hdr_left_01991.png", + "transform_matrix": [ + [ + -0.10961352288722992, + -0.03784342482686043, + 0.9932535886764526, + -27.825416564941406 + ], + [ + -0.9923153519630432, + 0.061875712126493454, + -0.10715246945619583, + -14.747550964355469 + ], + [ + -0.05740325525403023, + -0.997366189956665, + -0.0443350188434124, + -17.28851318359375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1991, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_542267560", + "mask_path": "../../mask/hdr_left_01991.png" + }, + { + "file_path": "../../rgb/hdr_left_01992.png", + "transform_matrix": [ + [ + -0.11815664917230606, + -0.03393012285232544, + 0.9924151301383972, + -27.820547103881836 + ], + [ + -0.9914980530738831, + 0.05888836830854416, + -0.11603409796953201, + -14.814312934875488 + ], + [ + -0.05450465530157089, + -0.9976878762245178, + -0.040599700063467026, + -17.275590896606445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1992, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_642268657", + "mask_path": "../../mask/hdr_left_01992.png" + }, + { + "file_path": "../../rgb/hdr_left_01993.png", + "transform_matrix": [ + [ + -0.11930283159017563, + -0.03657170757651329, + 0.9921841025352478, + -27.807785034179688 + ], + [ + -0.9913814663887024, + 0.058864980936050415, + -0.11703656613826752, + -14.914051055908203 + ], + [ + -0.05412466451525688, + -0.9975959062576294, + -0.04327927157282829, + -17.29395294189453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1993, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_742268323", + "mask_path": "../../mask/hdr_left_01993.png" + }, + { + "file_path": "../../rgb/hdr_left_01994.png", + "transform_matrix": [ + [ + -0.11139273643493652, + -0.045949582010507584, + 0.9927136301994324, + -27.7945499420166 + ], + [ + -0.9921921491622925, + 0.061525847762823105, + -0.10848637670278549, + -15.021486282348633 + ], + [ + -0.05609264224767685, + -0.9970473647117615, + -0.05244433507323265, + -17.303037643432617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1994, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_842267751", + "mask_path": "../../mask/hdr_left_01994.png" + }, + { + "file_path": "../../rgb/hdr_left_01995.png", + "transform_matrix": [ + [ + -0.09472787380218506, + -0.051343392580747604, + 0.994178295135498, + -27.784963607788086 + ], + [ + -0.9939308762550354, + 0.06098400056362152, + -0.09155484288930893, + -15.102521896362305 + ], + [ + -0.05592823028564453, + -0.9968173503875732, + -0.05680866539478302, + -17.293872833251953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1995, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_942267656", + "mask_path": "../../mask/hdr_left_01995.png" + }, + { + "file_path": "../../rgb/hdr_left_01996.png", + "transform_matrix": [ + [ + -0.07551690191030502, + -0.04652398079633713, + 0.9960585236549377, + -27.76479721069336 + ], + [ + -0.9955863952636719, + 0.05933893471956253, + -0.07270951569080353, + -15.181251525878906 + ], + [ + -0.05572231486439705, + -0.9971531629562378, + -0.05079973116517067, + -17.328920364379883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1996, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_42267084", + "mask_path": "../../mask/hdr_left_01996.png" + }, + { + "file_path": "../../rgb/hdr_right_01485.png", + "transform_matrix": [ + [ + 0.7938892245292664, + 0.26294106245040894, + -0.5482717156410217, + -25.1453857421875 + ], + [ + 0.5301528573036194, + 0.14226630330085754, + 0.835881769657135, + -14.470712661743164 + ], + [ + 0.29778820276260376, + -0.954265296459198, + -0.026455262675881386, + -13.25974178314209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1485, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638949_242267847", + "mask_path": "../../mask/hdr_right_01485.png" + }, + { + "file_path": "../../rgb/hdr_right_01509.png", + "transform_matrix": [ + [ + 0.9310823678970337, + 0.23973172903060913, + 0.27498072385787964, + -25.30750274658203 + ], + [ + -0.3015648424625397, + 0.08161090314388275, + 0.9499464631080627, + -14.300835609436035 + ], + [ + 0.20529088377952576, + -0.9674028754234314, + 0.14828112721443176, + -13.273275375366211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1509, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638951_642268180", + "mask_path": "../../mask/hdr_right_01509.png" + }, + { + "file_path": "../../rgb/hdr_right_01512.png", + "transform_matrix": [ + [ + 0.8755620121955872, + 0.23936821520328522, + 0.4196355938911438, + -25.277938842773438 + ], + [ + -0.44810205698013306, + 0.07777438312768936, + 0.8905928730964661, + -14.209696769714355 + ], + [ + 0.1805427521467209, + -0.9678088426589966, + 0.17535769939422607, + -13.26897144317627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1512, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638951_942266941", + "mask_path": "../../mask/hdr_right_01512.png" + }, + { + "file_path": "../../rgb/hdr_right_01515.png", + "transform_matrix": [ + [ + 0.8493967056274414, + 0.2264450192451477, + 0.4767053425312042, + -25.248855590820312 + ], + [ + -0.5029519200325012, + 0.07366776466369629, + 0.8611692786216736, + -14.152093887329102 + ], + [ + 0.15988966822624207, + -0.9712340831756592, + 0.17646411061286926, + -13.248263359069824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1515, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638952_242267370", + "mask_path": "../../mask/hdr_right_01515.png" + }, + { + "file_path": "../../rgb/hdr_right_01517.png", + "transform_matrix": [ + [ + 0.8440356850624084, + 0.20969340205192566, + 0.49359130859375, + -25.251249313354492 + ], + [ + -0.5155179500579834, + 0.06358712911605835, + 0.8545162081718445, + -14.094730377197266 + ], + [ + 0.14780035614967346, + -0.9756973385810852, + 0.1617705076932907, + -13.226046562194824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1517, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638952_442267417", + "mask_path": "../../mask/hdr_right_01517.png" + }, + { + "file_path": "../../rgb/hdr_right_01519.png", + "transform_matrix": [ + [ + 0.8470169901847839, + 0.19574211537837982, + 0.49421387910842896, + -25.296342849731445 + ], + [ + -0.5098438262939453, + 0.03609257563948631, + 0.8595095276832581, + -14.041939735412598 + ], + [ + 0.15040476620197296, + -0.9799910187721252, + 0.1303689330816269, + -13.24892520904541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1519, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638952_642267942", + "mask_path": "../../mask/hdr_right_01519.png" + }, + { + "file_path": "../../rgb/hdr_right_01521.png", + "transform_matrix": [ + [ + 0.8427579998970032, + 0.19337968528270721, + 0.5023578405380249, + -25.364559173583984 + ], + [ + -0.5129611492156982, + 0.0055918823927640915, + 0.8583936095237732, + -14.000828742980957 + ], + [ + 0.16318678855895996, + -0.9811080694198608, + 0.10390885919332504, + -13.27939224243164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1521, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638952_842267513", + "mask_path": "../../mask/hdr_right_01521.png" + }, + { + "file_path": "../../rgb/hdr_right_01523.png", + "transform_matrix": [ + [ + 0.8337312340736389, + 0.20092655718326569, + 0.5143157243728638, + -25.448240280151367 + ], + [ + -0.5230570435523987, + -0.011069453321397305, + 0.8522257804870605, + -13.947383880615234 + ], + [ + 0.17692799866199493, + -0.9795437455177307, + 0.0958671122789383, + -13.307995796203613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1523, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_42267799", + "mask_path": "../../mask/hdr_right_01523.png" + }, + { + "file_path": "../../rgb/hdr_right_01524.png", + "transform_matrix": [ + [ + 0.8325408697128296, + 0.20884203910827637, + 0.5130895376205444, + -25.495325088500977 + ], + [ + -0.5225211381912231, + -0.011555027216672897, + 0.8525480031967163, + -13.919328689575195 + ], + [ + 0.18397663533687592, + -0.977881133556366, + 0.09950434416532516, + -13.309737205505371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1524, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_142267704", + "mask_path": "../../mask/hdr_right_01524.png" + }, + { + "file_path": "../../rgb/hdr_right_01526.png", + "transform_matrix": [ + [ + 0.8213789463043213, + 0.21374976634979248, + 0.5288172960281372, + -25.554035186767578 + ], + [ + -0.5396140217781067, + -0.009186876937747002, + 0.8418623805046082, + -13.864176750183105 + ], + [ + 0.18480606377124786, + -0.9768452644348145, + 0.10779649019241333, + -13.331183433532715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1526, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_342268228", + "mask_path": "../../mask/hdr_right_01526.png" + }, + { + "file_path": "../../rgb/hdr_right_01528.png", + "transform_matrix": [ + [ + 0.7873780131340027, + 0.21348336338996887, + 0.5783258676528931, + -25.597684860229492 + ], + [ + -0.5807477831840515, + -0.05783950537443161, + 0.8120262026786804, + -13.802032470703125 + ], + [ + 0.20680417120456696, + -0.9752330183982849, + 0.07843844592571259, + -13.361390113830566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1528, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_542268276", + "mask_path": "../../mask/hdr_right_01528.png" + }, + { + "file_path": "../../rgb/hdr_right_01530.png", + "transform_matrix": [ + [ + 0.7367143630981445, + 0.22912532091140747, + 0.6362025141716003, + -25.60457992553711 + ], + [ + -0.6394153833389282, + -0.07005149126052856, + 0.7656636238098145, + -13.741314888000488 + ], + [ + 0.21999983489513397, + -0.9708729982376099, + 0.09489832818508148, + -13.378384590148926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1530, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_742269277", + "mask_path": "../../mask/hdr_right_01530.png" + }, + { + "file_path": "../../rgb/hdr_right_01532.png", + "transform_matrix": [ + [ + 0.6517342925071716, + 0.21873898804187775, + 0.7262201309204102, + -25.605907440185547 + ], + [ + -0.727147102355957, + -0.09202826023101807, + 0.6802852749824524, + -13.669682502746582 + ], + [ + 0.215637668967247, + -0.9714339971542358, + 0.09907744824886322, + -13.387785911560059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1532, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638953_942267656", + "mask_path": "../../mask/hdr_right_01532.png" + }, + { + "file_path": "../../rgb/hdr_right_01564.png", + "transform_matrix": [ + [ + 0.18484699726104736, + 0.26612329483032227, + 0.946049690246582, + -25.645980834960938 + ], + [ + -0.9083614349365234, + -0.32116687297821045, + 0.26782721281051636, + -13.183403015136719 + ], + [ + 0.3751148581504822, + -0.9088620543479919, + 0.1823694407939911, + -13.676443099975586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1564, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638957_142267465", + "mask_path": "../../mask/hdr_right_01564.png" + }, + { + "file_path": "../../rgb/hdr_right_01565.png", + "transform_matrix": [ + [ + 0.1894647181034088, + 0.24724993109703064, + 0.9502477049827576, + -25.642723083496094 + ], + [ + -0.9022795557975769, + -0.3378845751285553, + 0.26781657338142395, + -13.130114555358887 + ], + [ + 0.38729166984558105, + -0.9081307649612427, + 0.15907135605812073, + -13.710328102111816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1565, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638957_242269277", + "mask_path": "../../mask/hdr_right_01565.png" + }, + { + "file_path": "../../rgb/hdr_right_01577.png", + "transform_matrix": [ + [ + 0.27705198526382446, + 0.1446080505847931, + 0.9499108791351318, + -25.68737030029297 + ], + [ + -0.8698173761367798, + -0.38228678703308105, + 0.31188860535621643, + -12.760581970214844 + ], + [ + 0.4082399606704712, + -0.9126583337783813, + 0.019869297742843628, + -13.782134056091309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1577, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638958_442270994", + "mask_path": "../../mask/hdr_right_01577.png" + }, + { + "file_path": "../../rgb/hdr_right_01578.png", + "transform_matrix": [ + [ + 0.2848586440086365, + 0.15225602686405182, + 0.9464003443717957, + -25.707536697387695 + ], + [ + -0.8717166781425476, + -0.3695105314254761, + 0.32182595133781433, + -12.703850746154785 + ], + [ + 0.39870485663414, + -0.9166678786277771, + 0.027465850114822388, + -13.819609642028809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1578, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638958_542269706", + "mask_path": "../../mask/hdr_right_01578.png" + }, + { + "file_path": "../../rgb/hdr_right_01580.png", + "transform_matrix": [ + [ + 0.27006325125694275, + 0.16488640010356903, + 0.9486193060874939, + -25.649890899658203 + ], + [ + -0.901779294013977, + -0.30196112394332886, + 0.30921441316604614, + -12.581990242004395 + ], + [ + 0.3374313712120056, + -0.938952624797821, + 0.06714252382516861, + -13.798384666442871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1580, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638958_742268323", + "mask_path": "../../mask/hdr_right_01580.png" + }, + { + "file_path": "../../rgb/hdr_right_01581.png", + "transform_matrix": [ + [ + 0.21502771973609924, + 0.14541557431221008, + 0.9657212495803833, + -25.614765167236328 + ], + [ + -0.9363982081413269, + -0.250125527381897, + 0.24616184830665588, + -12.525010108947754 + ], + [ + 0.27734729647636414, + -0.9572312235832214, + 0.08238295465707779, + -13.718666076660156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1581, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638958_842267036", + "mask_path": "../../mask/hdr_right_01581.png" + }, + { + "file_path": "../../rgb/hdr_right_01582.png", + "transform_matrix": [ + [ + 0.18890364468097687, + 0.1554667204618454, + 0.9696111083030701, + -25.607717514038086 + ], + [ + -0.941982626914978, + -0.25029584765434265, + 0.223653182387352, + -12.580805778503418 + ], + [ + 0.2774602174758911, + -0.9556056261062622, + 0.0991651713848114, + -13.710222244262695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1582, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638958_942268848", + "mask_path": "../../mask/hdr_right_01582.png" + }, + { + "file_path": "../../rgb/hdr_right_01583.png", + "transform_matrix": [ + [ + 0.19414156675338745, + 0.16587001085281372, + 0.9668486714363098, + -25.61039924621582 + ], + [ + -0.9345179796218872, + -0.2684386372566223, + 0.23370224237442017, + -12.632196426391602 + ], + [ + 0.29830366373062134, + -0.9489087462425232, + 0.10289344191551208, + -13.760988235473633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1583, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638959_42268991", + "mask_path": "../../mask/hdr_right_01583.png" + }, + { + "file_path": "../../rgb/hdr_right_01630.png", + "transform_matrix": [ + [ + 0.2705041170120239, + 0.1481853872537613, + 0.951245903968811, + -25.572450637817383 + ], + [ + -0.9257315993309021, + -0.23121419548988342, + 0.29926732182502747, + -12.654376983642578 + ], + [ + 0.2642885744571686, + -0.9615513682365417, + 0.07463552057743073, + -13.804258346557617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1630, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638963_742267370", + "mask_path": "../../mask/hdr_right_01630.png" + }, + { + "file_path": "../../rgb/hdr_right_01635.png", + "transform_matrix": [ + [ + 0.30371686816215515, + 0.19328445196151733, + 0.9329507946968079, + -25.56255340576172 + ], + [ + -0.894286036491394, + -0.279935359954834, + 0.349125474691391, + -12.760187149047852 + ], + [ + 0.3286464214324951, + -0.9403601884841919, + 0.08783051371574402, + -13.789124488830566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1635, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638964_242267847", + "mask_path": "../../mask/hdr_right_01635.png" + }, + { + "file_path": "../../rgb/hdr_right_01648.png", + "transform_matrix": [ + [ + 0.30595168471336365, + 0.24838604032993317, + 0.9190744757652283, + -25.55681610107422 + ], + [ + -0.8616251945495605, + -0.3383888006210327, + 0.3782791495323181, + -12.843958854675293 + ], + [ + 0.40496379137039185, + -0.9076328277587891, + 0.11048503965139389, + -13.767195701599121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1648, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638965_542268037", + "mask_path": "../../mask/hdr_right_01648.png" + }, + { + "file_path": "../../rgb/hdr_right_01658.png", + "transform_matrix": [ + [ + 0.38922831416130066, + 0.19926023483276367, + 0.8993313312530518, + -25.697612762451172 + ], + [ + -0.8187263607978821, + -0.3725752532482147, + 0.4368923306465149, + -13.000020980834961 + ], + [ + 0.42212384939193726, + -0.9063569903373718, + 0.01812278851866722, + -13.738508224487305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1658, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638966_542267799", + "mask_path": "../../mask/hdr_right_01658.png" + }, + { + "file_path": "../../rgb/hdr_right_01679.png", + "transform_matrix": [ + [ + 0.40167656540870667, + 0.11303456872701645, + 0.9087789058685303, + -25.720897674560547 + ], + [ + -0.8253476619720459, + -0.38530436158180237, + 0.4127247631549835, + -13.147961616516113 + ], + [ + 0.3968086540699005, + -0.9158404469490051, + -0.06147490069270134, + -13.72169303894043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1679, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638968_642268180", + "mask_path": "../../mask/hdr_right_01679.png" + }, + { + "file_path": "../../rgb/hdr_right_01685.png", + "transform_matrix": [ + [ + 0.39394402503967285, + 0.15340079367160797, + 0.906243085861206, + -25.807559967041016 + ], + [ + -0.8135606050491333, + -0.4006064236164093, + 0.42146602272987366, + -13.010109901428223 + ], + [ + 0.427700012922287, + -0.9033176302909851, + -0.0330156609416008, + -13.812603950500488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1685, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638969_242268085", + "mask_path": "../../mask/hdr_right_01685.png" + }, + { + "file_path": "../../rgb/hdr_right_01697.png", + "transform_matrix": [ + [ + 0.21611620485782623, + 0.10429650545120239, + 0.9707812666893005, + -25.751293182373047 + ], + [ + -0.8384250402450562, + -0.48969128727912903, + 0.23926123976707458, + -12.845792770385742 + ], + [ + 0.5003371834754944, + -0.8656353950500488, + -0.01838541217148304, + -13.893061637878418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1697, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638970_442266702", + "mask_path": "../../mask/hdr_right_01697.png" + }, + { + "file_path": "../../rgb/hdr_right_01701.png", + "transform_matrix": [ + [ + 0.2177276760339737, + 0.11742508411407471, + 0.968920111656189, + -25.735048294067383 + ], + [ + -0.8397677540779114, + -0.48336341977119446, + 0.24728526175022125, + -12.706794738769531 + ], + [ + 0.49737799167633057, + -0.867508590221405, + -0.006631797179579735, + -14.022195816040039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1701, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638970_842267274", + "mask_path": "../../mask/hdr_right_01701.png" + }, + { + "file_path": "../../rgb/hdr_right_01702.png", + "transform_matrix": [ + [ + 0.21368134021759033, + 0.10183744877576828, + 0.9715809226036072, + -25.742328643798828 + ], + [ + -0.8500416278839111, + -0.47073906660079956, + 0.23629210889339447, + -12.64127254486084 + ], + [ + 0.4814245104789734, + -0.8763754367828369, + -0.01402208860963583, + -14.060466766357422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1702, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638970_942267179", + "mask_path": "../../mask/hdr_right_01702.png" + }, + { + "file_path": "../../rgb/hdr_right_01705.png", + "transform_matrix": [ + [ + 0.22790980339050293, + 0.07237731665372849, + 0.9709885120391846, + -25.77568817138672 + ], + [ + -0.8550599217414856, + -0.4621451795101166, + 0.23514734208583832, + -12.513871192932129 + ], + [ + 0.46575692296028137, + -0.8838458061218262, + -0.04344044625759125, + -14.125194549560547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1705, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638971_242267608", + "mask_path": "../../mask/hdr_right_01705.png" + }, + { + "file_path": "../../rgb/hdr_right_01706.png", + "transform_matrix": [ + [ + 0.23209795355796814, + 0.06327749788761139, + 0.9706321358680725, + -25.798032760620117 + ], + [ + -0.8538879156112671, + -0.46464794874191284, + 0.23447337746620178, + -12.472084999084473 + ], + [ + 0.46583908796310425, + -0.8832316994667053, + -0.0538119338452816, + -14.156505584716797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1706, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638971_342268228", + "mask_path": "../../mask/hdr_right_01706.png" + }, + { + "file_path": "../../rgb/hdr_right_01707.png", + "transform_matrix": [ + [ + 0.23948153853416443, + 0.061330050230026245, + 0.9689619541168213, + -25.81612777709961 + ], + [ + -0.8520219922065735, + -0.4652372896671295, + 0.2400265336036682, + -12.427163124084473 + ], + [ + 0.465518057346344, + -0.8830589056015015, + -0.05916118249297142, + -14.19843864440918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1707, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638971_442268371", + "mask_path": "../../mask/hdr_right_01707.png" + }, + { + "file_path": "../../rgb/hdr_right_01708.png", + "transform_matrix": [ + [ + 0.24833056330680847, + 0.06399627029895782, + 0.9665591716766357, + -25.829700469970703 + ], + [ + -0.8481740355491638, + -0.46761295199394226, + 0.24887561798095703, + -12.375728607177734 + ], + [ + 0.46790269017219543, + -0.8816136717796326, + -0.06184260919690132, + -14.23104476928711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1708, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638971_542268991", + "mask_path": "../../mask/hdr_right_01708.png" + }, + { + "file_path": "../../rgb/hdr_right_01712.png", + "transform_matrix": [ + [ + 0.24928778409957886, + 0.11302919685840607, + 0.961810827255249, + -25.826854705810547 + ], + [ + -0.8334599733352661, + -0.4807093143463135, + 0.27251261472702026, + -12.237945556640625 + ], + [ + 0.49315330386161804, + -0.8695647716522217, + -0.025629645213484764, + -14.353677749633789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1712, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638971_942267656", + "mask_path": "../../mask/hdr_right_01712.png" + }, + { + "file_path": "../../rgb/hdr_right_01713.png", + "transform_matrix": [ + [ + 0.24773705005645752, + 0.12071989476680756, + 0.9612768292427063, + -25.826404571533203 + ], + [ + -0.8319118618965149, + -0.48201248049736023, + 0.27493005990982056, + -12.186816215515137 + ], + [ + 0.4965369701385498, + -0.867807924747467, + -0.018984027206897736, + -14.403495788574219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1713, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_42267084", + "mask_path": "../../mask/hdr_right_01713.png" + }, + { + "file_path": "../../rgb/hdr_right_01716.png", + "transform_matrix": [ + [ + 0.2553246319293976, + 0.10451043397188187, + 0.961190402507782, + -25.84480857849121 + ], + [ + -0.8334761261940002, + -0.4800647497177124, + 0.27359697222709656, + -12.052080154418945 + ], + [ + 0.49002736806869507, + -0.870985209941864, + -0.03546540066599846, + -14.502138137817383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1716, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_342267751", + "mask_path": "../../mask/hdr_right_01716.png" + }, + { + "file_path": "../../rgb/hdr_right_01717.png", + "transform_matrix": [ + [ + 0.2531616985797882, + 0.09309469908475876, + 0.9629344344139099, + -25.8463134765625 + ], + [ + -0.8349582552909851, + -0.48170796036720276, + 0.2660865783691406, + -11.993210792541504 + ], + [ + 0.4886244237422943, + -0.8713729977607727, + -0.04421980679035187, + -14.519450187683105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1717, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_442270278", + "mask_path": "../../mask/hdr_right_01717.png" + }, + { + "file_path": "../../rgb/hdr_right_01718.png", + "transform_matrix": [ + [ + 0.2542220652103424, + 0.09422072768211365, + 0.9625453948974609, + -25.841096878051758 + ], + [ + -0.832711935043335, + -0.48486262559890747, + 0.26739296317100525, + -11.923765182495117 + ], + [ + 0.49189627170562744, + -0.8695002794265747, + -0.04480404779314995, + -14.567479133605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1718, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_542267799", + "mask_path": "../../mask/hdr_right_01718.png" + }, + { + "file_path": "../../rgb/hdr_right_01719.png", + "transform_matrix": [ + [ + 0.2597503662109375, + 0.10194701701402664, + 0.9602794647216797, + -25.849716186523438 + ], + [ + -0.8274978399276733, + -0.4890863299369812, + 0.27575692534446716, + -11.87636947631836 + ], + [ + 0.49777212738990784, + -0.8662571310997009, + -0.04267939180135727, + -14.610493659973145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1719, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_642268896", + "mask_path": "../../mask/hdr_right_01719.png" + }, + { + "file_path": "../../rgb/hdr_right_01721.png", + "transform_matrix": [ + [ + 0.2590779960155487, + 0.12456003576517105, + 0.9577909111976624, + -25.84137535095215 + ], + [ + -0.8203893899917603, + -0.4949779212474823, + 0.28628310561180115, + -11.822582244873047 + ], + [ + 0.5097448825836182, + -0.859931230545044, + -0.0260501429438591, + -14.663281440734863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1721, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_842268705", + "mask_path": "../../mask/hdr_right_01721.png" + }, + { + "file_path": "../../rgb/hdr_right_01722.png", + "transform_matrix": [ + [ + 0.2587595582008362, + 0.14017538726329803, + 0.9557167291641235, + -25.840356826782227 + ], + [ + -0.815351128578186, + -0.4988139271736145, + 0.2939169108867645, + -11.773713111877441 + ], + [ + 0.5179247260093689, + -0.8552984595298767, + -0.014780696481466293, + -14.702752113342285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1722, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638972_942268371", + "mask_path": "../../mask/hdr_right_01722.png" + }, + { + "file_path": "../../rgb/hdr_right_01723.png", + "transform_matrix": [ + [ + 0.2574451267719269, + 0.14201828837394714, + 0.9557995796203613, + -25.85157585144043 + ], + [ + -0.8184882998466492, + -0.4937080442905426, + 0.29381829500198364, + -11.706548690795898 + ], + [ + 0.5136135220527649, + -0.857952892780304, + -0.010862410068511963, + -14.745247840881348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1723, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_42268991", + "mask_path": "../../mask/hdr_right_01723.png" + }, + { + "file_path": "../../rgb/hdr_right_01724.png", + "transform_matrix": [ + [ + 0.24961893260478973, + 0.13956795632839203, + 0.9582334160804749, + -25.86012077331543 + ], + [ + -0.8261497616767883, + -0.48551246523857117, + 0.28592678904533386, + -11.64411449432373 + ], + [ + 0.505140483379364, + -0.8630170226097107, + -0.0058890399523079395, + -14.789700508117676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1724, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_142267942", + "mask_path": "../../mask/hdr_right_01724.png" + }, + { + "file_path": "../../rgb/hdr_right_01727.png", + "transform_matrix": [ + [ + 0.22876589000225067, + 0.10887479037046432, + 0.9673740267753601, + -25.85733985900879 + ], + [ + -0.8446785807609558, + -0.47178956866264343, + 0.2528490722179413, + -11.535086631774902 + ], + [ + 0.48392584919929504, + -0.8749632835388184, + -0.01596515253186226, + -14.856471061706543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1727, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_442268610", + "mask_path": "../../mask/hdr_right_01727.png" + }, + { + "file_path": "../../rgb/hdr_right_01728.png", + "transform_matrix": [ + [ + 0.2281305342912674, + 0.09120965003967285, + 0.9693488478660583, + -25.872516632080078 + ], + [ + -0.8426515460014343, + -0.48025524616241455, + 0.24350206553936005, + -11.48416519165039 + ], + [ + 0.48774462938308716, + -0.872373640537262, + -0.03270293399691582, + -14.888322830200195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1728, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_542268037", + "mask_path": "../../mask/hdr_right_01728.png" + }, + { + "file_path": "../../rgb/hdr_right_01729.png", + "transform_matrix": [ + [ + 0.23141105473041534, + 0.08677197992801666, + 0.9689786434173584, + -25.874940872192383 + ], + [ + -0.8367648720741272, + -0.4903198182582855, + 0.2437439113855362, + -11.425909996032715 + ], + [ + 0.4962595999240875, + -0.8672122359275818, + -0.04085768386721611, + -14.936162948608398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1729, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_642269372", + "mask_path": "../../mask/hdr_right_01729.png" + }, + { + "file_path": "../../rgb/hdr_right_01730.png", + "transform_matrix": [ + [ + 0.23989081382751465, + 0.08110353350639343, + 0.967406153678894, + -25.880491256713867 + ], + [ + -0.8325846195220947, + -0.4952857792377472, + 0.24798153340816498, + -11.375600814819336 + ], + [ + 0.49925467371940613, + -0.8649359941482544, + -0.05128895491361618, + -14.974989891052246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1730, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_742269277", + "mask_path": "../../mask/hdr_right_01730.png" + }, + { + "file_path": "../../rgb/hdr_right_01732.png", + "transform_matrix": [ + [ + 0.2403658628463745, + 0.08758187294006348, + 0.9667232036590576, + -25.879213333129883 + ], + [ + -0.8254908323287964, + -0.5055098533630371, + 0.2510473430156708, + -11.329739570617676 + ], + [ + 0.5106752514839172, + -0.8583642244338989, + -0.049209266901016235, + -15.02416706085205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1732, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638973_942267894", + "mask_path": "../../mask/hdr_right_01732.png" + }, + { + "file_path": "../../rgb/hdr_right_01733.png", + "transform_matrix": [ + [ + 0.24319982528686523, + 0.10207017511129379, + 0.9645909070968628, + -25.886985778808594 + ], + [ + -0.8194457292556763, + -0.5104753375053406, + 0.26062172651290894, + -11.291916847229004 + ], + [ + 0.5190016031265259, + -0.8538129329681396, + -0.04050654172897339, + -15.07083511352539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1733, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_42269468", + "mask_path": "../../mask/hdr_right_01733.png" + }, + { + "file_path": "../../rgb/hdr_right_01734.png", + "transform_matrix": [ + [ + 0.24440130591392517, + 0.10568615794181824, + 0.9638975262641907, + -25.898012161254883 + ], + [ + -0.8207347989082336, + -0.5068247318267822, + 0.26367223262786865, + -11.214034080505371 + ], + [ + 0.5163936614990234, + -0.8555460572242737, + -0.037128329277038574, + -15.11018180847168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1734, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_142267227", + "mask_path": "../../mask/hdr_right_01734.png" + }, + { + "file_path": "../../rgb/hdr_right_01735.png", + "transform_matrix": [ + [ + 0.23968710005283356, + 0.10133450478315353, + 0.9655472040176392, + -25.908077239990234 + ], + [ + -0.8243356943130493, + -0.5041263103485107, + 0.2575410306453705, + -11.152901649475098 + ], + [ + 0.512855589389801, + -0.8576642274856567, + -0.03729891777038574, + -15.151906967163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1735, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_242268562", + "mask_path": "../../mask/hdr_right_01735.png" + }, + { + "file_path": "../../rgb/hdr_right_01738.png", + "transform_matrix": [ + [ + 0.24840320646762848, + 0.06592653691768646, + 0.966410756111145, + -25.944747924804688 + ], + [ + -0.8276059031486511, + -0.503990888595581, + 0.24710647761821747, + -11.051300048828125 + ], + [ + 0.5033530592918396, + -0.8611891865730286, + -0.07063174992799759, + -15.244665145874023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1738, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_542268753", + "mask_path": "../../mask/hdr_right_01738.png" + }, + { + "file_path": "../../rgb/hdr_right_01739.png", + "transform_matrix": [ + [ + 0.24755872786045074, + 0.05337394401431084, + 0.9674016833305359, + -25.950668334960938 + ], + [ + -0.8262954950332642, + -0.5097453594207764, + 0.23957349359989166, + -11.012248039245605 + ], + [ + 0.5059155225753784, + -0.8586680889129639, + -0.08208927512168884, + -15.278596878051758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1739, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_642268180", + "mask_path": "../../mask/hdr_right_01739.png" + }, + { + "file_path": "../../rgb/hdr_right_01740.png", + "transform_matrix": [ + [ + 0.2496531456708908, + 0.057505927979946136, + 0.9666263461112976, + -25.95873260498047 + ], + [ + -0.8247524499893188, + -0.5104416012763977, + 0.24337786436080933, + -10.956266403198242 + ], + [ + 0.5074018836021423, + -0.8579874038696289, + -0.08000517636537552, + -15.314069747924805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1740, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_742268323", + "mask_path": "../../mask/hdr_right_01740.png" + }, + { + "file_path": "../../rgb/hdr_right_01741.png", + "transform_matrix": [ + [ + 0.2580207288265228, + 0.05619601160287857, + 0.9645036458969116, + -25.964372634887695 + ], + [ + -0.8261013031005859, + -0.5048285126686096, + 0.25040921568870544, + -10.8904390335083 + ], + [ + 0.5009809136390686, + -0.8613885045051575, + -0.08383260667324066, + -15.342554092407227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1741, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638974_842268466", + "mask_path": "../../mask/hdr_right_01741.png" + }, + { + "file_path": "../../rgb/hdr_right_01745.png", + "transform_matrix": [ + [ + 0.25836166739463806, + 0.0910666286945343, + 0.9617464542388916, + -25.95526885986328 + ], + [ + -0.8127999901771545, + -0.5175678730010986, + 0.26735690236091614, + -10.763187408447266 + ], + [ + 0.5221163034439087, + -0.8507822751998901, + -0.059700723737478256, + -15.460179328918457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1745, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_242267608", + "mask_path": "../../mask/hdr_right_01745.png" + }, + { + "file_path": "../../rgb/hdr_right_01746.png", + "transform_matrix": [ + [ + 0.2619904577732086, + 0.09198234230279922, + 0.9606769680976868, + -25.96402359008789 + ], + [ + -0.812899112701416, + -0.5154890418052673, + 0.27104607224464417, + -10.699746131896973 + ], + [ + 0.5201498866081238, + -0.8519449830055237, + -0.060280829668045044, + -15.51098918914795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1746, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_342268228", + "mask_path": "../../mask/hdr_right_01746.png" + }, + { + "file_path": "../../rgb/hdr_right_01747.png", + "transform_matrix": [ + [ + 0.2585453689098358, + 0.08653336018323898, + 0.9621155261993408, + -25.963407516479492 + ], + [ + -0.8178114295005798, + -0.5104882121086121, + 0.26568078994750977, + -10.65753173828125 + ], + [ + 0.5141388773918152, + -0.8555195331573486, + -0.06121636927127838, + -15.541083335876465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1747, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_442268133", + "mask_path": "../../mask/hdr_right_01747.png" + }, + { + "file_path": "../../rgb/hdr_right_01749.png", + "transform_matrix": [ + [ + 0.26076579093933105, + 0.06459524482488632, + 0.9632387161254883, + -25.986371994018555 + ], + [ + -0.8208435773849487, + -0.5103467106819153, + 0.25644105672836304, + -10.593305587768555 + ], + [ + 0.5081505179405212, + -0.8575393557548523, + -0.08005836606025696, + -15.585983276367188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1749, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_642266988", + "mask_path": "../../mask/hdr_right_01749.png" + }, + { + "file_path": "../../rgb/hdr_right_01750.png", + "transform_matrix": [ + [ + 0.2620616555213928, + 0.051778048276901245, + 0.9636611938476562, + -26.004596710205078 + ], + [ + -0.82247394323349, + -0.5103826522827148, + 0.25108981132507324, + -10.548674583435059 + ], + [ + 0.5048368573188782, + -0.8583871722221375, + -0.09116560965776443, + -15.611397743225098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1750, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_742268323", + "mask_path": "../../mask/hdr_right_01750.png" + }, + { + "file_path": "../../rgb/hdr_right_01752.png", + "transform_matrix": [ + [ + 0.2638624310493469, + 0.03723742440342903, + 0.9638413190841675, + -26.037641525268555 + ], + [ + -0.8218578100204468, + -0.5143837928771973, + 0.24486573040485382, + -10.463892936706543 + ], + [ + 0.5049024820327759, + -0.8567513227462769, + -0.10512269288301468, + -15.674283027648926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1752, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638975_942268371", + "mask_path": "../../mask/hdr_right_01752.png" + }, + { + "file_path": "../../rgb/hdr_right_01753.png", + "transform_matrix": [ + [ + 0.2720217704772949, + 0.034828223288059235, + 0.9616606831550598, + -26.056333541870117 + ], + [ + -0.8217179179191589, + -0.5116591453552246, + 0.25096723437309265, + -10.408082962036133 + ], + [ + 0.5007832050323486, + -0.858482301235199, + -0.11056343466043472, + -15.700653076171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1753, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_42267322", + "mask_path": "../../mask/hdr_right_01753.png" + }, + { + "file_path": "../../rgb/hdr_right_01756.png", + "transform_matrix": [ + [ + 0.2776460647583008, + 0.06510029733181, + 0.9584751725196838, + -26.062850952148438 + ], + [ + -0.8094719052314758, + -0.5214488506317139, + 0.26990073919296265, + -10.315296173095703 + ], + [ + 0.5173662900924683, + -0.850795567035675, + -0.09208133816719055, + -15.784688949584961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1756, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_342268466", + "mask_path": "../../mask/hdr_right_01756.png" + }, + { + "file_path": "../../rgb/hdr_right_01757.png", + "transform_matrix": [ + [ + 0.28119122982025146, + 0.07711298018693924, + 0.9565486311912537, + -26.06135368347168 + ], + [ + -0.8038236498832703, + -0.5255606770515442, + 0.2786640524864197, + -10.272095680236816 + ], + [ + 0.5242128968238831, + -0.8472541570663452, + -0.08579780161380768, + -15.828067779541016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1757, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_442267417", + "mask_path": "../../mask/hdr_right_01757.png" + }, + { + "file_path": "../../rgb/hdr_right_01758.png", + "transform_matrix": [ + [ + 0.2841697335243225, + 0.08177769929170609, + 0.9552801847457886, + -26.07478904724121 + ], + [ + -0.8032370805740356, + -0.5237194895744324, + 0.28377464413642883, + -10.206740379333496 + ], + [ + 0.5235052108764648, + -0.8479565382003784, + -0.08313832432031631, + -15.878460884094238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1758, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_542269229", + "mask_path": "../../mask/hdr_right_01758.png" + }, + { + "file_path": "../../rgb/hdr_right_01759.png", + "transform_matrix": [ + [ + 0.2789117395877838, + 0.07435056567192078, + 0.9574342966079712, + -26.07990074157715 + ], + [ + -0.8083489537239075, + -0.5200663805007935, + 0.275867760181427, + -10.159570693969727 + ], + [ + 0.518440306186676, + -0.8508836627006531, + -0.08495140820741653, + -15.908565521240234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1759, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_642267704", + "mask_path": "../../mask/hdr_right_01759.png" + }, + { + "file_path": "../../rgb/hdr_right_01761.png", + "transform_matrix": [ + [ + 0.2768557667732239, + 0.05162402242422104, + 0.9595237374305725, + -26.101139068603516 + ], + [ + -0.8141940832138062, + -0.517721951007843, + 0.2627774775028229, + -10.096473693847656 + ], + [ + 0.5103321671485901, + -0.8539900183677673, + -0.10130233317613602, + -15.96107006072998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1761, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_842267513", + "mask_path": "../../mask/hdr_right_01761.png" + }, + { + "file_path": "../../rgb/hdr_right_01762.png", + "transform_matrix": [ + [ + 0.27461007237434387, + 0.04005228355526924, + 0.9607211947441101, + -26.115324020385742 + ], + [ + -0.8164463043212891, + -0.5180790424346924, + 0.2549695372581482, + -10.047661781311035 + ], + [ + 0.5079416036605835, + -0.8543944358825684, + -0.10956916958093643, + -15.991849899291992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1762, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638976_942268371", + "mask_path": "../../mask/hdr_right_01762.png" + }, + { + "file_path": "../../rgb/hdr_right_01763.png", + "transform_matrix": [ + [ + 0.2730884253978729, + 0.030681481584906578, + 0.9614996314048767, + -26.127552032470703 + ], + [ + -0.816630482673645, + -0.520893931388855, + 0.2485639452934265, + -10.001201629638672 + ], + [ + 0.5084656476974487, + -0.8530698418617249, + -0.11719468981027603, + -16.020668029785156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1763, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_42268514", + "mask_path": "../../mask/hdr_right_01763.png" + }, + { + "file_path": "../../rgb/hdr_right_01764.png", + "transform_matrix": [ + [ + 0.27266833186149597, + 0.041452810168266296, + 0.9612147808074951, + -26.137182235717773 + ], + [ + -0.8147163391113281, + -0.5214638113975525, + 0.2535994052886963, + -9.951498985290527 + ], + [ + 0.5117511749267578, + -0.8522658944129944, + -0.10841438174247742, + -16.069320678710938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1764, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_142267704", + "mask_path": "../../mask/hdr_right_01764.png" + }, + { + "file_path": "../../rgb/hdr_right_01765.png", + "transform_matrix": [ + [ + 0.27471843361854553, + 0.05175924673676491, + 0.9601305723190308, + -26.144954681396484 + ], + [ + -0.8158236742019653, + -0.5159308314323425, + 0.2612415552139282, + -9.8973970413208 + ], + [ + 0.5088826417922974, + -0.8550651669502258, + -0.09950929880142212, + -16.09393882751465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1765, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_242267847", + "mask_path": "../../mask/hdr_right_01765.png" + }, + { + "file_path": "../../rgb/hdr_right_01767.png", + "transform_matrix": [ + [ + 0.27374643087387085, + 0.06596745550632477, + 0.9595370292663574, + -26.137496948242188 + ], + [ + -0.8178818225860596, + -0.5089894533157349, + 0.2683262526988983, + -9.839699745178223 + ], + [ + 0.5060949921607971, + -0.8582412004470825, + -0.0853804424405098, + -16.13675308227539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1767, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_442267179", + "mask_path": "../../mask/hdr_right_01767.png" + }, + { + "file_path": "../../rgb/hdr_right_01768.png", + "transform_matrix": [ + [ + 0.2752080261707306, + 0.07794194668531418, + 0.9582200646400452, + -26.136699676513672 + ], + [ + -0.8158996105194092, + -0.5082442760467529, + 0.2756732404232025, + -9.791248321533203 + ], + [ + 0.5084962844848633, + -0.8576787710189819, + -0.07628007978200912, + -16.16608238220215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1768, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_542269229", + "mask_path": "../../mask/hdr_right_01768.png" + }, + { + "file_path": "../../rgb/hdr_right_01769.png", + "transform_matrix": [ + [ + 0.2749522924423218, + 0.0804213359951973, + 0.9580885767936707, + -26.145849227905273 + ], + [ + -0.8177433013916016, + -0.5045320391654968, + 0.27702608704566956, + -9.730530738830566 + ], + [ + 0.5056651830673218, + -0.8596394062042236, + -0.07295822352170944, + -16.212711334228516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1769, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_642267227", + "mask_path": "../../mask/hdr_right_01769.png" + }, + { + "file_path": "../../rgb/hdr_right_01770.png", + "transform_matrix": [ + [ + 0.2712360620498657, + 0.07968734204769135, + 0.9592085480690002, + -26.15484619140625 + ], + [ + -0.8201290965080261, + -0.502495527267456, + 0.27365386486053467, + -9.678983688354492 + ], + [ + 0.5038047432899475, + -0.8608996868133545, + -0.07094098627567291, + -16.25777816772461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1770, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638977_742266893", + "mask_path": "../../mask/hdr_right_01770.png" + }, + { + "file_path": "../../rgb/hdr_right_01773.png", + "transform_matrix": [ + [ + 0.27092480659484863, + 0.04970518499612808, + 0.9613164067268372, + -26.16696548461914 + ], + [ + -0.8281678557395935, + -0.4969974160194397, + 0.2590974271297455, + -9.564199447631836 + ], + [ + 0.4906502962112427, + -0.8663272857666016, + -0.09348471462726593, + -16.3077449798584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1773, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_42268276", + "mask_path": "../../mask/hdr_right_01773.png" + }, + { + "file_path": "../../rgb/hdr_right_01774.png", + "transform_matrix": [ + [ + 0.2699505388736725, + 0.04135049134492874, + 0.9619860053062439, + -26.17523765563965 + ], + [ + -0.8281572461128235, + -0.49970272183418274, + 0.2538752555847168, + -9.50552749633789 + ], + [ + 0.4912048280239105, + -0.8652094006538391, + -0.10065028816461563, + -16.324926376342773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1774, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_142267465", + "mask_path": "../../mask/hdr_right_01774.png" + }, + { + "file_path": "../../rgb/hdr_right_01775.png", + "transform_matrix": [ + [ + 0.2722504436969757, + 0.04123915731906891, + 0.9613423347473145, + -26.185298919677734 + ], + [ + -0.825626790523529, + -0.503102719783783, + 0.25539788603782654, + -9.460722923278809 + ], + [ + 0.4941863715648651, + -0.8632421493530273, + -0.10292177647352219, + -16.363611221313477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1775, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_242267131", + "mask_path": "../../mask/hdr_right_01775.png" + }, + { + "file_path": "../../rgb/hdr_right_01776.png", + "transform_matrix": [ + [ + 0.2792516052722931, + 0.04436440020799637, + 0.9591925740242004, + -26.197879791259766 + ], + [ + -0.8225844502449036, + -0.5042706727981567, + 0.2628040611743927, + -9.40312671661377 + ], + [ + 0.49535176157951355, + -0.8624053597450256, + -0.10432490706443787, + -16.406070709228516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1776, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_342267036", + "mask_path": "../../mask/hdr_right_01776.png" + }, + { + "file_path": "../../rgb/hdr_right_01779.png", + "transform_matrix": [ + [ + 0.2857353091239929, + 0.07130449265241623, + 0.9556522965431213, + -26.196903228759766 + ], + [ + -0.8137052059173584, + -0.5087065696716309, + 0.2812501788139343, + -9.311009407043457 + ], + [ + 0.5062008500099182, + -0.8579821586608887, + -0.08733458071947098, + -16.483461380004883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1779, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_642268896", + "mask_path": "../../mask/hdr_right_01779.png" + }, + { + "file_path": "../../rgb/hdr_right_01780.png", + "transform_matrix": [ + [ + 0.29239314794540405, + 0.07996152341365814, + 0.9529493451118469, + -26.196821212768555 + ], + [ + -0.8094069957733154, + -0.5099958777427673, + 0.29114362597465515, + -9.25708293914795 + ], + [ + 0.5092805027961731, + -0.856452226638794, + -0.08439788222312927, + -16.516014099121094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1780, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_742268085", + "mask_path": "../../mask/hdr_right_01780.png" + }, + { + "file_path": "../../rgb/hdr_right_01781.png", + "transform_matrix": [ + [ + 0.3007369637489319, + 0.07778480648994446, + 0.9505297541618347, + -26.202932357788086 + ], + [ + -0.8092852830886841, + -0.5065098404884338, + 0.29749807715415955, + -9.206992149353027 + ], + [ + 0.5045934915542603, + -0.8587183356285095, + -0.08937614411115646, + -16.56745719909668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1781, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_842267990", + "mask_path": "../../mask/hdr_right_01781.png" + }, + { + "file_path": "../../rgb/hdr_right_01782.png", + "transform_matrix": [ + [ + 0.30061790347099304, + 0.07368984073400497, + 0.9508936405181885, + -26.203271865844727 + ], + [ + -0.8165075778961182, + -0.49536895751953125, + 0.29652154445648193, + -9.143370628356934 + ], + [ + 0.4928938150405884, + -0.8655515909194946, + -0.08874845504760742, + -16.590469360351562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1782, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638978_942267417", + "mask_path": "../../mask/hdr_right_01782.png" + }, + { + "file_path": "../../rgb/hdr_right_01785.png", + "transform_matrix": [ + [ + 0.3207498788833618, + 0.040433887392282486, + 0.9463005065917969, + -26.25856590270996 + ], + [ + -0.8217812776565552, + -0.4848892390727997, + 0.29926246404647827, + -9.04625415802002 + ], + [ + 0.47095128893852234, + -0.8736403584480286, + -0.12230035662651062, + -16.65005111694336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1785, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638979_242267370", + "mask_path": "../../mask/hdr_right_01785.png" + }, + { + "file_path": "../../rgb/hdr_right_01788.png", + "transform_matrix": [ + [ + 0.35132306814193726, + 0.019002417102456093, + 0.936061441898346, + -26.336271286010742 + ], + [ + -0.8228721022605896, + -0.47064414620399475, + 0.31839507818222046, + -8.913951873779297 + ], + [ + 0.44660213589668274, + -0.8821184039115906, + -0.14971157908439636, + -16.717180252075195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1788, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638979_542267560", + "mask_path": "../../mask/hdr_right_01788.png" + }, + { + "file_path": "../../rgb/hdr_right_01790.png", + "transform_matrix": [ + [ + 0.3634788393974304, + 0.022553425282239914, + 0.9313294291496277, + -26.359399795532227 + ], + [ + -0.8246248364448547, + -0.4573459029197693, + 0.3329094648361206, + -8.865459442138672 + ], + [ + 0.4334479868412018, + -0.8890028595924377, + -0.14763745665550232, + -16.760696411132812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1790, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638979_742268323", + "mask_path": "../../mask/hdr_right_01790.png" + }, + { + "file_path": "../../rgb/hdr_right_01792.png", + "transform_matrix": [ + [ + 0.37973809242248535, + 0.04491816833615303, + 0.9240028858184814, + -26.3964900970459 + ], + [ + -0.8162150382995605, + -0.4538549780845642, + 0.3575035035610199, + -8.80659294128418 + ], + [ + 0.43542173504829407, + -0.8899426460266113, + -0.13568313419818878, + -16.877111434936523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1792, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638979_942268848", + "mask_path": "../../mask/hdr_right_01792.png" + }, + { + "file_path": "../../rgb/hdr_right_01793.png", + "transform_matrix": [ + [ + 0.3882492482662201, + 0.07365039736032486, + 0.918606698513031, + -26.416767120361328 + ], + [ + -0.8057207465171814, + -0.45669350028038025, + 0.3771539628505707, + -8.761548042297363 + ], + [ + 0.44729921221733093, + -0.8865702152252197, + -0.11796924471855164, + -16.920209884643555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1793, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_42267799", + "mask_path": "../../mask/hdr_right_01793.png" + }, + { + "file_path": "../../rgb/hdr_right_01795.png", + "transform_matrix": [ + [ + 0.4067748486995697, + 0.0929424986243248, + 0.9087882041931152, + -26.430755615234375 + ], + [ + -0.7880253195762634, + -0.4675329029560089, + 0.4005361795425415, + -8.70695972442627 + ], + [ + 0.46211519837379456, + -0.8790760040283203, + -0.11693958938121796, + -16.892515182495117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1795, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_242267370", + "mask_path": "../../mask/hdr_right_01795.png" + }, + { + "file_path": "../../rgb/hdr_right_01796.png", + "transform_matrix": [ + [ + 0.4198203980922699, + 0.0841531902551651, + 0.9036974310874939, + -26.46105194091797 + ], + [ + -0.7926221489906311, + -0.4510727524757385, + 0.41022375226020813, + -8.653475761413574 + ], + [ + 0.4421549439430237, + -0.8885108828544617, + -0.12266785651445389, + -16.929813385009766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1796, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_342267274", + "mask_path": "../../mask/hdr_right_01796.png" + }, + { + "file_path": "../../rgb/hdr_right_01797.png", + "transform_matrix": [ + [ + 0.4302603006362915, + 0.06290722638368607, + 0.900510311126709, + -26.475004196166992 + ], + [ + -0.8064954876899719, + -0.4213399887084961, + 0.4147741198539734, + -8.575225830078125 + ], + [ + 0.40551328659057617, + -0.9047183394432068, + -0.13055147230625153, + -16.914506912231445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1797, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_442266941", + "mask_path": "../../mask/hdr_right_01797.png" + }, + { + "file_path": "../../rgb/hdr_right_01800.png", + "transform_matrix": [ + [ + 0.4448935091495514, + 0.05530379340052605, + 0.8938742876052856, + -26.553300857543945 + ], + [ + -0.832521378993988, + -0.3423648774623871, + 0.4355393648147583, + -8.459025382995605 + ], + [ + 0.3301181495189667, + -0.9379380345344543, + -0.1062743216753006, + -16.943130493164062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1800, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_742267131", + "mask_path": "../../mask/hdr_right_01800.png" + }, + { + "file_path": "../../rgb/hdr_right_01801.png", + "transform_matrix": [ + [ + 0.4571771025657654, + 0.05301900580525398, + 0.887794017791748, + -26.595869064331055 + ], + [ + -0.8364707231521606, + -0.31351637840270996, + 0.4494709372520447, + -8.331596374511719 + ], + [ + 0.30216845870018005, + -0.9481015205383301, + -0.09898367524147034, + -16.89386558532715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1801, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638980_842267274", + "mask_path": "../../mask/hdr_right_01801.png" + }, + { + "file_path": "../../rgb/hdr_right_01803.png", + "transform_matrix": [ + [ + 0.4523300230503082, + 0.052683450281620026, + 0.8902931809425354, + -26.610692977905273 + ], + [ + -0.8437597155570984, + -0.2980961203575134, + 0.44632771611213684, + -8.363511085510254 + ], + [ + 0.2889070212841034, + -0.9530808925628662, + -0.09038566052913666, + -16.924118041992188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1803, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_42267322", + "mask_path": "../../mask/hdr_right_01803.png" + }, + { + "file_path": "../../rgb/hdr_right_01804.png", + "transform_matrix": [ + [ + 0.4711593687534332, + 0.05690133199095726, + 0.8802107572555542, + -26.646041870117188 + ], + [ + -0.8392378687858582, + -0.2781963646411896, + 0.46721142530441284, + -8.367473602294922 + ], + [ + 0.27145642042160034, + -0.9588373303413391, + -0.08332108706235886, + -16.981321334838867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1804, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_142266988", + "mask_path": "../../mask/hdr_right_01804.png" + }, + { + "file_path": "../../rgb/hdr_right_01805.png", + "transform_matrix": [ + [ + 0.48101961612701416, + 0.044339898973703384, + 0.8755879402160645, + -26.678302764892578 + ], + [ + -0.8451120853424072, + -0.24226023256778717, + 0.4765453338623047, + -8.295171737670898 + ], + [ + 0.23325011134147644, + -0.9691975712776184, + -0.07905974239110947, + -16.961095809936523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1805, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_242267131", + "mask_path": "../../mask/hdr_right_01805.png" + }, + { + "file_path": "../../rgb/hdr_right_01806.png", + "transform_matrix": [ + [ + 0.4665219783782959, + 0.009111001156270504, + 0.8844627141952515, + -26.70323371887207 + ], + [ + -0.8698519468307495, + -0.17656074464321136, + 0.46063417196273804, + -8.233763694763184 + ], + [ + 0.1603582352399826, + -0.9842475652694702, + -0.0744442343711853, + -16.878103256225586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1806, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_342267036", + "mask_path": "../../mask/hdr_right_01806.png" + }, + { + "file_path": "../../rgb/hdr_right_01809.png", + "transform_matrix": [ + [ + 0.4721689522266388, + 0.0024928266648203135, + 0.8815047144889832, + -26.780454635620117 + ], + [ + -0.8748352527618408, + -0.12148476392030716, + 0.4689400792121887, + -8.148704528808594 + ], + [ + 0.10825837403535843, + -0.9925901889801025, + -0.055180516093969345, + -16.841636657714844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1809, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_642266988", + "mask_path": "../../mask/hdr_right_01809.png" + }, + { + "file_path": "../../rgb/hdr_right_01812.png", + "transform_matrix": [ + [ + 0.4923013746738434, + -0.02261025831103325, + 0.8701311349868774, + -26.857877731323242 + ], + [ + -0.8680698871612549, + -0.08623845875263214, + 0.4888943135738373, + -8.090850830078125 + ], + [ + 0.06398474425077438, + -0.9960179328918457, + -0.06208259239792824, + -16.892839431762695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1812, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638981_942269086", + "mask_path": "../../mask/hdr_right_01812.png" + }, + { + "file_path": "../../rgb/hdr_right_01813.png", + "transform_matrix": [ + [ + 0.503049910068512, + -0.017753571271896362, + 0.8640750050544739, + -26.866010665893555 + ], + [ + -0.8611888885498047, + -0.09447118639945984, + 0.4994286298751831, + -8.028732299804688 + ], + [ + 0.07276354730129242, + -0.9953693151473999, + -0.06281290203332901, + -16.869359970092773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1813, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_42263984", + "mask_path": "../../mask/hdr_right_01813.png" + }, + { + "file_path": "../../rgb/hdr_right_01814.png", + "transform_matrix": [ + [ + 0.5262916684150696, + -0.013880722224712372, + 0.8501908183097839, + -26.86208152770996 + ], + [ + -0.846822202205658, + -0.09895009547472, + 0.5225908756256104, + -8.020733833312988 + ], + [ + 0.07687252759933472, + -0.994995653629303, + -0.06383111327886581, + -16.81478500366211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1814, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_142267227", + "mask_path": "../../mask/hdr_right_01814.png" + }, + { + "file_path": "../../rgb/hdr_right_01817.png", + "transform_matrix": [ + [ + 0.581864058971405, + -0.04441450908780098, + 0.8120724558830261, + -26.899518966674805 + ], + [ + -0.8126039505004883, + -0.07263632863759995, + 0.5782722234725952, + -7.996086120605469 + ], + [ + 0.03330228105187416, + -0.9963690042495728, + -0.07835587859153748, + -16.879322052001953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1817, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_442267179", + "mask_path": "../../mask/hdr_right_01817.png" + }, + { + "file_path": "../../rgb/hdr_right_01819.png", + "transform_matrix": [ + [ + 0.6216106414794922, + -0.0653732642531395, + 0.780593752861023, + -26.97174644470215 + ], + [ + -0.7833207249641418, + -0.05569841340184212, + 0.6191174983978271, + -7.9572272300720215 + ], + [ + 0.0030041036661714315, + -0.9963051676750183, + -0.08583096414804459, + -16.84900665283203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1819, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_642267227", + "mask_path": "../../mask/hdr_right_01819.png" + }, + { + "file_path": "../../rgb/hdr_right_01821.png", + "transform_matrix": [ + [ + 0.6506497263908386, + -0.06562015414237976, + 0.7565374970436096, + -27.0142822265625 + ], + [ + -0.7592644691467285, + -0.038984544575214386, + 0.6496135592460632, + -7.85856819152832 + ], + [ + -0.013134473003447056, + -0.9970828294754028, + -0.07518834620714188, + -16.816686630249023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1821, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_842267274", + "mask_path": "../../mask/hdr_right_01821.png" + }, + { + "file_path": "../../rgb/hdr_right_01822.png", + "transform_matrix": [ + [ + 0.6747427582740784, + -0.06412319839000702, + 0.7352622151374817, + -27.03354263305664 + ], + [ + -0.7378325462341309, + -0.0342540480196476, + 0.6741141676902771, + -7.79922342300415 + ], + [ + -0.018040653318166733, + -0.9973539710044861, + -0.07042484730482101, + -16.811023712158203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1822, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638982_942268848", + "mask_path": "../../mask/hdr_right_01822.png" + }, + { + "file_path": "../../rgb/hdr_right_01824.png", + "transform_matrix": [ + [ + 0.7594131231307983, + -0.06533242017030716, + 0.6473202109336853, + -27.124862670898438 + ], + [ + -0.6495265960693359, + -0.01876949518918991, + 0.7601072192192078, + -7.8446807861328125 + ], + [ + -0.037509769201278687, + -0.997687041759491, + -0.05668893828988075, + -16.776094436645508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1824, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638983_142267227", + "mask_path": "../../mask/hdr_right_01824.png" + }, + { + "file_path": "../../rgb/hdr_right_01825.png", + "transform_matrix": [ + [ + 0.8108614087104797, + -0.06300201267004013, + 0.5818372368812561, + -27.152057647705078 + ], + [ + -0.5835179686546326, + -0.010864391922950745, + 0.8120275735855103, + -7.7784624099731445 + ], + [ + -0.04483805596828461, + -0.9979543089866638, + -0.04557232931256294, + -16.776798248291016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1825, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638983_242266654", + "mask_path": "../../mask/hdr_right_01825.png" + }, + { + "file_path": "../../rgb/hdr_right_01828.png", + "transform_matrix": [ + [ + 0.9398279190063477, + -0.05509967729449272, + 0.3371759355068207, + -27.20262336730957 + ], + [ + -0.33811840415000916, + -0.008505289442837238, + 0.9410651922225952, + -7.833957672119141 + ], + [ + -0.04898460954427719, + -0.9984446167945862, + -0.026623722165822983, + -16.813180923461914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1828, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638983_542268991", + "mask_path": "../../mask/hdr_right_01828.png" + }, + { + "file_path": "../../rgb/hdr_right_01833.png", + "transform_matrix": [ + [ + 0.9874392747879028, + -0.041307345032691956, + -0.1525038480758667, + -27.333072662353516 + ], + [ + 0.15215203166007996, + -0.011549578979611397, + 0.9882896542549133, + -7.994478702545166 + ], + [ + -0.04258498176932335, + -0.9990797638893127, + -0.0051195137202739716, + -16.837846755981445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1833, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638984_42268276", + "mask_path": "../../mask/hdr_right_01833.png" + }, + { + "file_path": "../../rgb/hdr_right_01836.png", + "transform_matrix": [ + [ + 0.9341071248054504, + -0.037707190960645676, + -0.35499581694602966, + -27.42009925842285 + ], + [ + 0.35420289635658264, + -0.026185167953372, + 0.9348019361495972, + -8.080382347106934 + ], + [ + -0.04454438015818596, + -0.9989456534385681, + -0.011103757657110691, + -16.855876922607422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1836, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638984_342267990", + "mask_path": "../../mask/hdr_right_01836.png" + }, + { + "file_path": "../../rgb/hdr_right_01837.png", + "transform_matrix": [ + [ + 0.910189151763916, + -0.031200867146253586, + -0.4130159616470337, + -27.459348678588867 + ], + [ + 0.4125138223171234, + -0.021407444030046463, + 0.9106997847557068, + -8.071402549743652 + ], + [ + -0.037256233394145966, + -0.9992838501930237, + -0.006614035926759243, + -16.851070404052734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1837, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638984_442267179", + "mask_path": "../../mask/hdr_right_01837.png" + }, + { + "file_path": "../../rgb/hdr_right_01838.png", + "transform_matrix": [ + [ + 0.8781430125236511, + -0.029714172706007957, + -0.477474570274353, + -27.499908447265625 + ], + [ + 0.4774990975856781, + -0.006722335238009691, + 0.8786066174507141, + -8.095349311828613 + ], + [ + -0.029316812753677368, + -0.9995357990264893, + 0.008285319432616234, + -16.877275466918945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1838, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638984_542268276", + "mask_path": "../../mask/hdr_right_01838.png" + }, + { + "file_path": "../../rgb/hdr_right_01841.png", + "transform_matrix": [ + [ + 0.7432783842086792, + -0.024775680154561996, + -0.6685232520103455, + -27.589763641357422 + ], + [ + 0.6687523126602173, + 0.001320650801062584, + 0.7434840798377991, + -8.207371711730957 + ], + [ + -0.017537441104650497, + -0.9996921420097351, + 0.017550405114889145, + -16.856447219848633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1841, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638984_842268466", + "mask_path": "../../mask/hdr_right_01841.png" + }, + { + "file_path": "../../rgb/hdr_right_01843.png", + "transform_matrix": [ + [ + 0.6522966623306274, + -0.01919429749250412, + -0.7577207088470459, + -27.63812255859375 + ], + [ + 0.7577009201049805, + -0.009810240007936954, + 0.6525281667709351, + -8.28304672241211 + ], + [ + -0.019958242774009705, + -0.9997676610946655, + 0.008144351653754711, + -16.8384952545166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1843, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638985_42267560", + "mask_path": "../../mask/hdr_right_01843.png" + }, + { + "file_path": "../../rgb/hdr_right_01845.png", + "transform_matrix": [ + [ + 0.5408283472061157, + -0.014535080641508102, + -0.8410075306892395, + -27.666044235229492 + ], + [ + 0.8411169052124023, + 0.0031644057016819715, + 0.5408441424369812, + -8.3637056350708 + ], + [ + -0.005199924111366272, + -0.9998893737792969, + 0.01393709983676672, + -16.84378433227539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1845, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638985_242268085", + "mask_path": "../../mask/hdr_right_01845.png" + }, + { + "file_path": "../../rgb/hdr_right_01849.png", + "transform_matrix": [ + [ + 0.31369102001190186, + 0.004615625832229853, + -0.9495139122009277, + -27.67363166809082 + ], + [ + 0.9494492411613464, + 0.011119191534817219, + 0.31372371315956116, + -8.529881477355957 + ], + [ + 0.012005857191979885, + -0.9999275207519531, + -0.0008943129796534777, + -16.878456115722656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1849, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638985_642267942", + "mask_path": "../../mask/hdr_right_01849.png" + }, + { + "file_path": "../../rgb/hdr_right_01851.png", + "transform_matrix": [ + [ + 0.2274542897939682, + 0.014563864096999168, + -0.9736798405647278, + -27.677963256835938 + ], + [ + 0.9736911654472351, + 0.01075405441224575, + 0.22761784493923187, + -8.631319046020508 + ], + [ + 0.013786002062261105, + -0.9998360872268677, + -0.011734653264284134, + -16.899717330932617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1851, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638985_842267036", + "mask_path": "../../mask/hdr_right_01851.png" + }, + { + "file_path": "../../rgb/hdr_right_01854.png", + "transform_matrix": [ + [ + 0.1135157123208046, + 0.0010647247545421124, + -0.9935356974601746, + -27.682701110839844 + ], + [ + 0.9930771589279175, + 0.030274648219347, + 0.11349578201770782, + -8.755074501037598 + ], + [ + 0.030199779197573662, + -0.9995410442352295, + 0.002379292855039239, + -16.936796188354492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1854, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638986_142267465", + "mask_path": "../../mask/hdr_right_01854.png" + }, + { + "file_path": "../../rgb/hdr_right_01856.png", + "transform_matrix": [ + [ + 0.10704152286052704, + 0.0004867307434324175, + -0.994254469871521, + -27.7037410736084 + ], + [ + 0.9934419393539429, + 0.04036913439631462, + 0.10697386413812637, + -8.838780403137207 + ], + [ + 0.04018925875425339, + -0.9991847276687622, + 0.0038376348093152046, + -16.928539276123047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1856, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638986_342268228", + "mask_path": "../../mask/hdr_right_01856.png" + }, + { + "file_path": "../../rgb/hdr_right_01858.png", + "transform_matrix": [ + [ + 0.12345368415117264, + 0.004430817905813456, + -0.9923405051231384, + -27.72359848022461 + ], + [ + 0.9915639162063599, + 0.03925403207540512, + 0.12353231757879257, + -8.92530345916748 + ], + [ + 0.03950070962309837, + -0.9992194771766663, + 0.0004526144766714424, + -16.921916961669922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1858, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638986_542267322", + "mask_path": "../../mask/hdr_right_01858.png" + }, + { + "file_path": "../../rgb/hdr_right_01860.png", + "transform_matrix": [ + [ + 0.12231846898794174, + -0.008928172290325165, + -0.9924508333206177, + -27.739364624023438 + ], + [ + 0.9913694262504578, + 0.048621684312820435, + 0.12174782902002335, + -9.043313980102539 + ], + [ + 0.047167640179395676, + -0.9987773299217224, + 0.014798447489738464, + -16.937801361083984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1860, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638986_742267608", + "mask_path": "../../mask/hdr_right_01860.png" + }, + { + "file_path": "../../rgb/hdr_right_01911.png", + "transform_matrix": [ + [ + 0.17447547614574432, + -0.03636453300714493, + -0.9839897751808167, + -27.93556785583496 + ], + [ + 0.9842736124992371, + 0.03448965400457382, + 0.17325124144554138, + -9.385961532592773 + ], + [ + 0.027637267485260963, + -0.9987432360649109, + 0.04181024804711342, + -16.91779136657715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1911, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638991_842267274", + "mask_path": "../../mask/hdr_right_01911.png" + }, + { + "file_path": "../../rgb/hdr_right_01913.png", + "transform_matrix": [ + [ + 0.1455075442790985, + -0.033437468111515045, + -0.9887920022010803, + -27.97622299194336 + ], + [ + 0.9890166521072388, + 0.031136678531765938, + 0.14448769390583038, + -9.505402565002441 + ], + [ + 0.025956396013498306, + -0.9989556670188904, + 0.03760083392262459, + -17.000185012817383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1913, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_42267799", + "mask_path": "../../mask/hdr_right_01913.png" + }, + { + "file_path": "../../rgb/hdr_right_01914.png", + "transform_matrix": [ + [ + 0.10999736189842224, + -0.026622820645570755, + -0.9935753345489502, + -27.987825393676758 + ], + [ + 0.9936589598655701, + 0.026370905339717865, + 0.10930006206035614, + -9.566051483154297 + ], + [ + 0.023291608318686485, + -0.9992976784706116, + 0.02935473807156086, + -17.036958694458008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1914, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_142267704", + "mask_path": "../../mask/hdr_right_01914.png" + }, + { + "file_path": "../../rgb/hdr_right_01916.png", + "transform_matrix": [ + [ + 0.02299254760146141, + -0.008768237195909023, + -0.999697208404541, + -27.977596282958984 + ], + [ + 0.999616265296936, + 0.01565282978117466, + 0.022853411734104156, + -9.642749786376953 + ], + [ + 0.015447705052793026, + -0.9998390674591064, + 0.009124770760536194, + -17.027475357055664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1916, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_342268228", + "mask_path": "../../mask/hdr_right_01916.png" + }, + { + "file_path": "../../rgb/hdr_right_01918.png", + "transform_matrix": [ + [ + -0.08241333067417145, + -0.007999693043529987, + -0.996566116809845, + -27.953563690185547 + ], + [ + 0.9962631464004517, + 0.02526719495654106, + -0.08259109407663345, + -9.72366714477539 + ], + [ + 0.025841135531663895, + -0.9996486902236938, + 0.005887445528060198, + -17.02408790588379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1918, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_542268514", + "mask_path": "../../mask/hdr_right_01918.png" + }, + { + "file_path": "../../rgb/hdr_right_01920.png", + "transform_matrix": [ + [ + -0.16139720380306244, + -0.0031339875422418118, + -0.986884593963623, + -27.92243766784668 + ], + [ + 0.9865393042564392, + 0.02612742967903614, + -0.1614236980676651, + -9.815519332885742 + ], + [ + 0.0262906551361084, + -0.9996537566184998, + -0.0011250925017520785, + -17.055883407592773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1920, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_742268085", + "mask_path": "../../mask/hdr_right_01920.png" + }, + { + "file_path": "../../rgb/hdr_right_01921.png", + "transform_matrix": [ + [ + -0.16677603125572205, + 0.000182623160071671, + -0.9859947562217712, + -27.912174224853516 + ], + [ + 0.9854699373245239, + 0.03265583515167236, + -0.1666812002658844, + -9.874894142150879 + ], + [ + 0.03216804191470146, + -0.999466598033905, + -0.005626180209219456, + -17.043819427490234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1921, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_842268228", + "mask_path": "../../mask/hdr_right_01921.png" + }, + { + "file_path": "../../rgb/hdr_right_01922.png", + "transform_matrix": [ + [ + -0.16392196714878082, + -0.001142706605605781, + -0.9864726066589355, + -27.90508270263672 + ], + [ + 0.9858603477478027, + 0.035056497901678085, + -0.16386082768440247, + -9.940245628356934 + ], + [ + 0.034769512712955475, + -0.9993846416473389, + -0.004619981627911329, + -17.028024673461914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1922, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638992_942269563", + "mask_path": "../../mask/hdr_right_01922.png" + }, + { + "file_path": "../../rgb/hdr_right_01923.png", + "transform_matrix": [ + [ + -0.15677881240844727, + 0.00023613509256392717, + -0.9876337051391602, + -27.901126861572266 + ], + [ + 0.9871071577072144, + 0.03268914669752121, + -0.156687393784523, + -9.995199203491211 + ], + [ + 0.03224790096282959, + -0.9994655251502991, + -0.005358056630939245, + -17.017431259155273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1923, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_42268037", + "mask_path": "../../mask/hdr_right_01923.png" + }, + { + "file_path": "../../rgb/hdr_right_01924.png", + "transform_matrix": [ + [ + -0.14741860330104828, + -0.0018375171348452568, + -0.9890724420547485, + -27.896240234375 + ], + [ + 0.9886831045150757, + 0.027847187593579292, + -0.1474122852087021, + -10.079020500183105 + ], + [ + 0.027813756838440895, + -0.9996104836463928, + -0.0022884721402078867, + -17.01181983947754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1924, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_142268419", + "mask_path": "../../mask/hdr_right_01924.png" + }, + { + "file_path": "../../rgb/hdr_right_01925.png", + "transform_matrix": [ + [ + -0.14742444455623627, + -0.008330055512487888, + -0.9890382289886475, + -27.890668869018555 + ], + [ + 0.988608717918396, + 0.029404450207948685, + -0.14760807156562805, + -10.173717498779297 + ], + [ + 0.03031170926988125, + -0.9995328783988953, + 0.003900230163708329, + -17.01799774169922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1925, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_242265701", + "mask_path": "../../mask/hdr_right_01925.png" + }, + { + "file_path": "../../rgb/hdr_right_01926.png", + "transform_matrix": [ + [ + -0.15274076163768768, + -0.012991373427212238, + -0.988180935382843, + -27.882314682006836 + ], + [ + 0.9876922965049744, + 0.032067812979221344, + -0.1530868113040924, + -10.246068000793457 + ], + [ + 0.0336776040494442, + -0.999401330947876, + 0.007933414541184902, + -17.027069091796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1926, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_342267751", + "mask_path": "../../mask/hdr_right_01926.png" + }, + { + "file_path": "../../rgb/hdr_right_01927.png", + "transform_matrix": [ + [ + -0.15733590722084045, + -0.008611747995018959, + -0.9875076413154602, + -27.871517181396484 + ], + [ + 0.9869309663772583, + 0.03389090299606323, + -0.15753956139087677, + -10.324585914611816 + ], + [ + 0.03482421860098839, + -0.9993885159492493, + 0.003166942624375224, + -17.05852699279785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1927, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_442267179", + "mask_path": "../../mask/hdr_right_01927.png" + }, + { + "file_path": "../../rgb/hdr_right_01928.png", + "transform_matrix": [ + [ + -0.1551142930984497, + -0.006939321756362915, + -0.9878722429275513, + -27.869794845581055 + ], + [ + 0.9870498180389404, + 0.04030625522136688, + -0.15526826679706573, + -10.419912338256836 + ], + [ + 0.04089488089084625, + -0.9991633296012878, + 0.0005973804509267211, + -17.087879180908203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1928, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_542270898", + "mask_path": "../../mask/hdr_right_01928.png" + }, + { + "file_path": "../../rgb/hdr_right_01929.png", + "transform_matrix": [ + [ + -0.14741477370262146, + -0.008635450154542923, + -0.9890370965003967, + -27.87666893005371 + ], + [ + 0.9880799651145935, + 0.04355145990848541, + -0.14765235781669617, + -10.501107215881348 + ], + [ + 0.044349055737257004, + -0.9990138411521912, + 0.0021123855840414762, + -17.080249786376953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1929, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_642268180", + "mask_path": "../../mask/hdr_right_01929.png" + }, + { + "file_path": "../../rgb/hdr_right_01930.png", + "transform_matrix": [ + [ + -0.13721004128456116, + -0.009609573520720005, + -0.9904954433441162, + -27.880102157592773 + ], + [ + 0.9896788597106934, + 0.040406301617622375, + -0.1374889314174652, + -10.569395065307617 + ], + [ + 0.04134346544742584, + -0.9991371035575867, + 0.0039662448689341545, + -17.06070899963379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1930, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_742268323", + "mask_path": "../../mask/hdr_right_01930.png" + }, + { + "file_path": "../../rgb/hdr_right_01931.png", + "transform_matrix": [ + [ + -0.1277359277009964, + -0.015106809325516224, + -0.9916932582855225, + -27.879064559936523 + ], + [ + 0.9909924864768982, + 0.038601819425821304, + -0.12823370099067688, + -10.676806449890137 + ], + [ + 0.04021836444735527, + -0.9991404414176941, + 0.010039894841611385, + -17.050121307373047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1931, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_842267751", + "mask_path": "../../mask/hdr_right_01931.png" + }, + { + "file_path": "../../rgb/hdr_right_01932.png", + "transform_matrix": [ + [ + -0.12687990069389343, + -0.02599150501191616, + -0.9915775656700134, + -27.883045196533203 + ], + [ + 0.990898847579956, + 0.04198530316352844, + -0.1278935670852661, + -10.789090156555176 + ], + [ + 0.04495582357048988, + -0.9987800717353821, + 0.02042786218225956, + -17.07893943786621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1932, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638993_942268610", + "mask_path": "../../mask/hdr_right_01932.png" + }, + { + "file_path": "../../rgb/hdr_right_01933.png", + "transform_matrix": [ + [ + -0.12992902100086212, + -0.03418257087469101, + -0.990933895111084, + -27.889482498168945 + ], + [ + 0.9903671145439148, + 0.043774332851171494, + -0.13136468827724457, + -10.857290267944336 + ], + [ + 0.047867849469184875, + -0.9984564781188965, + 0.02816574089229107, + -17.075510025024414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1933, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_42268514", + "mask_path": "../../mask/hdr_right_01933.png" + }, + { + "file_path": "../../rgb/hdr_right_01934.png", + "transform_matrix": [ + [ + -0.13154053688049316, + -0.034492067992687225, + -0.9907106161117554, + -27.89246940612793 + ], + [ + 0.9902080297470093, + 0.04255451261997223, + -0.13295534253120422, + -10.938776016235352 + ], + [ + 0.04674510657787323, + -0.9984984993934631, + 0.02855667658150196, + -17.077980041503906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1934, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_142268657", + "mask_path": "../../mask/hdr_right_01934.png" + }, + { + "file_path": "../../rgb/hdr_right_01935.png", + "transform_matrix": [ + [ + -0.12615446746349335, + -0.031035948544740677, + -0.9915249943733215, + -27.90241241455078 + ], + [ + 0.9907248020172119, + 0.04693254828453064, + -0.12752169370651245, + -11.048258781433105 + ], + [ + 0.0504925437271595, + -0.9984157681465149, + 0.02482733316719532, + -17.11642837524414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1935, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_242267131", + "mask_path": "../../mask/hdr_right_01935.png" + }, + { + "file_path": "../../rgb/hdr_right_01936.png", + "transform_matrix": [ + [ + -0.11512672156095505, + -0.02697880007326603, + -0.9929843544960022, + -27.91448211669922 + ], + [ + 0.9919772744178772, + 0.049427006393671036, + -0.11635284125804901, + -11.135160446166992 + ], + [ + 0.05221930891275406, + -0.9984132647514343, + 0.021071985363960266, + -17.119863510131836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1936, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_342268705", + "mask_path": "../../mask/hdr_right_01936.png" + }, + { + "file_path": "../../rgb/hdr_right_01937.png", + "transform_matrix": [ + [ + -0.10192666947841644, + -0.027533935382962227, + -0.9944108128547668, + -27.926036834716797 + ], + [ + 0.9935619831085205, + 0.04687417298555374, + -0.10313751548528671, + -11.199514389038086 + ], + [ + 0.04945196583867073, + -0.9985213279724121, + 0.022578943520784378, + -17.08135414123535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1937, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_442267417", + "mask_path": "../../mask/hdr_right_01937.png" + }, + { + "file_path": "../../rgb/hdr_right_01938.png", + "transform_matrix": [ + [ + -0.09115798771381378, + -0.031378064304590225, + -0.995341956615448, + -27.9301700592041 + ], + [ + 0.994687557220459, + 0.04512834548950195, + -0.09252070635557175, + -11.291099548339844 + ], + [ + 0.04782126471400261, + -0.9984882473945618, + 0.027097560465335846, + -17.09551429748535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1938, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_542267560", + "mask_path": "../../mask/hdr_right_01938.png" + }, + { + "file_path": "../../rgb/hdr_right_01939.png", + "transform_matrix": [ + [ + -0.08947209268808365, + -0.040369730442762375, + -0.9951709508895874, + -27.9349308013916 + ], + [ + 0.9945842027664185, + 0.049435921013355255, + -0.09142473340034485, + -11.392738342285156 + ], + [ + 0.05288797616958618, + -0.9979611039161682, + 0.03572796285152435, + -17.13387680053711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1939, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_642268180", + "mask_path": "../../mask/hdr_right_01939.png" + }, + { + "file_path": "../../rgb/hdr_right_01940.png", + "transform_matrix": [ + [ + -0.09125546365976334, + -0.04700793698430061, + -0.9947174787521362, + -27.942394256591797 + ], + [ + 0.994366466999054, + 0.049789052456617355, + -0.09357615560293198, + -11.472970962524414 + ], + [ + 0.05392485484480858, + -0.9976530075073242, + 0.04219959303736687, + -17.123310089111328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1940, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_742269039", + "mask_path": "../../mask/hdr_right_01940.png" + }, + { + "file_path": "../../rgb/hdr_right_01941.png", + "transform_matrix": [ + [ + -0.09395133703947067, + -0.045647960156202316, + -0.9945297241210938, + -27.946380615234375 + ], + [ + 0.994273841381073, + 0.04678935557603836, + -0.09607473015785217, + -11.557236671447754 + ], + [ + 0.05091901868581772, + -0.9978612065315247, + 0.04099065065383911, + -17.131921768188477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1941, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_842268228", + "mask_path": "../../mask/hdr_right_01941.png" + }, + { + "file_path": "../../rgb/hdr_right_01942.png", + "transform_matrix": [ + [ + -0.10549111664295197, + -0.04131580516695976, + -0.9935616254806519, + -27.95492172241211 + ], + [ + 0.9929631948471069, + 0.049691714346408844, + -0.10749390721321106, + -11.6644926071167 + ], + [ + 0.05381298437714577, + -0.997909665107727, + 0.035783037543296814, + -17.131078720092773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1942, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638994_942269325", + "mask_path": "../../mask/hdr_right_01942.png" + }, + { + "file_path": "../../rgb/hdr_right_01943.png", + "transform_matrix": [ + [ + -0.12336470931768417, + -0.035541679710149765, + -0.9917247891426086, + -27.956501007080078 + ], + [ + 0.9909656643867493, + 0.048573389649391174, + -0.12501105666160583, + -11.729769706726074 + ], + [ + 0.05261453613638878, + -0.9981870651245117, + 0.029228342697024345, + -17.118717193603516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1943, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_42267799", + "mask_path": "../../mask/hdr_right_01943.png" + }, + { + "file_path": "../../rgb/hdr_right_01945.png", + "transform_matrix": [ + [ + -0.16315123438835144, + -0.01583312451839447, + -0.9864740967750549, + -27.933589935302734 + ], + [ + 0.9855701327323914, + 0.043080851435661316, + -0.16369317471981049, + -11.848820686340332 + ], + [ + 0.04508990794420242, + -0.9989461302757263, + 0.008575963787734509, + -17.120866775512695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1945, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_242267370", + "mask_path": "../../mask/hdr_right_01945.png" + }, + { + "file_path": "../../rgb/hdr_right_01946.png", + "transform_matrix": [ + [ + -0.18895162642002106, + -0.01692873425781727, + -0.9818404912948608, + -27.924877166748047 + ], + [ + 0.9805235266685486, + 0.051302503794431686, + -0.1895827054977417, + -11.919473648071289 + ], + [ + 0.05358026549220085, + -0.9985396265983582, + 0.0069053336046636105, + -17.13948631286621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1946, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_342268466", + "mask_path": "../../mask/hdr_right_01946.png" + }, + { + "file_path": "../../rgb/hdr_right_01947.png", + "transform_matrix": [ + [ + -0.20129594206809998, + -0.022670835256576538, + -0.9792680740356445, + -27.917675018310547 + ], + [ + 0.9777085185050964, + 0.05629817023873329, + -0.20227868854999542, + -11.972331047058105 + ], + [ + 0.05971682816743851, + -0.9981565475463867, + 0.010832875967025757, + -17.15656852722168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1947, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_442268133", + "mask_path": "../../mask/hdr_right_01947.png" + }, + { + "file_path": "../../rgb/hdr_right_01948.png", + "transform_matrix": [ + [ + -0.205082967877388, + -0.02142309956252575, + -0.9785100817680359, + -27.906230926513672 + ], + [ + 0.9769375324249268, + 0.05624333769083023, + -0.20598474144935608, + -12.03890323638916 + ], + [ + 0.0594475083053112, + -0.998187243938446, + 0.009394478052854538, + -17.158166885375977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1948, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_542267560", + "mask_path": "../../mask/hdr_right_01948.png" + }, + { + "file_path": "../../rgb/hdr_right_01949.png", + "transform_matrix": [ + [ + -0.20816980302333832, + -0.01335642859339714, + -0.9780014753341675, + -27.88976287841797 + ], + [ + 0.9763354659080505, + 0.05707346275448799, + -0.20859462022781372, + -12.120890617370605 + ], + [ + 0.05860402062535286, + -0.9982806444168091, + 0.0011593804229050875, + -17.173812866210938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1949, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_642268896", + "mask_path": "../../mask/hdr_right_01949.png" + }, + { + "file_path": "../../rgb/hdr_right_01950.png", + "transform_matrix": [ + [ + -0.2050410956144333, + -0.01381705328822136, + -0.9786558747291565, + -27.87615394592285 + ], + [ + 0.9767462015151978, + 0.06111448258161545, + -0.20550380647182465, + -12.213815689086914 + ], + [ + 0.06264949589967728, + -0.9980351328849792, + 0.0009647742263041437, + -17.17508316040039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1950, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_742269754", + "mask_path": "../../mask/hdr_right_01950.png" + }, + { + "file_path": "../../rgb/hdr_right_01951.png", + "transform_matrix": [ + [ + -0.19820532202720642, + -0.013207742013037205, + -0.9800715446472168, + -27.866830825805664 + ], + [ + 0.9781525135040283, + 0.061307139694690704, + -0.19864338636398315, + -12.295933723449707 + ], + [ + 0.0627090111374855, + -0.9980315566062927, + 0.0007677850080654025, + -17.18743896484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1951, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_842267990", + "mask_path": "../../mask/hdr_right_01951.png" + }, + { + "file_path": "../../rgb/hdr_right_01952.png", + "transform_matrix": [ + [ + -0.18725304305553436, + -0.012854095548391342, + -0.9822275638580322, + -27.85775375366211 + ], + [ + 0.9806730151176453, + 0.05528716742992401, + -0.1876801997423172, + -12.377348899841309 + ], + [ + 0.05671704560518265, + -0.9983876943588257, + 0.002252972451969981, + -17.19797706604004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1952, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638995_942269086", + "mask_path": "../../mask/hdr_right_01952.png" + }, + { + "file_path": "../../rgb/hdr_right_01953.png", + "transform_matrix": [ + [ + -0.179403156042099, + -0.019033756107091904, + -0.9835915565490723, + -27.853343963623047 + ], + [ + 0.9822706580162048, + 0.051816895604133606, + -0.18016493320465088, + -12.479134559631348 + ], + [ + 0.054395876824855804, + -0.998475193977356, + 0.00940018706023693, + -17.204635620117188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1953, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_42267560", + "mask_path": "../../mask/hdr_right_01953.png" + }, + { + "file_path": "../../rgb/hdr_right_01954.png", + "transform_matrix": [ + [ + -0.17976149916648865, + -0.02750956267118454, + -0.9833255410194397, + -27.84694480895996 + ], + [ + 0.9821118116378784, + 0.05194180831313133, + -0.1809927374124527, + -12.57516860961914 + ], + [ + 0.05605473741889, + -0.9982711672782898, + 0.01768033392727375, + -17.2103271484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1954, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_142267465", + "mask_path": "../../mask/hdr_right_01954.png" + }, + { + "file_path": "../../rgb/hdr_right_01955.png", + "transform_matrix": [ + [ + -0.18399003148078918, + -0.0297164898365736, + -0.9824788570404053, + -27.838420867919922 + ], + [ + 0.9813553094863892, + 0.05097012594342232, + -0.18532128632068634, + -12.651966094970703 + ], + [ + 0.055584169924259186, + -0.9982579946517944, + 0.019784439355134964, + -17.23431396484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1955, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_242267370", + "mask_path": "../../mask/hdr_right_01955.png" + }, + { + "file_path": "../../rgb/hdr_right_01956.png", + "transform_matrix": [ + [ + -0.19097769260406494, + -0.02722332254052162, + -0.9812168478965759, + -27.831777572631836 + ], + [ + 0.9799867868423462, + 0.05189846083521843, + -0.1921781599521637, + -12.743952751159668 + ], + [ + 0.05615537613630295, + -0.9982811808586121, + 0.016767049208283424, + -17.239551544189453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1956, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_342267513", + "mask_path": "../../mask/hdr_right_01956.png" + }, + { + "file_path": "../../rgb/hdr_right_01957.png", + "transform_matrix": [ + [ + -0.19536328315734863, + -0.02714642882347107, + -0.9803552031517029, + -27.8346004486084 + ], + [ + 0.9790944457054138, + 0.052323561161756516, + -0.19656091928482056, + -12.845377922058105 + ], + [ + 0.056631602346897125, + -0.9982611536979675, + 0.01635681837797165, + -17.220033645629883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1957, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_442268848", + "mask_path": "../../mask/hdr_right_01957.png" + }, + { + "file_path": "../../rgb/hdr_right_01958.png", + "transform_matrix": [ + [ + -0.20332978665828705, + -0.02609522081911564, + -0.9787625670433044, + -27.834056854248047 + ], + [ + 0.9776381254196167, + 0.04938660189509392, + -0.20441292226314545, + -12.917729377746582 + ], + [ + 0.053671956062316895, + -0.9984387755393982, + 0.01546991802752018, + -17.214075088500977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1958, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_542267560", + "mask_path": "../../mask/hdr_right_01958.png" + }, + { + "file_path": "../../rgb/hdr_right_01959.png", + "transform_matrix": [ + [ + -0.21625494956970215, + -0.022401237860322, + -0.9760800004005432, + -27.823888778686523 + ], + [ + 0.9750356674194336, + 0.04664312303066254, + -0.2170940339565277, + -12.986074447631836 + ], + [ + 0.05039059370756149, + -0.9986603856086731, + 0.011755203828215599, + -17.22730827331543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1959, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_642269372", + "mask_path": "../../mask/hdr_right_01959.png" + }, + { + "file_path": "../../rgb/hdr_right_01960.png", + "transform_matrix": [ + [ + -0.23596231639385223, + -0.024660062044858932, + -0.9714492559432983, + -27.810169219970703 + ], + [ + 0.9702410697937012, + 0.049934033304452896, + -0.23693640530109406, + -13.073013305664062 + ], + [ + 0.05435125157237053, + -0.9984480142593384, + 0.012143655680119991, + -17.250091552734375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1960, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_742267608", + "mask_path": "../../mask/hdr_right_01960.png" + }, + { + "file_path": "../../rgb/hdr_right_01961.png", + "transform_matrix": [ + [ + -0.2622407078742981, + -0.032187752425670624, + -0.9644654989242554, + -27.798965454101562 + ], + [ + 0.9630981087684631, + 0.054029226303100586, + -0.2636720538139343, + -13.16340160369873 + ], + [ + 0.06059633940458298, + -0.9980205297470093, + 0.016831297427415848, + -17.2451171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1961, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_842268705", + "mask_path": "../../mask/hdr_right_01961.png" + }, + { + "file_path": "../../rgb/hdr_right_01962.png", + "transform_matrix": [ + [ + -0.288739949464798, + -0.03156698867678642, + -0.9568870663642883, + -27.783300399780273 + ], + [ + 0.9554107189178467, + 0.05501720309257507, + -0.29010942578315735, + -13.2392578125 + ], + [ + 0.06180312857031822, + -0.9979862570762634, + 0.014273780398070812, + -17.24771499633789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1962, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638996_942267656", + "mask_path": "../../mask/hdr_right_01962.png" + }, + { + "file_path": "../../rgb/hdr_right_01963.png", + "transform_matrix": [ + [ + -0.307986319065094, + -0.024842599406838417, + -0.9510664343833923, + -27.768142700195312 + ], + [ + 0.9495182037353516, + 0.054661594331264496, + -0.3089127838611603, + -13.328670501708984 + ], + [ + 0.05966099724173546, + -0.9981958270072937, + 0.00675347913056612, + -17.272659301757812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1963, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_42268037", + "mask_path": "../../mask/hdr_right_01963.png" + }, + { + "file_path": "../../rgb/hdr_right_01964.png", + "transform_matrix": [ + [ + -0.3072088658809662, + -0.02452390268445015, + -0.9513261318206787, + -27.752368927001953 + ], + [ + 0.949701189994812, + 0.055913206189870834, + -0.30812549591064453, + -13.426752090454102 + ], + [ + 0.060748133808374405, + -0.9981343746185303, + 0.006113352719694376, + -17.285261154174805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1964, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_142266988", + "mask_path": "../../mask/hdr_right_01964.png" + }, + { + "file_path": "../../rgb/hdr_right_01965.png", + "transform_matrix": [ + [ + -0.29626014828681946, + -0.01967531628906727, + -0.9549046754837036, + -27.743173599243164 + ], + [ + 0.9532608389854431, + 0.056045565754175186, + -0.296904981136322, + -13.506410598754883 + ], + [ + 0.05935986712574959, + -0.9982343316078186, + 0.0021516410633921623, + -17.273113250732422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1965, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_242267608", + "mask_path": "../../mask/hdr_right_01965.png" + }, + { + "file_path": "../../rgb/hdr_right_01966.png", + "transform_matrix": [ + [ + -0.28322744369506836, + -0.02144150249660015, + -0.9588131904602051, + -27.736614227294922 + ], + [ + 0.9574572443962097, + 0.05132246017456055, + -0.28397464752197266, + -13.5823392868042 + ], + [ + 0.05529748648405075, + -0.9984518885612488, + 0.005993394181132317, + -17.223472595214844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1966, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_342267751", + "mask_path": "../../mask/hdr_right_01966.png" + }, + { + "file_path": "../../rgb/hdr_right_01967.png", + "transform_matrix": [ + [ + -0.2780704200267792, + -0.031690407544374466, + -0.9600378274917603, + -27.719972610473633 + ], + [ + 0.9588119387626648, + 0.05112510919570923, + -0.2794029712677002, + -13.700186729431152 + ], + [ + 0.05793643370270729, + -0.9981893301010132, + 0.016168758273124695, + -17.239946365356445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1967, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_442267894", + "mask_path": "../../mask/hdr_right_01967.png" + }, + { + "file_path": "../../rgb/hdr_right_01968.png", + "transform_matrix": [ + [ + -0.2787761986255646, + -0.0399613231420517, + -0.959524393081665, + -27.70201301574707 + ], + [ + 0.9584136009216309, + 0.05194026231765747, + -0.2806166112422943, + -13.802504539489746 + ], + [ + 0.061051759868860245, + -0.9978502988815308, + 0.023819761350750923, + -17.25401496887207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1968, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_542267560", + "mask_path": "../../mask/hdr_right_01968.png" + }, + { + "file_path": "../../rgb/hdr_right_01969.png", + "transform_matrix": [ + [ + -0.2808454930782318, + -0.03960192948579788, + -0.9589356184005737, + -27.685001373291016 + ], + [ + 0.9579181671142578, + 0.05018681660294533, + -0.2826201319694519, + -13.884584426879883 + ], + [ + 0.05931822955608368, + -0.9979544281959534, + 0.02384066767990589, + -17.277889251708984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1969, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_642268657", + "mask_path": "../../mask/hdr_right_01969.png" + }, + { + "file_path": "../../rgb/hdr_right_01970.png", + "transform_matrix": [ + [ + -0.2769221365451813, + -0.04056399688124657, + -0.9600358009338379, + -27.674087524414062 + ], + [ + 0.9587880373001099, + 0.05442153662443161, + -0.2788616716861725, + -13.993867874145508 + ], + [ + 0.06355836242437363, + -0.9976937174797058, + 0.023821746930480003, + -17.283720016479492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1970, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_742267370", + "mask_path": "../../mask/hdr_right_01970.png" + }, + { + "file_path": "../../rgb/hdr_right_01971.png", + "transform_matrix": [ + [ + -0.2674916982650757, + -0.04061417281627655, + -0.9627038240432739, + -27.6671085357666 + ], + [ + 0.9613505005836487, + 0.05637447163462639, + -0.269493967294693, + -14.08910083770752 + ], + [ + 0.06521718949079514, + -0.997583270072937, + 0.023964760825037956, + -17.27650260925293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1971, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_842266559", + "mask_path": "../../mask/hdr_right_01971.png" + }, + { + "file_path": "../../rgb/hdr_right_01972.png", + "transform_matrix": [ + [ + -0.2563246786594391, + -0.03988923877477646, + -0.9657673239707947, + -27.66242790222168 + ], + [ + 0.9646533727645874, + 0.05267108976840973, + -0.25820448994636536, + -14.16030216217041 + ], + [ + 0.06116759404540062, + -0.9978148937225342, + 0.024978389963507652, + -17.259017944335938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1972, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638997_942267656", + "mask_path": "../../mask/hdr_right_01972.png" + }, + { + "file_path": "../../rgb/hdr_right_01973.png", + "transform_matrix": [ + [ + -0.24709796905517578, + -0.04277715086936951, + -0.9680458903312683, + -27.651517868041992 + ], + [ + 0.9672336578369141, + 0.04924226179718971, + -0.24906662106513977, + -14.258278846740723 + ], + [ + 0.058323126286268234, + -0.9978703856468201, + 0.029207836836576462, + -17.283267974853516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1973, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_42267560", + "mask_path": "../../mask/hdr_right_01973.png" + }, + { + "file_path": "../../rgb/hdr_right_01974.png", + "transform_matrix": [ + [ + -0.24560444056987762, + -0.05137932300567627, + -0.9680076837539673, + -27.641281127929688 + ], + [ + 0.967348575592041, + 0.05146850273013115, + -0.24816903471946716, + -14.360654830932617 + ], + [ + 0.0625726655125618, + -0.9973520040512085, + 0.037060823291540146, + -17.300983428955078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1974, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_142269134", + "mask_path": "../../mask/hdr_right_01974.png" + }, + { + "file_path": "../../rgb/hdr_right_01975.png", + "transform_matrix": [ + [ + -0.24905802309513092, + -0.054974257946014404, + -0.9669271111488342, + -27.62917709350586 + ], + [ + 0.9663582444190979, + 0.0520775280892849, + -0.25187236070632935, + -14.443243026733398 + ], + [ + 0.06420166790485382, + -0.9971287846565247, + 0.04015449807047844, + -17.314964294433594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1975, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_242267370", + "mask_path": "../../mask/hdr_right_01975.png" + }, + { + "file_path": "../../rgb/hdr_right_01976.png", + "transform_matrix": [ + [ + -0.25192081928253174, + -0.05224864184856415, + -0.9663364291191101, + -27.622562408447266 + ], + [ + 0.9657570719718933, + 0.0504429005086422, + -0.25449714064598083, + -14.537454605102539 + ], + [ + 0.06204194203019142, + -0.9973593354225159, + 0.03775188326835632, + -17.31932830810547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1976, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_342267513", + "mask_path": "../../mask/hdr_right_01976.png" + }, + { + "file_path": "../../rgb/hdr_right_01977.png", + "transform_matrix": [ + [ + -0.2462015599012375, + -0.050934843719005585, + -0.9678793549537659, + -27.61848258972168 + ], + [ + 0.9670200347900391, + 0.05431646481156349, + -0.24884137511253357, + -14.647972106933594 + ], + [ + 0.06524648517370224, + -0.9972237944602966, + 0.035882219672203064, + -17.31639289855957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1977, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_442267417", + "mask_path": "../../mask/hdr_right_01977.png" + }, + { + "file_path": "../../rgb/hdr_right_01978.png", + "transform_matrix": [ + [ + -0.2359609156847, + -0.047075141221284866, + -0.970621645450592, + -27.618844985961914 + ], + [ + 0.9695202708244324, + 0.05640954151749611, + -0.2384290248155594, + -14.734658241271973 + ], + [ + 0.06597640365362167, + -0.9972972869873047, + 0.03232985734939575, + -17.296592712402344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1978, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_542267560", + "mask_path": "../../mask/hdr_right_01978.png" + }, + { + "file_path": "../../rgb/hdr_right_01979.png", + "transform_matrix": [ + [ + -0.22763217985630035, + -0.04320981726050377, + -0.9727880954742432, + -27.61384391784668 + ], + [ + 0.9717729687690735, + 0.053503889590501785, + -0.2297711819410324, + -14.803265571594238 + ], + [ + 0.06197631359100342, + -0.9976323246955872, + 0.02981092780828476, + -17.283008575439453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1979, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_642268657", + "mask_path": "../../mask/hdr_right_01979.png" + }, + { + "file_path": "../../rgb/hdr_right_01980.png", + "transform_matrix": [ + [ + -0.22648417949676514, + -0.04585663974285126, + -0.9729347825050354, + -27.601093292236328 + ], + [ + 0.9720054268836975, + 0.05348986014723778, + -0.22878894209861755, + -14.90321159362793 + ], + [ + 0.06253363192081451, + -0.9975149631500244, + 0.03245829790830612, + -17.301931381225586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1980, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_742268323", + "mask_path": "../../mask/hdr_right_01980.png" + }, + { + "file_path": "../../rgb/hdr_right_01981.png", + "transform_matrix": [ + [ + -0.23412950336933136, + -0.0551876425743103, + -0.970637857913971, + -27.588035583496094 + ], + [ + 0.9698585271835327, + 0.056071944534778595, + -0.2371295988559723, + -15.008870124816895 + ], + [ + 0.06751216948032379, + -0.9969003796577454, + 0.04039610177278519, + -17.312816619873047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1981, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_842267751", + "mask_path": "../../mask/hdr_right_01981.png" + }, + { + "file_path": "../../rgb/hdr_right_01982.png", + "transform_matrix": [ + [ + -0.25031086802482605, + -0.060486529022455215, + -0.9662742614746094, + -27.578739166259766 + ], + [ + 0.9657145142555237, + 0.05537355691194534, + -0.2536320984363556, + -15.086389541625977 + ], + [ + 0.06884736567735672, + -0.9966318607330322, + 0.044552117586135864, + -17.304548263549805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1982, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638998_942267656", + "mask_path": "../../mask/hdr_right_01982.png" + }, + { + "file_path": "../../rgb/hdr_right_01983.png", + "transform_matrix": [ + [ + -0.2689955234527588, + -0.05555997043848038, + -0.9615375399589539, + -27.558855056762695 + ], + [ + 0.960835874080658, + 0.05355611443519592, + -0.27189382910728455, + -15.161215782165527 + ], + [ + 0.06660263240337372, + -0.9970179200172424, + 0.03897765651345253, + -17.338376998901367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1983, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730638999_42267084", + "mask_path": "../../mask/hdr_right_01983.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/d5d378ce/mesh.ply b/2024-11-03-13-59-54/splats/d5d378ce/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..3c1aa08ae09d4ab67fde476e41335b62a8c2bd68 --- /dev/null +++ b/2024-11-03-13-59-54/splats/d5d378ce/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0b726f5407fa6bb0c4c541f8d6888233ec555f5a434f50a243be5d5deeae655 +size 59965979 diff --git a/2024-11-03-13-59-54/splats/d5d378ce/mesh_filled_decimated.ply b/2024-11-03-13-59-54/splats/d5d378ce/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..1f20ce550276fa737682832a7baa1633796f7a20 --- /dev/null +++ b/2024-11-03-13-59-54/splats/d5d378ce/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:451aba0109f7055ab0cc04c3200eff7d5134c891d953dbed31b08b85036a2e58 +size 1567188 diff --git a/2024-11-03-13-59-54/splats/d5d378ce/splatfacto/config.yml b/2024-11-03-13-59-54/splats/d5d378ce/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..fbec9bcf5f72d494558736b57f0b4e8c6d2ea8f4 --- /dev/null +++ b/2024-11-03-13-59-54/splats/d5d378ce/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-03-13-59-54_nerfstudio +- slices +- slice_d5d378ce +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-03-13-59-54_nerfstudio + - slices + - slice_d5d378ce + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-03-13-59-54/splats/d5d378ce/splatfacto/dataparser_transforms.json b/2024-11-03-13-59-54/splats/d5d378ce/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..98833b1990c2a2ead0d494645193472693a01ba8 --- /dev/null +++ b/2024-11-03-13-59-54/splats/d5d378ce/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + 0.28341126441955566, + 0.9585391283035278, + 0.029681973159313202, + 57.274288177490234 + ], + [ + 0.9585391283035278, + -0.28218209743499756, + -0.0397038497030735, + 13.65892505645752 + ], + [ + -0.029681973159313202, + 0.0397038497030735, + -0.9987707138061523, + -18.68205451965332 + ] + ], + "scale": 0.17795853501778353 +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/d5d378ce/splatfacto/splat.ply b/2024-11-03-13-59-54/splats/d5d378ce/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..afc2d1424d2d2021dafa2beaf7ed7279305732ef --- /dev/null +++ b/2024-11-03-13-59-54/splats/d5d378ce/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:817f623a0a1a50795eee7957661aebdd6145f9c984575e29a0a8a0a2f9687345 +size 283882978 diff --git a/2024-11-03-13-59-54/splats/d5d378ce/transforms.json b/2024-11-03-13-59-54/splats/d5d378ce/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..30ba127321e9c5f5cb46c870dbf6043f214589a2 --- /dev/null +++ b/2024-11-03-13-59-54/splats/d5d378ce/transforms.json @@ -0,0 +1,21048 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_02536.png", + "transform_matrix": [ + [ + -0.47924330830574036, + -0.03873349726200104, + 0.8768270015716553, + -25.45330810546875 + ], + [ + -0.8771661520004272, + 0.05538978427648544, + -0.4769818186759949, + -54.774837493896484 + ], + [ + -0.030092084780335426, + -0.9977132678031921, + -0.06052089482545853, + -20.225473403930664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2536, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639055_542267560", + "mask_path": "../../mask/hdr_front_02536.png" + }, + { + "file_path": "../../rgb/hdr_front_02537.png", + "transform_matrix": [ + [ + -0.4867146611213684, + -0.03898227959871292, + 0.8726907968521118, + -25.5240421295166 + ], + [ + -0.8732666373252869, + 0.04764322191476822, + -0.48490774631500244, + -54.73105239868164 + ], + [ + -0.02267499268054962, + -0.9981034994125366, + -0.05723057687282562, + -20.21956443786621 + ], + [ + 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": "1730639055_642268419", + "mask_path": "../../mask/hdr_front_02537.png" + }, + { + "file_path": "../../rgb/hdr_front_02538.png", + "transform_matrix": [ + [ + -0.494787335395813, + -0.04304061457514763, + 0.8679475784301758, + -25.588327407836914 + ], + [ + -0.86885666847229, + 0.04351205378770828, + -0.4931478798389435, + -54.694183349609375 + ], + [ + -0.016540788114070892, + -0.9981253743171692, + -0.058925338089466095, + -20.217552185058594 + ], + [ + 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": "1730639055_742267608", + "mask_path": "../../mask/hdr_front_02538.png" + }, + { + "file_path": "../../rgb/hdr_front_02539.png", + "transform_matrix": [ + [ + -0.49858537316322327, + -0.042972736060619354, + 0.8657748103141785, + -25.68328094482422 + ], + [ + -0.8666802048683167, + 0.04392610862851143, + -0.49692651629447937, + -54.64503860473633 + ], + [ + -0.01667581871151924, + -0.9981101751327515, + -0.059144534170627594, + -20.214895248413086 + ], + [ + 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": "1730639055_842268943", + "mask_path": "../../mask/hdr_front_02539.png" + }, + { + "file_path": "../../rgb/hdr_front_02540.png", + "transform_matrix": [ + [ + -0.4967169165611267, + -0.03384827449917793, + 0.8672523498535156, + -25.771759033203125 + ], + [ + -0.8675600290298462, + 0.04783884808421135, + -0.4950261116027832, + -54.60274124145508 + ], + [ + -0.024732567369937897, + -0.9982814788818359, + -0.053127776831388474, + -20.217016220092773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2540, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639055_942268133", + "mask_path": "../../mask/hdr_front_02540.png" + }, + { + "file_path": "../../rgb/hdr_front_02541.png", + "transform_matrix": [ + [ + -0.4930456876754761, + -0.027102051302790642, + 0.8695811629295349, + -25.83979034423828 + ], + [ + -0.8695098757743835, + 0.04901261627674103, + -0.49147769808769226, + -54.56544876098633 + ], + [ + -0.029300397261977196, + -0.9984304308891296, + -0.047730959951877594, + -20.221393585205078 + ], + [ + 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": "1730639056_42269706", + "mask_path": "../../mask/hdr_front_02541.png" + }, + { + "file_path": "../../rgb/hdr_front_02542.png", + "transform_matrix": [ + [ + -0.4930519163608551, + -0.024732418358325958, + 0.869648277759552, + -25.919841766357422 + ], + [ + -0.8695404529571533, + 0.04648694396018982, + -0.49166879057884216, + -54.515377044677734 + ], + [ + -0.028267132118344307, + -0.9986127018928528, + -0.044426318258047104, + -20.222135543823242 + ], + [ + 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": "1730639056_142268180", + "mask_path": "../../mask/hdr_front_02542.png" + }, + { + "file_path": "../../rgb/hdr_front_02543.png", + "transform_matrix": [ + [ + -0.49951720237731934, + -0.02610129863023758, + 0.8659107089042664, + -26.000484466552734 + ], + [ + -0.8658790588378906, + 0.04634550213813782, + -0.49810200929641724, + -54.45711135864258 + ], + [ + -0.02712995745241642, + -0.9985844492912292, + -0.045750942081213, + -20.210159301757812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2543, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639056_242268323", + "mask_path": "../../mask/hdr_front_02543.png" + }, + { + "file_path": "../../rgb/hdr_front_02544.png", + "transform_matrix": [ + [ + -0.50789475440979, + -0.028139013797044754, + 0.8609593510627747, + -26.06308364868164 + ], + [ + -0.8611099123954773, + 0.043357960879802704, + -0.50656658411026, + -54.4162483215332 + ], + [ + -0.023075157776474953, + -0.9986633062362671, + -0.046252068132162094, + -20.20206642150879 + ], + [ + 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": "1730639056_342268705", + "mask_path": "../../mask/hdr_front_02544.png" + }, + { + "file_path": "../../rgb/hdr_front_02545.png", + "transform_matrix": [ + [ + -0.516118049621582, + -0.03163449838757515, + 0.8559330701828003, + -26.127534866333008 + ], + [ + -0.8563095331192017, + 0.0410798005759716, + -0.5148266553878784, + -54.384124755859375 + ], + [ + -0.01887527108192444, + -0.9986549615859985, + -0.04829094186425209, + -20.193607330322266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2545, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639056_442270278", + "mask_path": "../../mask/hdr_front_02545.png" + }, + { + "file_path": "../../rgb/hdr_front_02546.png", + "transform_matrix": [ + [ + -0.5168973207473755, + -0.028001049533486366, + 0.8555893898010254, + -26.21471405029297 + ], + [ + -0.8557738065719604, + 0.04216926917433739, + -0.5156286358833313, + -54.33405303955078 + ], + [ + -0.021641433238983154, + -0.9987180233001709, + -0.045759741216897964, + -20.193328857421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2546, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639056_542268037", + "mask_path": "../../mask/hdr_front_02546.png" + }, + { + "file_path": "../../rgb/hdr_front_02547.png", + "transform_matrix": [ + [ + -0.5133689641952515, + -0.020508483052253723, + 0.8579229712486267, + -26.288522720336914 + ], + [ + -0.8577077388763428, + 0.04499906301498413, + -0.5121645331382751, + -54.29487228393555 + ], + [ + -0.028102008625864983, + -0.9987764954566956, + -0.04069140553474426, + -20.199792861938477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2547, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639056_642269849", + "mask_path": "../../mask/hdr_front_02547.png" + }, + { + "file_path": "../../rgb/hdr_front_02548.png", + "transform_matrix": [ + [ + -0.5102472305297852, + -0.01812608540058136, + 0.859836757183075, + -26.350534439086914 + ], + [ + -0.8595430850982666, + 0.04430810734629631, + -0.5091390013694763, + -54.26432418823242 + ], + [ + -0.028869034722447395, + -0.9988535046577454, + -0.03818824142217636, + -20.204030990600586 + ], + [ + 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": "1730639056_742267370", + "mask_path": "../../mask/hdr_front_02548.png" + }, + { + "file_path": "../../rgb/hdr_front_02549.png", + "transform_matrix": [ + [ + -0.5110681653022766, + -0.01704731583595276, + 0.8593711853027344, + -26.42156982421875 + ], + [ + -0.859143078327179, + 0.040518712252378464, + -0.5101288557052612, + -54.22182846069336 + ], + [ + -0.02612427994608879, + -0.9990333914756775, + -0.03535390645265579, + -20.196603775024414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2549, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639056_842267751", + "mask_path": "../../mask/hdr_front_02549.png" + }, + { + "file_path": "../../rgb/hdr_front_02550.png", + "transform_matrix": [ + [ + -0.5187282562255859, + -0.021450728178024292, + 0.8546701073646545, + -26.485164642333984 + ], + [ + -0.8546264171600342, + 0.04004894196987152, + -0.5176966190338135, + -54.17254638671875 + ], + [ + -0.023123659193515778, + -0.9989674687385559, + -0.03910687565803528, + -20.179550170898438 + ], + [ + 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": "1730639056_942267417", + "mask_path": "../../mask/hdr_front_02550.png" + }, + { + "file_path": "../../rgb/hdr_front_02551.png", + "transform_matrix": [ + [ + -0.527521014213562, + -0.025446917861700058, + 0.84916090965271, + -26.5350399017334 + ], + [ + -0.8493131995201111, + 0.03899451345205307, + -0.5264469981193542, + -54.13721466064453 + ], + [ + -0.019716154783964157, + -0.998915433883667, + -0.04218282550573349, + -20.172243118286133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2551, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_42267799", + "mask_path": "../../mask/hdr_front_02551.png" + }, + { + "file_path": "../../rgb/hdr_front_02552.png", + "transform_matrix": [ + [ + -0.5362134575843811, + -0.0293622724711895, + 0.8435715436935425, + -26.58690643310547 + ], + [ + -0.8439415097236633, + 0.03691057860851288, + -0.5351638197898865, + -54.109745025634766 + ], + [ + -0.015423090197145939, + -0.9988871812820435, + -0.04457199200987816, + -20.165979385375977 + ], + [ + 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": "1730639057_142267704", + "mask_path": "../../mask/hdr_front_02552.png" + }, + { + "file_path": "../../rgb/hdr_front_02553.png", + "transform_matrix": [ + [ + -0.5398191213607788, + -0.030954299494624138, + 0.84121173620224, + -26.658775329589844 + ], + [ + -0.841643214225769, + 0.0379280149936676, + -0.5387004613876343, + -54.06249237060547 + ], + [ + -0.015230393037199974, + -0.9988009333610535, + -0.046526744961738586, + -20.16120719909668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2553, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_242266893", + "mask_path": "../../mask/hdr_front_02553.png" + }, + { + "file_path": "../../rgb/hdr_front_02554.png", + "transform_matrix": [ + [ + -0.539127767086029, + -0.02412833459675312, + 0.8418782353401184, + -26.72235679626465 + ], + [ + -0.8418818712234497, + 0.043927717953920364, + -0.5378711819648743, + -54.02212905883789 + ], + [ + -0.024003855884075165, + -0.9987433552742004, + -0.04399586096405983, + -20.16350746154785 + ], + [ + 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": "1730639057_342267751", + "mask_path": "../../mask/hdr_front_02554.png" + }, + { + "file_path": "../../rgb/hdr_front_02555.png", + "transform_matrix": [ + [ + -0.5383278727531433, + -0.01793750748038292, + 0.8425445556640625, + -26.772977828979492 + ], + [ + -0.8421834111213684, + 0.047631919384002686, + -0.537083089351654, + -53.99299621582031 + ], + [ + -0.0304980780929327, + -0.9987039566040039, + -0.04074826464056969, + -20.17041778564453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2555, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_442268133", + "mask_path": "../../mask/hdr_front_02555.png" + }, + { + "file_path": "../../rgb/hdr_front_02556.png", + "transform_matrix": [ + [ + -0.5393670201301575, + -0.014787719585001469, + 0.8419409394264221, + -26.83818817138672 + ], + [ + -0.841433584690094, + 0.04835454374551773, + -0.5381926894187927, + -53.94733428955078 + ], + [ + -0.032753024250268936, + -0.9987207651138306, + -0.038523729890584946, + -20.16625213623047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2556, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_542267799", + "mask_path": "../../mask/hdr_front_02556.png" + }, + { + "file_path": "../../rgb/hdr_front_02557.png", + "transform_matrix": [ + [ + -0.5458551645278931, + -0.017205512151122093, + 0.8377029895782471, + -26.902448654174805 + ], + [ + -0.837310254573822, + 0.04804970324039459, + -0.544612467288971, + -53.892005920410156 + ], + [ + -0.030881036072969437, + -0.9986968040466309, + -0.040634527802467346, + -20.149154663085938 + ], + [ + 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": "1730639057_642268180", + "mask_path": "../../mask/hdr_front_02557.png" + }, + { + "file_path": "../../rgb/hdr_front_02558.png", + "transform_matrix": [ + [ + -0.5540921688079834, + -0.022825565189123154, + 0.8321424126625061, + -26.951786041259766 + ], + [ + -0.8320398926734924, + 0.046763479709625244, + -0.5527411699295044, + -53.852516174316406 + ], + [ + -0.02629724331200123, + -0.9986451864242554, + -0.04490306228399277, + -20.14059829711914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2558, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_742268800", + "mask_path": "../../mask/hdr_front_02558.png" + }, + { + "file_path": "../../rgb/hdr_front_02559.png", + "transform_matrix": [ + [ + -0.5621938109397888, + -0.028700700029730797, + 0.8265073895454407, + -27.003000259399414 + ], + [ + -0.8267315626144409, + 0.04522555321455002, + -0.5607758164405823, + -53.81999969482422 + ], + [ + -0.021284591406583786, + -0.9985645413398743, + -0.049153298139572144, + -20.13404655456543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2559, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_842268943", + "mask_path": "../../mask/hdr_front_02559.png" + }, + { + "file_path": "../../rgb/hdr_front_02560.png", + "transform_matrix": [ + [ + -0.5642299652099609, + -0.0247673187404871, + 0.8252460360527039, + -27.06982421875 + ], + [ + -0.8252599239349365, + 0.0463392548263073, + -0.5628487467765808, + -53.77865982055664 + ], + [ + -0.024301031604409218, + -0.9986187219619751, + -0.04658547416329384, + -20.1287784576416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2560, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_942268133", + "mask_path": "../../mask/hdr_front_02560.png" + }, + { + "file_path": "../../rgb/hdr_front_02561.png", + "transform_matrix": [ + [ + -0.5638202428817749, + -0.018118849024176598, + 0.8256987929344177, + -27.127851486206055 + ], + [ + -0.8253012299537659, + 0.05034291371703148, + -0.5624441504478455, + -53.74266052246094 + ], + [ + -0.031377241015434265, + -0.9985675811767578, + -0.0433378703892231, + -20.131547927856445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2561, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639058_42267799", + "mask_path": "../../mask/hdr_front_02561.png" + }, + { + "file_path": "../../rgb/hdr_front_02562.png", + "transform_matrix": [ + [ + -0.564798891544342, + -0.015022074803709984, + 0.8250918984413147, + -27.18036651611328 + ], + [ + -0.8245410323143005, + 0.05107784643769264, + -0.5634918212890625, + -53.706302642822266 + ], + [ + -0.03367909789085388, + -0.9985816478729248, + -0.041235022246837616, + -20.132112503051758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2562, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639058_142267465", + "mask_path": "../../mask/hdr_front_02562.png" + }, + { + "file_path": "../../rgb/hdr_front_02563.png", + "transform_matrix": [ + [ + -0.5687211751937866, + -0.012750172056257725, + 0.8224316239356995, + -27.239015579223633 + ], + [ + -0.8217931985855103, + 0.05113132670521736, + -0.5674870610237122, + -53.65745162963867 + ], + [ + -0.03481645509600639, + -0.9986106157302856, + -0.03955747187137604, + -20.12846565246582 + ], + [ + 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": "1730639058_242267847", + "mask_path": "../../mask/hdr_front_02563.png" + }, + { + "file_path": "../../rgb/hdr_front_02564.png", + "transform_matrix": [ + [ + -0.577645480632782, + -0.01586523838341236, + 0.8161335587501526, + -27.292272567749023 + ], + [ + -0.8156203031539917, + 0.051639437675476074, + -0.5762783885002136, + -53.60719299316406 + ], + [ + -0.03300188109278679, + -0.9985398054122925, + -0.04276929795742035, + -20.115951538085938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2564, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639058_342267990", + "mask_path": "../../mask/hdr_front_02564.png" + }, + { + "file_path": "../../rgb/hdr_front_02565.png", + "transform_matrix": [ + [ + -0.5869185328483582, + -0.02040942572057247, + 0.8093887567520142, + -27.33474349975586 + ], + [ + -0.8091660737991333, + 0.04919993132352829, + -0.5855164527893066, + -53.566558837890625 + ], + [ + -0.027871813625097275, + -0.9985804557800293, + -0.04539096727967262, + -20.109233856201172 + ], + [ + 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": "1730639058_442269802", + "mask_path": "../../mask/hdr_front_02565.png" + }, + { + "file_path": "../../rgb/hdr_front_02566.png", + "transform_matrix": [ + [ + -0.5953948497772217, + -0.023834366351366043, + 0.8030797243118286, + -27.38377571105957 + ], + [ + -0.8031076788902283, + 0.046110186725854874, + -0.5940470099449158, + -53.52711486816406 + ], + [ + -0.022871416062116623, + -0.9986520409584045, + -0.04659533128142357, + -20.10563087463379 + ], + [ + 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": "1730639058_542267560", + "mask_path": "../../mask/hdr_front_02566.png" + }, + { + "file_path": "../../rgb/hdr_front_02567.png", + "transform_matrix": [ + [ + -0.5984022617340088, + -0.016238728538155556, + 0.801031231880188, + -27.446195602416992 + ], + [ + -0.8006937503814697, + 0.04750784859061241, + -0.5971871614456177, + -53.480350494384766 + ], + [ + -0.02835770510137081, + -0.9987389445304871, + -0.04143105447292328, + -20.10550880432129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2567, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639058_642268896", + "mask_path": "../../mask/hdr_front_02567.png" + }, + { + "file_path": "../../rgb/hdr_front_02568.png", + "transform_matrix": [ + [ + -0.599979817867279, + -0.0064182947389781475, + 0.7999894022941589, + -27.496173858642578 + ], + [ + -0.7991985082626343, + 0.04997848719358444, + -0.5989857316017151, + -53.44399642944336 + ], + [ + -0.036137789487838745, + -0.9987297654151917, + -0.03511557728052139, + -20.115062713623047 + ], + [ + 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": "1730639058_742268323", + "mask_path": "../../mask/hdr_front_02568.png" + }, + { + "file_path": "../../rgb/hdr_front_02569.png", + "transform_matrix": [ + [ + -0.6021272540092468, + -0.0002184887125622481, + 0.7983999848365784, + -27.539600372314453 + ], + [ + -0.7974008321762085, + 0.05018065497279167, + -0.6013599634170532, + -53.409576416015625 + ], + [ + -0.039932843297719955, + -0.9987401366233826, + -0.030389366671442986, + -20.118431091308594 + ], + [ + 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": "1730639058_842268228", + "mask_path": "../../mask/hdr_front_02569.png" + }, + { + "file_path": "../../rgb/hdr_front_02570.png", + "transform_matrix": [ + [ + -0.6055057048797607, + 0.004064108710736036, + 0.7958305478096008, + -27.59588623046875 + ], + [ + -0.7949308753013611, + 0.04472097009420395, + -0.6050496101379395, + -53.35917663574219 + ], + [ + -0.038049302995204926, + -0.9989912509918213, + -0.023848120123147964, + -20.117176055908203 + ], + [ + 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": "1730639058_942269563", + "mask_path": "../../mask/hdr_front_02570.png" + }, + { + "file_path": "../../rgb/hdr_front_02571.png", + "transform_matrix": [ + [ + -0.6139430403709412, + 0.0040174671448767185, + 0.7893401384353638, + -27.6501522064209 + ], + [ + -0.7885442972183228, + 0.04205772280693054, + -0.6135381460189819, + -53.30464172363281 + ], + [ + -0.03566271439194679, + -0.9991071224212646, + -0.022653095424175262, + -20.105051040649414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2571, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639059_42268276", + "mask_path": "../../mask/hdr_front_02571.png" + }, + { + "file_path": "../../rgb/hdr_front_02572.png", + "transform_matrix": [ + [ + -0.6242824792861938, + 0.0016016557347029448, + 0.7811970114707947, + -27.689189910888672 + ], + [ + -0.7805197834968567, + 0.040402527898550034, + -0.6238240599632263, + -53.2628059387207 + ], + [ + -0.03256148472428322, + -0.9991822242736816, + -0.023972466588020325, + -20.101125717163086 + ], + [ + 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": "1730639059_142267942", + "mask_path": "../../mask/hdr_front_02572.png" + }, + { + "file_path": "../../rgb/hdr_front_02573.png", + "transform_matrix": [ + [ + -0.6342240571975708, + -0.0028466451913118362, + 0.7731440663337708, + -27.72957420349121 + ], + [ + -0.7726725339889526, + 0.03744208812713623, + -0.6336995363235474, + -53.221435546875 + ], + [ + -0.027144204825162888, + -0.9992947578430176, + -0.025946196168661118, + -20.101688385009766 + ], + [ + 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": "1730639059_242268085", + "mask_path": "../../mask/hdr_front_02573.png" + }, + { + "file_path": "../../rgb/hdr_front_02574.png", + "transform_matrix": [ + [ + -0.6411644220352173, + -0.0018402172718197107, + 0.767401397228241, + -27.784208297729492 + ], + [ + -0.7670274376869202, + 0.03284282237291336, + -0.6407732367515564, + -53.172176361083984 + ], + [ + -0.024024464190006256, + -0.9994588494300842, + -0.02246914617717266, + -20.098892211914062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2574, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639059_342267036", + "mask_path": "../../mask/hdr_front_02574.png" + }, + { + "file_path": "../../rgb/hdr_front_02575.png", + "transform_matrix": [ + [ + -0.6413675546646118, + 0.0006578834145329893, + 0.7672334313392639, + -27.84262466430664 + ], + [ + -0.7667120695114136, + 0.03632036969065666, + -0.6409629583358765, + -53.125850677490234 + ], + [ + -0.02828787826001644, + -0.9993399977684021, + -0.022790301591157913, + -20.090286254882812 + ], + [ + 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": "1730639059_442269563", + "mask_path": "../../mask/hdr_front_02575.png" + }, + { + "file_path": "../../rgb/hdr_front_02576.png", + "transform_matrix": [ + [ + -0.6372570395469666, + 0.00020856759510934353, + 0.7706514000892639, + -27.89354705810547 + ], + [ + -0.7699809074401855, + 0.041529580950737, + -0.6367139220237732, + -53.088340759277344 + ], + [ + -0.03213762491941452, + -0.999137282371521, + -0.026304421946406364, + -20.08421516418457 + ], + [ + 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": "1730639059_542268276", + "mask_path": "../../mask/hdr_front_02576.png" + }, + { + "file_path": "../../rgb/hdr_front_02577.png", + "transform_matrix": [ + [ + -0.6322131752967834, + -0.003208407200872898, + 0.774787962436676, + -27.94707489013672 + ], + [ + -0.7743157744407654, + 0.03776703402400017, + -0.6316714286804199, + -53.05342483520508 + ], + [ + -0.027234777808189392, + -0.9992814660072327, + -0.026361133903265, + -20.083959579467773 + ], + [ + 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": "1730639059_642267465", + "mask_path": "../../mask/hdr_front_02577.png" + }, + { + "file_path": "../../rgb/hdr_front_02578.png", + "transform_matrix": [ + [ + -0.6307355761528015, + -0.01184818334877491, + 0.7759073376655579, + -27.99801254272461 + ], + [ + -0.7759307026863098, + 0.022782187908887863, + -0.6304066777229309, + -53.02133560180664 + ], + [ + -0.01020769216120243, + -0.9996702671051025, + -0.023562906309962273, + -20.080812454223633 + ], + [ + 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": "1730639059_742268562", + "mask_path": "../../mask/hdr_front_02578.png" + }, + { + "file_path": "../../rgb/hdr_front_02579.png", + "transform_matrix": [ + [ + -0.6377670764923096, + -0.017291756346821785, + 0.7700352072715759, + -28.034744262695312 + ], + [ + -0.7701659798622131, + 0.02712729386985302, + -0.6372663378715515, + -52.99235534667969 + ], + [ + -0.009869515895843506, + -0.9994823932647705, + -0.030618416145443916, + -20.054180145263672 + ], + [ + 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": "1730639059_842267513", + "mask_path": "../../mask/hdr_front_02579.png" + }, + { + "file_path": "../../rgb/hdr_front_02581.png", + "transform_matrix": [ + [ + -0.6509522795677185, + -0.024945491924881935, + 0.7587087154388428, + -28.136198043823242 + ], + [ + -0.7590885758399963, + 0.0302780382335186, + -0.6502828001976013, + -52.91840744018555 + ], + [ + -0.0067505850456655025, + -0.9992302060127258, + -0.03864540159702301, + -20.048877716064453 + ], + [ + 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": "1730639060_42267799", + "mask_path": "../../mask/hdr_front_02581.png" + }, + { + "file_path": "../../rgb/hdr_front_02582.png", + "transform_matrix": [ + [ + -0.6515774726867676, + -0.02107563242316246, + 0.7582892775535583, + -28.18527603149414 + ], + [ + -0.7585055828094482, + 0.03229113668203354, + -0.6508658528327942, + -52.88228988647461 + ], + [ + -0.010768608190119267, + -0.9992563724517822, + -0.03702615946531296, + -20.055471420288086 + ], + [ + 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": "1730639060_142269134", + "mask_path": "../../mask/hdr_front_02582.png" + }, + { + "file_path": "../../rgb/hdr_front_02584.png", + "transform_matrix": [ + [ + -0.6553866267204285, + -0.018635878339409828, + 0.7550635933876038, + -28.267234802246094 + ], + [ + -0.7551584243774414, + 0.03507586568593979, + -0.6546033620834351, + -52.791053771972656 + ], + [ + -0.014285403303802013, + -0.9992109537124634, + -0.03706129267811775, + -20.064125061035156 + ], + [ + 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": "1730639060_342267513", + "mask_path": "../../mask/hdr_front_02584.png" + }, + { + "file_path": "../../rgb/hdr_front_02585.png", + "transform_matrix": [ + [ + -0.6608008742332458, + -0.020852310582995415, + 0.7502714991569519, + -28.309690475463867 + ], + [ + -0.7504260540008545, + 0.03732446953654289, + -0.6598996520042419, + -52.744667053222656 + ], + [ + -0.014243053272366524, + -0.9990856051445007, + -0.04031216353178024, + -20.051218032836914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2585, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639060_442267656", + "mask_path": "../../mask/hdr_front_02585.png" + }, + { + "file_path": "../../rgb/hdr_front_02587.png", + "transform_matrix": [ + [ + -0.6766813397407532, + -0.028289666399359703, + 0.73573237657547, + -28.385480880737305 + ], + [ + -0.7362414598464966, + 0.03567476198077202, + -0.6757779717445374, + -52.656368255615234 + ], + [ + -0.007129541598260403, + -0.9989630579948425, + -0.04496847093105316, + -20.04837417602539 + ], + [ + 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": "1730639060_642267942", + "mask_path": "../../mask/hdr_front_02587.png" + }, + { + "file_path": "../../rgb/hdr_front_02588.png", + "transform_matrix": [ + [ + -0.680213212966919, + -0.04374314099550247, + 0.7317079901695251, + -28.453176498413086 + ], + [ + -0.7330133318901062, + 0.03898215666413307, + -0.6790963411331177, + -52.59398651123047 + ], + [ + 0.0011822506785392761, + -0.9982820153236389, + -0.05858048051595688, + -20.02814292907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2588, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639060_742267370", + "mask_path": "../../mask/hdr_front_02588.png" + }, + { + "file_path": "../../rgb/hdr_front_02589.png", + "transform_matrix": [ + [ + -0.6781721711158752, + -0.05076383799314499, + 0.7331477403640747, + -28.509675979614258 + ], + [ + -0.734900951385498, + 0.04445737972855568, + -0.6767156720161438, + -52.552616119384766 + ], + [ + 0.0017588591435924172, + -0.9977207183837891, + -0.06745615601539612, + -20.01616668701172 + ], + [ + 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": "1730639060_842267036", + "mask_path": "../../mask/hdr_front_02589.png" + }, + { + "file_path": "../../rgb/hdr_front_02590.png", + "transform_matrix": [ + [ + -0.6747148036956787, + -0.05487675964832306, + 0.7360357046127319, + -28.56281089782715 + ], + [ + -0.7380621433258057, + 0.043526798486709595, + -0.6733272671699524, + -52.5133056640625 + ], + [ + 0.004912743344902992, + -0.99754399061203, + -0.06987063586711884, + -20.016326904296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2590, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639060_942267894", + "mask_path": "../../mask/hdr_front_02590.png" + }, + { + "file_path": "../../rgb/hdr_front_02591.png", + "transform_matrix": [ + [ + -0.6770886182785034, + -0.06485475599765778, + 0.7330381274223328, + -28.62395477294922 + ], + [ + -0.7358012199401855, + 0.04321673884987831, + -0.6758172512054443, + -52.45832443237305 + ], + [ + 0.012150446884334087, + -0.9969584941864014, + -0.07698176056146622, + -20.007572174072266 + ], + [ + 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": "1730639061_42267322", + "mask_path": "../../mask/hdr_front_02591.png" + }, + { + "file_path": "../../rgb/hdr_front_02592.png", + "transform_matrix": [ + [ + -0.6878277063369751, + -0.07589545100927353, + 0.7218954563140869, + -28.677833557128906 + ], + [ + -0.7257443070411682, + 0.05310291051864624, + -0.685912013053894, + -52.39667892456055 + ], + [ + 0.013722860254347324, + -0.9957007169723511, + -0.09160633385181427, + -19.976070404052734 + ], + [ + 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": "1730639061_142267704", + "mask_path": "../../mask/hdr_front_02592.png" + }, + { + "file_path": "../../rgb/hdr_front_02593.png", + "transform_matrix": [ + [ + -0.7004518508911133, + -0.08053851872682571, + 0.7091408967971802, + -28.71954917907715 + ], + [ + -0.7135874629020691, + 0.06141486018896103, + -0.6978690028190613, + -52.348690032958984 + ], + [ + 0.012653540819883347, + -0.994857668876648, + -0.10048943012952805, + -19.95536994934082 + ], + [ + 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": "1730639061_242267608", + "mask_path": "../../mask/hdr_front_02593.png" + }, + { + "file_path": "../../rgb/hdr_front_02594.png", + "transform_matrix": [ + [ + -0.7061717510223389, + -0.0627317950129509, + 0.7052562236785889, + -28.77794075012207 + ], + [ + -0.7080399990081787, + 0.061261195689439774, + -0.7035101056098938, + -52.29142379760742 + ], + [ + 0.0009276088094338775, + -0.9961484670639038, + -0.08767753839492798, + -19.959251403808594 + ], + [ + 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": "1730639061_342267274", + "mask_path": "../../mask/hdr_front_02594.png" + }, + { + "file_path": "../../rgb/hdr_front_02595.png", + "transform_matrix": [ + [ + -0.7070178985595703, + -0.03684525936841965, + 0.7062351703643799, + -28.82253646850586 + ], + [ + -0.7070331573486328, + 0.05823294818401337, + -0.704778790473938, + -52.247806549072266 + ], + [ + -0.0151583943516016, + -0.9976228475570679, + -0.06722255796194077, + -19.968303680419922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2595, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639061_442268371", + "mask_path": "../../mask/hdr_front_02595.png" + }, + { + "file_path": "../../rgb/hdr_front_02597.png", + "transform_matrix": [ + [ + -0.7137244343757629, + -0.02059951238334179, + 0.7001236081123352, + -28.910688400268555 + ], + [ + -0.6998933553695679, + 0.05997000262141228, + -0.7117252945899963, + -52.126407623291016 + ], + [ + -0.0273252185434103, + -0.9979876279830933, + -0.057219527661800385, + -19.966772079467773 + ], + [ + 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": "1730639061_642267704", + "mask_path": "../../mask/hdr_front_02597.png" + }, + { + "file_path": "../../rgb/hdr_front_02598.png", + "transform_matrix": [ + [ + -0.7228133082389832, + -0.018183551728725433, + 0.6908040642738342, + -28.949907302856445 + ], + [ + -0.6904460787773132, + 0.06056014075875282, + -0.7208444476127625, + -52.05069351196289 + ], + [ + -0.02872767671942711, + -0.9979989528656006, + -0.056328438222408295, + -19.950878143310547 + ], + [ + 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": "1730639061_742268323", + "mask_path": "../../mask/hdr_front_02598.png" + }, + { + "file_path": "../../rgb/hdr_front_02599.png", + "transform_matrix": [ + [ + -0.7330909967422485, + -0.019388943910598755, + 0.6798542141914368, + -28.979589462280273 + ], + [ + -0.6796069145202637, + 0.06009921059012413, + -0.7311104536056519, + -52.00041580200195 + ], + [ + -0.02668323740363121, + -0.998004138469696, + -0.057235050946474075, + -19.941078186035156 + ], + [ + 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": "1730639061_842267036", + "mask_path": "../../mask/hdr_front_02599.png" + }, + { + "file_path": "../../rgb/hdr_front_02600.png", + "transform_matrix": [ + [ + -0.7432987689971924, + -0.026791444048285484, + 0.6684228181838989, + -29.016189575195312 + ], + [ + -0.6686913967132568, + 0.05804821103811264, + -0.7412707209587097, + -51.95185852050781 + ], + [ + -0.018941035494208336, + -0.997954249382019, + -0.06106237322092056, + -19.937885284423828 + ], + [ + 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": "1730639061_942267894", + "mask_path": "../../mask/hdr_front_02600.png" + }, + { + "file_path": "../../rgb/hdr_front_02601.png", + "transform_matrix": [ + [ + -0.7484423518180847, + -0.029975173994898796, + 0.6625221371650696, + -29.07225227355957 + ], + [ + -0.6630226373672485, + 0.05690746754407883, + -0.7464330196380615, + -51.88874816894531 + ], + [ + -0.015327989123761654, + -0.9979294538497925, + -0.06246618181467056, + -19.936037063598633 + ], + [ + 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": "1730639062_42268276", + "mask_path": "../../mask/hdr_front_02601.png" + }, + { + "file_path": "../../rgb/hdr_front_02602.png", + "transform_matrix": [ + [ + -0.7511700391769409, + -0.027267685160040855, + 0.659545361995697, + -29.126750946044922 + ], + [ + -0.6599286198616028, + 0.05436126887798309, + -0.749359130859375, + -51.83201217651367 + ], + [ + -0.015420433133840561, + -0.998149037361145, + -0.05882928520441055, + -19.937755584716797 + ], + [ + 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": "1730639062_142266988", + "mask_path": "../../mask/hdr_front_02602.png" + }, + { + "file_path": "../../rgb/hdr_front_02603.png", + "transform_matrix": [ + [ + -0.7529747486114502, + -0.027266724035143852, + 0.6574843525886536, + -29.176050186157227 + ], + [ + -0.6579304337501526, + 0.05019424110651016, + -0.7514040470123291, + -51.78363800048828 + ], + [ + -0.0125136012211442, + -0.998367190361023, + -0.05573460832238197, + -19.93889617919922 + ], + [ + 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": "1730639062_242267847", + "mask_path": "../../mask/hdr_front_02603.png" + }, + { + "file_path": "../../rgb/hdr_front_02604.png", + "transform_matrix": [ + [ + -0.7550169825553894, + -0.027495842427015305, + 0.655128538608551, + -29.236570358276367 + ], + [ + -0.6556323170661926, + 0.046565815806388855, + -0.7536431550979614, + -51.71902847290039 + ], + [ + -0.00978454202413559, + -0.9985367655754089, + -0.05318514257669449, + -19.936538696289062 + ], + [ + 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": "1730639062_342267990", + "mask_path": "../../mask/hdr_front_02604.png" + }, + { + "file_path": "../../rgb/hdr_front_02605.png", + "transform_matrix": [ + [ + -0.7607418298721313, + -0.034606900066137314, + 0.648131251335144, + -29.29459571838379 + ], + [ + -0.6490479707717896, + 0.04505205526947975, + -0.7594123482704163, + -51.649871826171875 + ], + [ + -0.0029187421314418316, + -0.9983850717544556, + -0.05673452839255333, + -19.92151641845703 + ], + [ + 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": "1730639062_442267417", + "mask_path": "../../mask/hdr_front_02605.png" + }, + { + "file_path": "../../rgb/hdr_front_02606.png", + "transform_matrix": [ + [ + -0.767274796962738, + -0.04429873451590538, + 0.6397867202758789, + -29.34088897705078 + ], + [ + -0.6412830948829651, + 0.04252513498067856, + -0.7661250233650208, + -51.59522247314453 + ], + [ + 0.006731356494128704, + -0.9981128573417664, + -0.061036501079797745, + -19.911134719848633 + ], + [ + 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": "1730639062_542266845", + "mask_path": "../../mask/hdr_front_02606.png" + }, + { + "file_path": "../../rgb/hdr_front_02607.png", + "transform_matrix": [ + [ + -0.7723708748817444, + -0.04675930365920067, + 0.6334484219551086, + -29.40535545349121 + ], + [ + -0.635113537311554, + 0.04334940388798714, + -0.7712013721466064, + -51.52971267700195 + ], + [ + 0.00860123336315155, + -0.9979650974273682, + -0.06317929178476334, + -19.903179168701172 + ], + [ + 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": "1730639062_642267942", + "mask_path": "../../mask/hdr_front_02607.png" + }, + { + "file_path": "../../rgb/hdr_front_02608.png", + "transform_matrix": [ + [ + -0.7727596163749695, + -0.03956872597336769, + 0.6334642171859741, + -29.474781036376953 + ], + [ + -0.6346960067749023, + 0.04521436616778374, + -0.7714381217956543, + -51.46126937866211 + ], + [ + 0.0018831443740054965, + -0.9981933832168579, + -0.06005394831299782, + -19.90143585205078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2608, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639062_742267370", + "mask_path": "../../mask/hdr_front_02608.png" + }, + { + "file_path": "../../rgb/hdr_front_02609.png", + "transform_matrix": [ + [ + -0.7712538838386536, + -0.033541060984134674, + 0.6356433629989624, + -29.526826858520508 + ], + [ + -0.6365188956260681, + 0.045907389372587204, + -0.7698937654495239, + -51.410945892333984 + ], + [ + -0.003357671434059739, + -0.9983824491500854, + -0.05675576999783516, + -19.90221405029297 + ], + [ + 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": "1730639062_842267751", + "mask_path": "../../mask/hdr_front_02609.png" + }, + { + "file_path": "../../rgb/hdr_front_02610.png", + "transform_matrix": [ + [ + -0.7709424495697021, + -0.032049454748630524, + 0.6360978484153748, + -29.580453872680664 + ], + [ + -0.6368893384933472, + 0.045737870037555695, + -0.7695972919464111, + -51.347129821777344 + ], + [ + -0.004428585525602102, + -0.9984392523765564, + -0.05567322298884392, + -19.90265464782715 + ], + [ + 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": "1730639062_942266464", + "mask_path": "../../mask/hdr_front_02610.png" + }, + { + "file_path": "../../rgb/hdr_front_02611.png", + "transform_matrix": [ + [ + -0.7752909660339355, + -0.03226932883262634, + 0.6307793259620667, + -29.637956619262695 + ], + [ + -0.6315920352935791, + 0.045820657163858414, + -0.7739458084106445, + -51.2691764831543 + ], + [ + -0.003928008023649454, + -0.9984283447265625, + -0.05590539053082466, + -19.886754989624023 + ], + [ + 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": "1730639063_42267084", + "mask_path": "../../mask/hdr_front_02611.png" + }, + { + "file_path": "../../rgb/hdr_front_02612.png", + "transform_matrix": [ + [ + -0.7814433574676514, + -0.03661608323454857, + 0.6229008436203003, + -29.684049606323242 + ], + [ + -0.6239760518074036, + 0.04582606628537178, + -0.780098557472229, + -51.20688247680664 + ], + [ + 1.906217403302435e-05, + -0.9982781410217285, + -0.058658041059970856, + -19.87323760986328 + ], + [ + 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": "1730639063_142270803", + "mask_path": "../../mask/hdr_front_02612.png" + }, + { + "file_path": "../../rgb/hdr_front_02613.png", + "transform_matrix": [ + [ + -0.7873160243034363, + -0.04255516454577446, + 0.6150792837142944, + -29.725086212158203 + ], + [ + -0.6165308952331543, + 0.04657385125756264, + -0.785952091217041, + -51.15333557128906 + ], + [ + 0.004799709655344486, + -0.9980080127716064, + -0.06290490925312042, + -19.870864868164062 + ], + [ + 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": "1730639063_242267608", + "mask_path": "../../mask/hdr_front_02613.png" + }, + { + "file_path": "../../rgb/hdr_front_02614.png", + "transform_matrix": [ + [ + -0.7902971506118774, + -0.04184688255190849, + 0.6112931966781616, + -29.787443161010742 + ], + [ + -0.612709105014801, + 0.047068655490875244, + -0.788905680179596, + -51.07749557495117 + ], + [ + 0.004240499343723059, + -0.9980146884918213, + -0.06283818930387497, + -19.866485595703125 + ], + [ + 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": "1730639063_342267036", + "mask_path": "../../mask/hdr_front_02614.png" + }, + { + "file_path": "../../rgb/hdr_front_02615.png", + "transform_matrix": [ + [ + -0.7901127934455872, + -0.03257286548614502, + 0.6120954751968384, + -29.84935188293457 + ], + [ + -0.6129517555236816, + 0.04763214662671089, + -0.7886833548545837, + -51.006866455078125 + ], + [ + -0.003465744899585843, + -0.9983338117599487, + -0.05760036036372185, + -19.863637924194336 + ], + [ + 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": "1730639063_442267656", + "mask_path": "../../mask/hdr_front_02615.png" + }, + { + "file_path": "../../rgb/hdr_front_02616.png", + "transform_matrix": [ + [ + -0.7892926931381226, + -0.026499051600694656, + 0.6134451031684875, + -29.89442253112793 + ], + [ + -0.6139619946479797, + 0.04743761569261551, + -0.7879087328910828, + -50.95362091064453 + ], + [ + -0.008221536874771118, + -0.9985226392745972, + -0.053711578249931335, + -19.864839553833008 + ], + [ + 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": "1730639063_542268991", + "mask_path": "../../mask/hdr_front_02616.png" + }, + { + "file_path": "../../rgb/hdr_front_02617.png", + "transform_matrix": [ + [ + -0.7905682325363159, + -0.02595600299537182, + 0.6118236780166626, + -29.943161010742188 + ], + [ + -0.6123263835906982, + 0.04595688357949257, + -0.7892682552337646, + -50.883453369140625 + ], + [ + -0.007631255313754082, + -0.9986061453819275, + -0.05222560465335846, + -19.86081314086914 + ], + [ + 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": "1730639063_642271280", + "mask_path": "../../mask/hdr_front_02617.png" + }, + { + "file_path": "../../rgb/hdr_front_02618.png", + "transform_matrix": [ + [ + -0.7959701418876648, + -0.02887357398867607, + 0.6046469807624817, + -29.990917205810547 + ], + [ + -0.6053104400634766, + 0.04712706059217453, + -0.7945932745933533, + -50.80448913574219 + ], + [ + -0.005552483256906271, + -0.9984714984893799, + -0.05498920753598213, + -19.84351348876953 + ], + [ + 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": "1730639063_742267370", + "mask_path": "../../mask/hdr_front_02618.png" + }, + { + "file_path": "../../rgb/hdr_front_02619.png", + "transform_matrix": [ + [ + -0.8011887669563293, + -0.03391779586672783, + 0.597449779510498, + -30.028627395629883 + ], + [ + -0.5984114408493042, + 0.046382661908864975, + -0.7998453378677368, + -50.749725341796875 + ], + [ + -0.0005823214305564761, + -0.9983477592468262, + -0.0574580617249012, + -19.834653854370117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2619, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639063_842267990", + "mask_path": "../../mask/hdr_front_02619.png" + }, + { + "file_path": "../../rgb/hdr_front_02620.png", + "transform_matrix": [ + [ + -0.8060895800590515, + -0.03952644765377045, + 0.5904720425605774, + -30.06818389892578 + ], + [ + -0.5917664170265198, + 0.04430126026272774, + -0.8048912286758423, + -50.701969146728516 + ], + [ + 0.005655835382640362, + -0.9982360005378723, + -0.05910122022032738, + -19.830989837646484 + ], + [ + 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": "1730639063_942268371", + "mask_path": "../../mask/hdr_front_02620.png" + }, + { + "file_path": "../../rgb/hdr_front_02621.png", + "transform_matrix": [ + [ + -0.8084325194358826, + -0.03335089236497879, + 0.5876430869102478, + -30.128047943115234 + ], + [ + -0.5885856747627258, + 0.04257062450051308, + -0.8073132038116455, + -50.62505340576172 + ], + [ + 0.0019082778599113226, + -0.9985367059707642, + -0.054045334458351135, + -19.826826095581055 + ], + [ + 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": "1730639064_42268276", + "mask_path": "../../mask/hdr_front_02621.png" + }, + { + "file_path": "../../rgb/hdr_front_02622.png", + "transform_matrix": [ + [ + -0.8084791898727417, + -0.025714697316288948, + 0.5879627466201782, + -30.1798038482666 + ], + [ + -0.5885143280029297, + 0.041299741715192795, + -0.8074313402175903, + -50.56170654296875 + ], + [ + -0.0035198600962758064, + -0.9988158941268921, + -0.048523444682359695, + -19.828229904174805 + ], + [ + 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": "1730639064_142268180", + "mask_path": "../../mask/hdr_front_02622.png" + }, + { + "file_path": "../../rgb/hdr_front_02623.png", + "transform_matrix": [ + [ + -0.8088372945785522, + -0.023824574425816536, + 0.58754962682724, + -30.219284057617188 + ], + [ + -0.5880229473114014, + 0.03845096379518509, + -0.8079297542572021, + -50.51408767700195 + ], + [ + -0.003343261079862714, + -0.998976469039917, + -0.04510996490716934, + -19.833698272705078 + ], + [ + 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": "1730639064_242268085", + "mask_path": "../../mask/hdr_front_02623.png" + }, + { + "file_path": "../../rgb/hdr_front_02624.png", + "transform_matrix": [ + [ + -0.8111059069633484, + -0.022970346733927727, + 0.5844483375549316, + -30.26404571533203 + ], + [ + -0.5848960876464844, + 0.035255298018455505, + -0.8103416562080383, + -50.44953155517578 + ], + [ + -0.0019910663831979036, + -0.9991143345832825, + -0.04203103855252266, + -19.827072143554688 + ], + [ + 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": "1730639064_342267274", + "mask_path": "../../mask/hdr_front_02624.png" + }, + { + "file_path": "../../rgb/hdr_front_02625.png", + "transform_matrix": [ + [ + -0.8162745237350464, + -0.025997836142778397, + 0.5770790576934814, + -30.306467056274414 + ], + [ + -0.5776643753051758, + 0.037054240703582764, + -0.8154329061508179, + -50.381446838378906 + ], + [ + -0.0001837344461819157, + -0.9989750981330872, + -0.04526445269584656, + -19.808542251586914 + ], + [ + 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": "1730639064_442267417", + "mask_path": "../../mask/hdr_front_02625.png" + }, + { + "file_path": "../../rgb/hdr_front_02626.png", + "transform_matrix": [ + [ + -0.821544349193573, + -0.02932359091937542, + 0.5693899393081665, + -30.340242385864258 + ], + [ + -0.5701402425765991, + 0.03837542235851288, + -0.8206506967544556, + -50.327476501464844 + ], + [ + 0.002213843632489443, + -0.9988330602645874, + -0.04824566841125488, + -19.800457000732422 + ], + [ + 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": "1730639064_542268037", + "mask_path": "../../mask/hdr_front_02626.png" + }, + { + "file_path": "../../rgb/hdr_front_02627.png", + "transform_matrix": [ + [ + -0.8270537853240967, + -0.0337296724319458, + 0.5611097812652588, + -30.381999969482422 + ], + [ + -0.5620883703231812, + 0.03860032930970192, + -0.8261759877204895, + -50.26719284057617 + ], + [ + 0.00620762025937438, + -0.998685359954834, + -0.05088360980153084, + -19.795473098754883 + ], + [ + 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": "1730639064_642268180", + "mask_path": "../../mask/hdr_front_02627.png" + }, + { + "file_path": "../../rgb/hdr_front_02628.png", + "transform_matrix": [ + [ + -0.8285290598869324, + -0.02967795915901661, + 0.5591589212417603, + -30.43846893310547 + ], + [ + -0.5599389672279358, + 0.03891250863671303, + -0.8276196122169495, + -50.190547943115234 + ], + [ + 0.00280378176830709, + -0.9988018274307251, + -0.04885799437761307, + -19.788785934448242 + ], + [ + 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": "1730639064_742268323", + "mask_path": "../../mask/hdr_front_02628.png" + }, + { + "file_path": "../../rgb/hdr_front_02629.png", + "transform_matrix": [ + [ + -0.8275591135025024, + -0.022694384679198265, + 0.5609196424484253, + -30.481868743896484 + ], + [ + -0.5613679885864258, + 0.03960515558719635, + -0.8266180753707886, + -50.13252639770508 + ], + [ + -0.003455722238868475, + -0.9989577531814575, + -0.0455155074596405, + -19.789661407470703 + ], + [ + 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": "1730639064_842267036", + "mask_path": "../../mask/hdr_front_02629.png" + }, + { + "file_path": "../../rgb/hdr_front_02630.png", + "transform_matrix": [ + [ + -0.8272444009780884, + -0.01975136436522007, + 0.5614949464797974, + -30.518695831298828 + ], + [ + -0.561815619468689, + 0.038819268345832825, + -0.8263512253761292, + -50.083656311035156 + ], + [ + -0.005475258454680443, + -0.999051034450531, + -0.04320964962244034, + -19.79033660888672 + ], + [ + 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": "1730639064_942269563", + "mask_path": "../../mask/hdr_front_02630.png" + }, + { + "file_path": "../../rgb/hdr_front_02631.png", + "transform_matrix": [ + [ + -0.8289076685905457, + -0.017336543649435043, + 0.5591167211532593, + -30.56144142150879 + ], + [ + -0.559339165687561, + 0.038541000336408615, + -0.8280423879623413, + -50.018218994140625 + ], + [ + -0.007193524390459061, + -0.9991066455841064, + -0.04164394363760948, + -19.784040451049805 + ], + [ + 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": "1730639065_42268037", + "mask_path": "../../mask/hdr_front_02631.png" + }, + { + "file_path": "../../rgb/hdr_front_02632.png", + "transform_matrix": [ + [ + -0.8339179754257202, + -0.019730985164642334, + 0.5515354871749878, + -30.598651885986328 + ], + [ + -0.5518478155136108, + 0.04192877933382988, + -0.8328900933265686, + -49.94572067260742 + ], + [ + -0.006691466085612774, + -0.9989258050918579, + -0.045853663235902786, + -19.768001556396484 + ], + [ + 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": "1730639065_142268896", + "mask_path": "../../mask/hdr_front_02632.png" + }, + { + "file_path": "../../rgb/hdr_front_02633.png", + "transform_matrix": [ + [ + -0.8392173647880554, + -0.02337566204369068, + 0.5432934165000916, + -30.62919044494629 + ], + [ + -0.5437813401222229, + 0.04342043772339821, + -0.8381030559539795, + -49.886173248291016 + ], + [ + -0.003998822532594204, + -0.9987834095954895, + -0.049150437116622925, + -19.760295867919922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2633, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_242267608", + "mask_path": "../../mask/hdr_front_02633.png" + }, + { + "file_path": "../../rgb/hdr_front_02634.png", + "transform_matrix": [ + [ + -0.8446711897850037, + -0.02772103063762188, + 0.5345672369003296, + -30.667564392089844 + ], + [ + -0.535285234451294, + 0.04279249906539917, + -0.8435867428779602, + -49.82740020751953 + ], + [ + 0.0005096300155855715, + -0.9986993670463562, + -0.05098424479365349, + -19.75388526916504 + ], + [ + 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": "1730639065_342267751", + "mask_path": "../../mask/hdr_front_02634.png" + }, + { + "file_path": "../../rgb/hdr_front_02635.png", + "transform_matrix": [ + [ + -0.8464825749397278, + -0.022877754643559456, + 0.5319247245788574, + -30.716455459594727 + ], + [ + -0.5324100852012634, + 0.04122808203101158, + -0.8454820513725281, + -49.75015640258789 + ], + [ + -0.0025875060819089413, + -0.998887836933136, + -0.04707919806241989, + -19.750699996948242 + ], + [ + 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": "1730639065_442268610", + "mask_path": "../../mask/hdr_front_02635.png" + }, + { + "file_path": "../../rgb/hdr_front_02636.png", + "transform_matrix": [ + [ + -0.8465917706489563, + -0.014728647656738758, + 0.5320389866828918, + -30.757617950439453 + ], + [ + -0.5321592688560486, + 0.041136398911476135, + -0.8456443548202515, + -49.685977935791016 + ], + [ + -0.009430970065295696, + -0.9990450143814087, + -0.04266371950507164, + -19.75369644165039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2636, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_542267084", + "mask_path": "../../mask/hdr_front_02636.png" + }, + { + "file_path": "../../rgb/hdr_front_02637.png", + "transform_matrix": [ + [ + -0.8470250964164734, + -0.012265900149941444, + 0.5314114093780518, + -30.794897079467773 + ], + [ + -0.5314348936080933, + 0.04059892147779465, + -0.8461256623268127, + -49.628944396972656 + ], + [ + -0.011196236126124859, + -0.9991002678871155, + -0.04090683534741402, + -19.751684188842773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2637, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_642269134", + "mask_path": "../../mask/hdr_front_02637.png" + }, + { + "file_path": "../../rgb/hdr_front_02638.png", + "transform_matrix": [ + [ + -0.8495548367500305, + -0.011678020469844341, + 0.5273709893226624, + -30.83809471130371 + ], + [ + -0.527391254901886, + 0.03913271799683571, + -0.8487209677696228, + -49.55324172973633 + ], + [ + -0.010726078413426876, + -0.9991657733917236, + -0.03940427303314209, + -19.74538803100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2638, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_742269039", + "mask_path": "../../mask/hdr_front_02638.png" + }, + { + "file_path": "../../rgb/hdr_front_02639.png", + "transform_matrix": [ + [ + -0.8556849360466003, + -0.017006931826472282, + 0.517217755317688, + -30.87680435180664 + ], + [ + -0.5174490809440613, + 0.04175298660993576, + -0.8546947836875916, + -49.47239303588867 + ], + [ + -0.007059650029987097, + -0.9989832043647766, + -0.04452762380242348, + -19.72702980041504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2639, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_842267751", + "mask_path": "../../mask/hdr_front_02639.png" + }, + { + "file_path": "../../rgb/hdr_front_02640.png", + "transform_matrix": [ + [ + -0.861793041229248, + -0.023424159735441208, + 0.5067188143730164, + -30.90703582763672 + ], + [ + -0.5072574615478516, + 0.0428844578564167, + -0.8607268929481506, + -49.4100456237793 + ], + [ + -0.0015685567632317543, + -0.9988054037094116, + -0.04883961006999016, + -19.718896865844727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2640, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_942269325", + "mask_path": "../../mask/hdr_front_02640.png" + }, + { + "file_path": "../../rgb/hdr_front_02641.png", + "transform_matrix": [ + [ + -0.8674545288085938, + -0.029881028458476067, + 0.49661827087402344, + -30.948694229125977 + ], + [ + -0.4974934458732605, + 0.04250415787100792, + -0.8664258718490601, + -49.345787048339844 + ], + [ + 0.004781353287398815, + -0.9986494183540344, + -0.05173604562878609, + -19.710201263427734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2641, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_42268037", + "mask_path": "../../mask/hdr_front_02641.png" + }, + { + "file_path": "../../rgb/hdr_front_02642.png", + "transform_matrix": [ + [ + -0.8689435124397278, + -0.026103653013706207, + 0.4942224323749542, + -30.997737884521484 + ], + [ + -0.49490728974342346, + 0.041814520955085754, + -0.8679391145706177, + -49.26307678222656 + ], + [ + 0.0019907080568373203, + -0.9987843632698059, + -0.049253348261117935, + -19.708904266357422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2642, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_142266511", + "mask_path": "../../mask/hdr_front_02642.png" + }, + { + "file_path": "../../rgb/hdr_front_02643.png", + "transform_matrix": [ + [ + -0.8685122132301331, + -0.020933976396918297, + 0.49522557854652405, + -31.037330627441406 + ], + [ + -0.4956628680229187, + 0.04116516187787056, + -0.8675389885902405, + -49.20369338989258 + ], + [ + -0.00222500110976398, + -0.9989330768585205, + -0.046128638088703156, + -19.7113037109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2643, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_242267847", + "mask_path": "../../mask/hdr_front_02643.png" + }, + { + "file_path": "../../rgb/hdr_front_02644.png", + "transform_matrix": [ + [ + -0.868859589099884, + -0.021113839000463486, + 0.4946080148220062, + -31.074228286743164 + ], + [ + -0.4950575828552246, + 0.03892381861805916, + -0.867987871170044, + -49.14980697631836 + ], + [ + -0.0009254771866835654, + -0.9990191459655762, + -0.04427190124988556, + -19.711284637451172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2644, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_342267274", + "mask_path": "../../mask/hdr_front_02644.png" + }, + { + "file_path": "../../rgb/hdr_front_02645.png", + "transform_matrix": [ + [ + -0.8713319897651672, + -0.021077420562505722, + 0.49024102091789246, + -31.115882873535156 + ], + [ + -0.49069327116012573, + 0.03906499966979027, + -0.8704562187194824, + -49.07234191894531 + ], + [ + -0.0008042940753512084, + -0.9990143775939941, + -0.04438113421201706, + -19.702089309692383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2645, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_442268848", + "mask_path": "../../mask/hdr_front_02645.png" + }, + { + "file_path": "../../rgb/hdr_front_02646.png", + "transform_matrix": [ + [ + -0.8763390779495239, + -0.025115307420492172, + 0.4810394048690796, + -31.153644561767578 + ], + [ + -0.4816932678222656, + 0.04330569878220558, + -0.8752692937850952, + -48.993106842041016 + ], + [ + 0.0011509069008752704, + -0.9987460970878601, + -0.0500483512878418, + -19.680681228637695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2646, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_542267322", + "mask_path": "../../mask/hdr_front_02646.png" + }, + { + "file_path": "../../rgb/hdr_front_02647.png", + "transform_matrix": [ + [ + -0.880966305732727, + -0.03204178437590599, + 0.4720928966999054, + -31.182632446289062 + ], + [ + -0.47312796115875244, + 0.04499399662017822, + -0.8798440098762512, + -48.933658599853516 + ], + [ + 0.006950425915420055, + -0.9984733462333679, + -0.05479805916547775, + -19.67283821105957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2647, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_642268896", + "mask_path": "../../mask/hdr_front_02647.png" + }, + { + "file_path": "../../rgb/hdr_front_02648.png", + "transform_matrix": [ + [ + -0.885445773601532, + -0.03438485041260719, + 0.46346890926361084, + -31.22617530822754 + ], + [ + -0.46464893221855164, + 0.04547234997153282, + -0.884326696395874, + -48.857608795166016 + ], + [ + 0.009332413785159588, + -0.9983736276626587, + -0.05624018609523773, + -19.66927719116211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2648, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_742267608", + "mask_path": "../../mask/hdr_front_02648.png" + }, + { + "file_path": "../../rgb/hdr_front_02649.png", + "transform_matrix": [ + [ + -0.8866920471191406, + -0.02729172073304653, + 0.4615543484687805, + -31.275774002075195 + ], + [ + -0.46235212683677673, + 0.04633468762040138, + -0.8854849338531494, + -48.773868560791016 + ], + [ + 0.002780433977022767, + -0.9985530972480774, + -0.05370298773050308, + -19.664403915405273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2649, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_842267513", + "mask_path": "../../mask/hdr_front_02649.png" + }, + { + "file_path": "../../rgb/hdr_front_02650.png", + "transform_matrix": [ + [ + -0.8861027956008911, + -0.02103942632675171, + 0.4630109667778015, + -31.312070846557617 + ], + [ + -0.4634800851345062, + 0.0463319756090641, + -0.8848952651023865, + -48.71403121948242 + ], + [ + -0.002834523096680641, + -0.9987044930458069, + -0.05080624669790268, + -19.662471771240234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2650, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_942267894", + "mask_path": "../../mask/hdr_front_02650.png" + }, + { + "file_path": "../../rgb/hdr_front_02651.png", + "transform_matrix": [ + [ + -0.8863303661346436, + -0.01916687935590744, + 0.46265673637390137, + -31.347454071044922 + ], + [ + -0.4630308747291565, + 0.04659447818994522, + -0.8851165175437927, + -48.652462005615234 + ], + [ + -0.004592325072735548, + -0.9987300038337708, + -0.05017295479774475, + -19.662639617919922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2651, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_42267799", + "mask_path": "../../mask/hdr_front_02651.png" + }, + { + "file_path": "../../rgb/hdr_front_02652.png", + "transform_matrix": [ + [ + -0.889663815498352, + -0.017511770129203796, + 0.4562801122665405, + -31.381330490112305 + ], + [ + -0.4565621316432953, + 0.04946969076991081, + -0.8883151412010193, + -48.56979751586914 + ], + [ + -0.007016062270849943, + -0.9986221194267273, + -0.05200660601258278, + -19.647523880004883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2652, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_142267227", + "mask_path": "../../mask/hdr_front_02652.png" + }, + { + "file_path": "../../rgb/hdr_front_02653.png", + "transform_matrix": [ + [ + -0.8947670459747314, + -0.02084636315703392, + 0.446046382188797, + -31.407556533813477 + ], + [ + -0.44650882482528687, + 0.05222282558679581, + -0.8932540416717529, + -48.49748229980469 + ], + [ + -0.004672705195844173, + -0.9984179139137268, + -0.05603534355759621, + -19.630617141723633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2653, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_242268323", + "mask_path": "../../mask/hdr_front_02653.png" + }, + { + "file_path": "../../rgb/hdr_front_02654.png", + "transform_matrix": [ + [ + -0.8994166254997253, + -0.02753586508333683, + 0.43622416257858276, + -31.432096481323242 + ], + [ + -0.43708887696266174, + 0.05265023559331894, + -0.897875964641571, + -48.43677520751953 + ], + [ + 0.0017564879963174462, + -0.9982333183288574, + -0.0593901127576828, + -19.624958038330078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2654, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_342267513", + "mask_path": "../../mask/hdr_front_02654.png" + }, + { + "file_path": "../../rgb/hdr_front_02655.png", + "transform_matrix": [ + [ + -0.9027220606803894, + -0.031475216150283813, + 0.4290711581707001, + -31.470172882080078 + ], + [ + -0.43018510937690735, + 0.052624430507421494, + -0.9012054800987244, + -48.35725402832031 + ], + [ + 0.005786015652120113, + -0.9981182217597961, + -0.061045411974191666, + -19.61809730529785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2655, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_442268610", + "mask_path": "../../mask/hdr_front_02655.png" + }, + { + "file_path": "../../rgb/hdr_front_02656.png", + "transform_matrix": [ + [ + -0.9036935567855835, + -0.023261619731783867, + 0.4275476038455963, + -31.512609481811523 + ], + [ + -0.4281748831272125, + 0.05392874404788017, + -0.9020853638648987, + -48.27437210083008 + ], + [ + -0.0020731401164084673, + -0.9982738494873047, + -0.058695096522569656, + -19.613046646118164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2656, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_542268037", + "mask_path": "../../mask/hdr_front_02656.png" + }, + { + "file_path": "../../rgb/hdr_front_02657.png", + "transform_matrix": [ + [ + -0.9032237529754639, + -0.014727504923939705, + 0.4289170503616333, + -31.5439510345459 + ], + [ + -0.4290529489517212, + 0.05431170389056206, + -0.9016450643539429, + -48.21232604980469 + ], + [ + -0.010016231797635555, + -0.9984154105186462, + -0.055374499410390854, + -19.61239242553711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2657, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_642268896", + "mask_path": "../../mask/hdr_front_02657.png" + }, + { + "file_path": "../../rgb/hdr_front_02658.png", + "transform_matrix": [ + [ + -0.9035741686820984, + -0.012187373824417591, + 0.4282585084438324, + -31.573665618896484 + ], + [ + -0.42824769020080566, + 0.05500375106930733, + -0.9019859433174133, + -48.1447868347168 + ], + [ + -0.012562988325953484, + -0.9984117746353149, + -0.054919179528951645, + -19.615760803222656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2658, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_742267131", + "mask_path": "../../mask/hdr_front_02658.png" + }, + { + "file_path": "../../rgb/hdr_front_02659.png", + "transform_matrix": [ + [ + -0.9068174362182617, + -0.011563058942556381, + 0.42136502265930176, + -31.60427474975586 + ], + [ + -0.4213116466999054, + 0.05655624717473984, + -0.9051507711410522, + -48.05900192260742 + ], + [ + -0.013364509679377079, + -0.9983324408531189, + -0.05615784600377083, + -19.596248626708984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2659, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_842267751", + "mask_path": "../../mask/hdr_front_02659.png" + }, + { + "file_path": "../../rgb/hdr_front_02660.png", + "transform_matrix": [ + [ + -0.9114522933959961, + -0.015784526243805885, + 0.411102831363678, + -31.626943588256836 + ], + [ + -0.411298930644989, + 0.057726483792066574, + -0.9096707701683044, + -47.99165725708008 + ], + [ + -0.009372797794640064, + -0.9982076287269592, + -0.05910710245370865, + -19.58281135559082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2660, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_942268610", + "mask_path": "../../mask/hdr_front_02660.png" + }, + { + "file_path": "../../rgb/hdr_front_02661.png", + "transform_matrix": [ + [ + -0.9157006144523621, + -0.022916698828339577, + 0.4012071490287781, + -31.650081634521484 + ], + [ + -0.40185245871543884, + 0.0587911382317543, + -0.9138152003288269, + -47.93276596069336 + ], + [ + -0.0026457945350557566, + -0.9980072379112244, + -0.06304421275854111, + -19.57596206665039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2661, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_42267560", + "mask_path": "../../mask/hdr_front_02661.png" + }, + { + "file_path": "../../rgb/hdr_front_02662.png", + "transform_matrix": [ + [ + -0.917407214641571, + -0.02017378993332386, + 0.39743804931640625, + -31.685298919677734 + ], + [ + -0.3979315459728241, + 0.05603715777397156, + -0.9157020449638367, + -47.851593017578125 + ], + [ + -0.0037981162313371897, + -0.9982249140739441, + -0.05943668633699417, + -19.572484970092773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2662, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_142267704", + "mask_path": "../../mask/hdr_front_02662.png" + }, + { + "file_path": "../../rgb/hdr_front_02663.png", + "transform_matrix": [ + [ + -0.9143415093421936, + -0.010827254503965378, + 0.4047991633415222, + -31.722145080566406 + ], + [ + -0.4047541320323944, + 0.05504034459590912, + -0.9127675890922546, + -47.78142547607422 + ], + [ + -0.012397519312798977, + -0.9984254837036133, + -0.054708048701286316, + -19.574066162109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2663, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_242267131", + "mask_path": "../../mask/hdr_front_02663.png" + }, + { + "file_path": "../../rgb/hdr_front_02664.png", + "transform_matrix": [ + [ + -0.9070993661880493, + -0.007998490706086159, + 0.42084062099456787, + -31.757854461669922 + ], + [ + -0.420623779296875, + 0.0545136034488678, + -0.9055958986282349, + -47.723209381103516 + ], + [ + -0.015698136761784554, + -0.9984809756278992, + -0.052813608199357986, + -19.580162048339844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2664, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_342268228", + "mask_path": "../../mask/hdr_front_02664.png" + }, + { + "file_path": "../../rgb/hdr_front_02665.png", + "transform_matrix": [ + [ + -0.8993816375732422, + -0.005123056471347809, + 0.4371342658996582, + -31.80233383178711 + ], + [ + -0.4367562234401703, + 0.05372312664985657, + -0.8979743123054504, + -47.638511657714844 + ], + [ + -0.01888384483754635, + -0.9985427856445312, + -0.05055512487888336, + -19.56972312927246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2665, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_442268371", + "mask_path": "../../mask/hdr_front_02665.png" + }, + { + "file_path": "../../rgb/hdr_front_02666.png", + "transform_matrix": [ + [ + -0.894797146320343, + -0.011688018217682838, + 0.4463198184967041, + -31.839630126953125 + ], + [ + -0.44625571370124817, + 0.054587170481681824, + -0.8932390809059143, + -47.5572624206543 + ], + [ + -0.013923143036663532, + -0.998440682888031, + -0.05406029522418976, + -19.551958084106445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2666, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_542267560", + "mask_path": "../../mask/hdr_front_02666.png" + }, + { + "file_path": "../../rgb/hdr_front_02667.png", + "transform_matrix": [ + [ + -0.8906384706497192, + -0.024177536368370056, + 0.45406869053840637, + -31.87116241455078 + ], + [ + -0.4546966552734375, + 0.05555955693125725, + -0.888911783695221, + -47.49998092651367 + ], + [ + -0.0037361597642302513, + -0.9981626272201538, + -0.06047692894935608, + -19.542573928833008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2667, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_642267227", + "mask_path": "../../mask/hdr_front_02667.png" + }, + { + "file_path": "../../rgb/hdr_front_02668.png", + "transform_matrix": [ + [ + -0.8856112957000732, + -0.027966726571321487, + 0.46358442306518555, + -31.9156494140625 + ], + [ + -0.46442708373069763, + 0.05279289186000824, + -0.8840364217758179, + -47.42775344848633 + ], + [ + 0.0002496435190550983, + -0.9982138872146606, + -0.05974249169230461, + -19.5399169921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2668, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_742267847", + "mask_path": "../../mask/hdr_front_02668.png" + }, + { + "file_path": "../../rgb/hdr_front_02669.png", + "transform_matrix": [ + [ + -0.8775817155838013, + -0.02419210597872734, + 0.4788163900375366, + -31.966045379638672 + ], + [ + -0.47941797971725464, + 0.05045688897371292, + -0.876134991645813, + -47.34847640991211 + ], + [ + -0.0029640349093824625, + -0.9984332323074341, + -0.0558781698346138, + -19.539520263671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2669, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_842267274", + "mask_path": "../../mask/hdr_front_02669.png" + }, + { + "file_path": "../../rgb/hdr_front_02670.png", + "transform_matrix": [ + [ + -0.8715698719024658, + -0.021460767835378647, + 0.4898014962673187, + -32.007652282714844 + ], + [ + -0.4902397096157074, + 0.049507420510053635, + -0.8701804876327515, + -47.28523254394531 + ], + [ + -0.005574062466621399, + -0.9985431432723999, + -0.053670093417167664, + -19.538591384887695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2670, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_942268848", + "mask_path": "../../mask/hdr_front_02670.png" + }, + { + "file_path": "../../rgb/hdr_front_02671.png", + "transform_matrix": [ + [ + -0.8686364889144897, + -0.022874949499964714, + 0.4949214458465576, + -32.048492431640625 + ], + [ + -0.49543529748916626, + 0.04773464426398277, + -0.8673322200775146, + -47.213497161865234 + ], + [ + -0.0037847154308110476, + -0.9985980987548828, + -0.0527971126139164, + -19.540685653686523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2671, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_42267799", + "mask_path": "../../mask/hdr_front_02671.png" + }, + { + "file_path": "../../rgb/hdr_front_02672.png", + "transform_matrix": [ + [ + -0.8686153292655945, + -0.024769697338342667, + 0.4948675036430359, + -32.09149932861328 + ], + [ + -0.49548667669296265, + 0.04447689279913902, + -0.8674759864807129, + -47.126708984375 + ], + [ + -0.000523049384355545, + -0.9987033605575562, + -0.05090636387467384, + -19.52354621887207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2672, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_142267942", + "mask_path": "../../mask/hdr_front_02672.png" + }, + { + "file_path": "../../rgb/hdr_front_02673.png", + "transform_matrix": [ + [ + -0.8705543875694275, + -0.030718911439180374, + 0.49111223220825195, + -32.12769317626953 + ], + [ + -0.49203914403915405, + 0.0428013876080513, + -0.869520366191864, + -47.0560302734375 + ], + [ + 0.005690428894013166, + -0.9986112713813782, + -0.05237584933638573, + -19.509191513061523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2673, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_242268323", + "mask_path": "../../mask/hdr_front_02673.png" + }, + { + "file_path": "../../rgb/hdr_front_02674.png", + "transform_matrix": [ + [ + -0.8722501397132874, + -0.04032083600759506, + 0.48739510774612427, + -32.16433334350586 + ], + [ + -0.4888274669647217, + 0.04115081951022148, + -0.8714093565940857, + -47.00022506713867 + ], + [ + 0.015079250559210777, + -0.998339056968689, + -0.0556037463247776, + -19.502490997314453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2674, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_342266798", + "mask_path": "../../mask/hdr_front_02674.png" + }, + { + "file_path": "../../rgb/hdr_front_02675.png", + "transform_matrix": [ + [ + -0.8722948431968689, + -0.042924437671899796, + 0.48709267377853394, + -32.218135833740234 + ], + [ + -0.488638699054718, + 0.03929027169942856, + -0.8716011643409729, + -46.92070388793945 + ], + [ + 0.018274985253810883, + -0.9983054399490356, + -0.055247239768505096, + -19.498476028442383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2675, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_442267179", + "mask_path": "../../mask/hdr_front_02675.png" + }, + { + "file_path": "../../rgb/hdr_front_02676.png", + "transform_matrix": [ + [ + -0.8695380687713623, + -0.0325562059879303, + 0.49279162287712097, + -32.27060317993164 + ], + [ + -0.4937795400619507, + 0.03865886852145195, + -0.8687273859977722, + -46.84522247314453 + ], + [ + 0.009231704287230968, + -0.9987220764160156, + -0.04969095066189766, + -19.50062370300293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2676, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_542267560", + "mask_path": "../../mask/hdr_front_02676.png" + }, + { + "file_path": "../../rgb/hdr_front_02677.png", + "transform_matrix": [ + [ + -0.8661801815032959, + -0.02465859241783619, + 0.49912312626838684, + -32.30970001220703 + ], + [ + -0.499722957611084, + 0.03677576407790184, + -0.8654042482376099, + -46.787933349609375 + ], + [ + 0.0029840196948498487, + -0.9990192651748657, + -0.04417689889669418, + -19.503870010375977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2677, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_642268419", + "mask_path": "../../mask/hdr_front_02677.png" + }, + { + "file_path": "../../rgb/hdr_front_02678.png", + "transform_matrix": [ + [ + -0.8636297583580017, + -0.02532745525240898, + 0.5034899711608887, + -32.35297775268555 + ], + [ + -0.5040966272354126, + 0.032504212111234665, + -0.8630353808403015, + -46.724945068359375 + ], + [ + 0.005492944736033678, + -0.9991506338119507, + -0.04083908721804619, + -19.505985260009766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2678, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_742267131", + "mask_path": "../../mask/hdr_front_02678.png" + }, + { + "file_path": "../../rgb/hdr_front_02679.png", + "transform_matrix": [ + [ + -0.8640619516372681, + -0.027766985818743706, + 0.5026189684867859, + -32.39777755737305 + ], + [ + -0.5033161044120789, + 0.03109297715127468, + -0.8635428547859192, + -46.64491271972656 + ], + [ + 0.00835005845874548, + -0.9991307258605957, + -0.040841832756996155, + -19.490272521972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2679, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_842267513", + "mask_path": "../../mask/hdr_front_02679.png" + }, + { + "file_path": "../../rgb/hdr_front_02680.png", + "transform_matrix": [ + [ + -0.8657630085945129, + -0.03197110444307327, + 0.49943193793296814, + -32.43644332885742 + ], + [ + -0.5003039836883545, + 0.03083985671401024, + -0.8653004765510559, + -46.57585906982422 + ], + [ + 0.012262202799320221, + -0.9990130066871643, + -0.04269527643918991, + -19.480440139770508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2680, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_942267656", + "mask_path": "../../mask/hdr_front_02680.png" + }, + { + "file_path": "../../rgb/hdr_front_02681.png", + "transform_matrix": [ + [ + -0.8671075105667114, + -0.03849697485566139, + 0.4966312348842621, + -32.47756576538086 + ], + [ + -0.49779945611953735, + 0.03114866465330124, + -0.8667327165603638, + -46.514286041259766 + ], + [ + 0.01789718121290207, + -0.9987731575965881, + -0.04617301747202873, + -19.475248336791992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2681, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_42270421", + "mask_path": "../../mask/hdr_front_02681.png" + }, + { + "file_path": "../../rgb/hdr_front_02682.png", + "transform_matrix": [ + [ + -0.8652316331863403, + -0.033863987773656845, + 0.5002273917198181, + -32.5298957824707 + ], + [ + -0.501162588596344, + 0.029561446979641914, + -0.8648480772972107, + -46.43683624267578 + ], + [ + 0.014499756507575512, + -0.9989892840385437, + -0.04254886135458946, + -19.470571517944336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2682, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_142267465", + "mask_path": "../../mask/hdr_front_02682.png" + }, + { + "file_path": "../../rgb/hdr_front_02683.png", + "transform_matrix": [ + [ + -0.8616121411323547, + -0.02396378107368946, + 0.5070013999938965, + -32.576629638671875 + ], + [ + -0.5075300335884094, + 0.028549902141094208, + -0.8611610531806946, + -46.3689079284668 + ], + [ + 0.006161833181977272, + -0.9993050694465637, + -0.03676127642393112, + -19.47584342956543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2683, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_242268562", + "mask_path": "../../mask/hdr_front_02683.png" + }, + { + "file_path": "../../rgb/hdr_front_02684.png", + "transform_matrix": [ + [ + -0.8586935997009277, + -0.019613217562437057, + 0.5121138095855713, + -32.6147575378418 + ], + [ + -0.5124772191047668, + 0.026017405092716217, + -0.8583065271377563, + -46.31635284423828 + ], + [ + 0.0035102807451039553, + -0.9994691014289856, + -0.03239230811595917, + -19.478168487548828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2684, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_342268466", + "mask_path": "../../mask/hdr_front_02684.png" + }, + { + "file_path": "../../rgb/hdr_front_02685.png", + "transform_matrix": [ + [ + -0.8574576377868652, + -0.020089169964194298, + 0.5141623020172119, + -32.65653991699219 + ], + [ + -0.5145113468170166, + 0.0205185916274786, + -0.8572381138801575, + -46.251258850097656 + ], + [ + 0.006671314127743244, + -0.9995876550674438, + -0.02792992815375328, + -19.477977752685547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2685, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_442267417", + "mask_path": "../../mask/hdr_front_02685.png" + }, + { + "file_path": "../../rgb/hdr_front_02686.png", + "transform_matrix": [ + [ + -0.8598558902740479, + -0.024092666804790497, + 0.5099678635597229, + -32.696102142333984 + ], + [ + -0.5104274153709412, + 0.019910302013158798, + -0.8596903085708618, + -46.17353057861328 + ], + [ + 0.010558618232607841, + -0.9995114803314209, + -0.029417550191283226, + -19.464874267578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2686, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_542267084", + "mask_path": "../../mask/hdr_front_02686.png" + }, + { + "file_path": "../../rgb/hdr_front_02687.png", + "transform_matrix": [ + [ + -0.8630824685096741, + -0.02860395982861519, + 0.5042524337768555, + -32.72910690307617 + ], + [ + -0.5048710703849792, + 0.0213389303535223, + -0.862930953502655, + -46.10991287231445 + ], + [ + 0.0139230377972126, + -0.9993630647659302, + -0.03285856917500496, + -19.457704544067383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2687, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_642268419", + "mask_path": "../../mask/hdr_front_02687.png" + }, + { + "file_path": "../../rgb/hdr_front_02688.png", + "transform_matrix": [ + [ + -0.8667306303977966, + -0.03314542770385742, + 0.49767401814460754, + -32.76655197143555 + ], + [ + -0.4985065162181854, + 0.02473810501396656, + -0.8665329813957214, + -46.045799255371094 + ], + [ + 0.016410093754529953, + -0.9991443753242493, + -0.037964481860399246, + -19.44928550720215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2688, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_742267608", + "mask_path": "../../mask/hdr_front_02688.png" + }, + { + "file_path": "../../rgb/hdr_front_02689.png", + "transform_matrix": [ + [ + -0.8671097755432129, + -0.026333969086408615, + 0.4974205493927002, + -32.81919479370117 + ], + [ + -0.49801087379455566, + 0.025202404707670212, + -0.8668045401573181, + -45.96295166015625 + ], + [ + 0.010290209203958511, + -0.9993354678153992, + -0.034967854619026184, + -19.448843002319336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2689, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_842267990", + "mask_path": "../../mask/hdr_front_02689.png" + }, + { + "file_path": "../../rgb/hdr_front_02690.png", + "transform_matrix": [ + [ + -0.8658682703971863, + -0.017061801627278328, + 0.4999809265136719, + -32.86117172241211 + ], + [ + -0.5002666115760803, + 0.024930303916335106, + -0.865512490272522, + -45.8976936340332 + ], + [ + 0.0023025288246572018, + -0.9995435476303101, + -0.030121808871626854, + -19.45670509338379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2690, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_942267179", + "mask_path": "../../mask/hdr_front_02690.png" + }, + { + "file_path": "../../rgb/hdr_front_02691.png", + "transform_matrix": [ + [ + -0.8656227588653564, + -0.014236628077924252, + 0.5004944205284119, + -32.891815185546875 + ], + [ + -0.5006967186927795, + 0.025306904688477516, + -0.8652527928352356, + -45.8432502746582 + ], + [ + -0.00034768186742439866, + -0.9995783567428589, + -0.029034465551376343, + -19.45563316345215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2691, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_42267560", + "mask_path": "../../mask/hdr_front_02691.png" + }, + { + "file_path": "../../rgb/hdr_front_02692.png", + "transform_matrix": [ + [ + -0.8678783774375916, + -0.01542675495147705, + 0.49653714895248413, + -32.9301872253418 + ], + [ + -0.49676835536956787, + 0.02116081304848194, + -0.8676252365112305, + -45.76499557495117 + ], + [ + 0.002877512015402317, + -0.9996570944786072, + -0.026028534397482872, + -19.450960159301758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2692, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_142267704", + "mask_path": "../../mask/hdr_front_02692.png" + }, + { + "file_path": "../../rgb/hdr_front_02693.png", + "transform_matrix": [ + [ + -0.8729510307312012, + -0.019911067560315132, + 0.48740148544311523, + -32.9610710144043 + ], + [ + -0.48776039481163025, + 0.021668193861842155, + -0.8727085590362549, + -45.68865203857422 + ], + [ + 0.006815449800342321, + -0.9995669722557068, + -0.028627101331949234, + -19.434457778930664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2693, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_242268562", + "mask_path": "../../mask/hdr_front_02693.png" + }, + { + "file_path": "../../rgb/hdr_front_02694.png", + "transform_matrix": [ + [ + -0.8778426051139832, + -0.025188488885760307, + 0.47828641533851624, + -32.98998260498047 + ], + [ + -0.4788239598274231, + 0.023316508159041405, + -0.8776012063026428, + -45.63058090209961 + ], + [ + 0.010953482240438461, + -0.9994108080863953, + -0.0325290746986866, + -19.429555892944336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2694, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_342267513", + "mask_path": "../../mask/hdr_front_02694.png" + }, + { + "file_path": "../../rgb/hdr_front_02695.png", + "transform_matrix": [ + [ + -0.8824012279510498, + -0.029423009604215622, + 0.46957680583000183, + -33.02969741821289 + ], + [ + -0.47028258442878723, + 0.02498406171798706, + -0.8821621537208557, + -45.56410598754883 + ], + [ + 0.014223926700651646, + -0.9992548227310181, + -0.0358830951154232, + -19.42107391357422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2695, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_442268371", + "mask_path": "../../mask/hdr_front_02695.png" + }, + { + "file_path": "../../rgb/hdr_front_02696.png", + "transform_matrix": [ + [ + -0.8835961818695068, + -0.02519882656633854, + 0.4675711393356323, + -33.07704162597656 + ], + [ + -0.46813762187957764, + 0.025692056864500046, + -0.883281946182251, + -45.481544494628906 + ], + [ + 0.010244802571833134, + -0.9993522763252258, + -0.03449792042374611, + -19.420000076293945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2696, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_542267560", + "mask_path": "../../mask/hdr_front_02696.png" + }, + { + "file_path": "../../rgb/hdr_front_02697.png", + "transform_matrix": [ + [ + -0.8831602334976196, + -0.017998112365603447, + 0.46872594952583313, + -33.114158630371094 + ], + [ + -0.469058096408844, + 0.02635844610631466, + -0.8827738761901855, + -45.420555114746094 + ], + [ + 0.0035333759151399136, + -0.9994905591011047, + -0.03172089159488678, + -19.422277450561523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2697, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_642268657", + "mask_path": "../../mask/hdr_front_02697.png" + }, + { + "file_path": "../../rgb/hdr_front_02698.png", + "transform_matrix": [ + [ + -0.8826689124107361, + -0.01694764569401741, + 0.4696897268295288, + -33.14802932739258 + ], + [ + -0.4699817895889282, + 0.024219175800681114, + -0.8823438286781311, + -45.368408203125 + ], + [ + 0.0035781520418822765, + -0.9995630383491516, + -0.029342597350478172, + -19.42668914794922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2698, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_742267370", + "mask_path": "../../mask/hdr_front_02698.png" + }, + { + "file_path": "../../rgb/hdr_front_02699.png", + "transform_matrix": [ + [ + -0.8840320706367493, + -0.017920391634106636, + 0.46708256006240845, + -33.19050216674805 + ], + [ + -0.4674140512943268, + 0.02670476771891117, + -0.8836350440979004, + -45.28793716430664 + ], + [ + 0.00336175668053329, + -0.9994827508926392, + -0.0319841168820858, + -19.415159225463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2699, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_842267274", + "mask_path": "../../mask/hdr_front_02699.png" + }, + { + "file_path": "../../rgb/hdr_front_02700.png", + "transform_matrix": [ + [ + -0.8872294425964355, + -0.022983813658356667, + 0.46075567603111267, + -33.22676467895508 + ], + [ + -0.46129506826400757, + 0.032170575112104416, + -0.8866633772850037, + -45.208274841308594 + ], + [ + 0.0055561307817697525, + -0.9992181658744812, + -0.03914499655365944, + -19.3896541595459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2700, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_942267417", + "mask_path": "../../mask/hdr_front_02700.png" + }, + { + "file_path": "../../rgb/hdr_front_02701.png", + "transform_matrix": [ + [ + -0.8889735341072083, + -0.027248354628682137, + 0.45714718103408813, + -33.25678253173828 + ], + [ + -0.457892507314682, + 0.03593776375055313, + -0.888280987739563, + -45.14484786987305 + ], + [ + 0.007775347679853439, + -0.9989825487136841, + -0.04442453756928444, + -19.38398551940918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2701, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_42268037", + "mask_path": "../../mask/hdr_front_02701.png" + }, + { + "file_path": "../../rgb/hdr_front_02702.png", + "transform_matrix": [ + [ + -0.8887136578559875, + -0.03165237978100777, + 0.45736876130104065, + -33.30220031738281 + ], + [ + -0.4583263099193573, + 0.037010557949543, + -0.8880131244659424, + -45.06474685668945 + ], + [ + 0.011180250905454159, + -0.9988135099411011, + -0.04739890620112419, + -19.386117935180664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2702, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_142267465", + "mask_path": "../../mask/hdr_front_02702.png" + }, + { + "file_path": "../../rgb/hdr_front_02703.png", + "transform_matrix": [ + [ + -0.8843491077423096, + -0.02600237913429737, + 0.4661014974117279, + -33.357364654541016 + ], + [ + -0.4668046534061432, + 0.03965435177087784, + -0.8834709525108337, + -44.9705696105957 + ], + [ + 0.00448939623311162, + -0.998875081539154, + -0.047206319868564606, + -19.38365936279297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2703, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_242268562", + "mask_path": "../../mask/hdr_front_02703.png" + }, + { + "file_path": "../../rgb/hdr_front_02704.png", + "transform_matrix": [ + [ + -0.8778823018074036, + -0.015925848856568336, + 0.478611558675766, + -33.40313720703125 + ], + [ + -0.47883209586143494, + 0.04278772324323654, + -0.8768632411956787, + -44.895416259765625 + ], + [ + -0.006513907108455896, + -0.9989572763442993, + -0.04518839344382286, + -19.380714416503906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2704, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_342268228", + "mask_path": "../../mask/hdr_front_02704.png" + }, + { + "file_path": "../../rgb/hdr_front_02705.png", + "transform_matrix": [ + [ + -0.8711913228034973, + -0.013118106871843338, + 0.4907684922218323, + -33.446815490722656 + ], + [ + -0.4908069670200348, + 0.04686778038740158, + -0.8700069189071655, + -44.81842803955078 + ], + [ + -0.01158838253468275, + -0.9988150596618652, + -0.04726926237344742, + -19.37984275817871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2705, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_442270040", + "mask_path": "../../mask/hdr_front_02705.png" + }, + { + "file_path": "../../rgb/hdr_front_02706.png", + "transform_matrix": [ + [ + -0.8656366467475891, + -0.018473688513040543, + 0.5003318190574646, + -33.49934387207031 + ], + [ + -0.5006177425384521, + 0.04675328731536865, + -0.8644049763679504, + -44.716575622558594 + ], + [ + -0.007423405535519123, + -0.9987356662750244, + -0.049719613045454025, + -19.354415893554688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2706, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_542267084", + "mask_path": "../../mask/hdr_front_02706.png" + }, + { + "file_path": "../../rgb/hdr_left_02561.png", + "transform_matrix": [ + [ + -0.7757121920585632, + -0.043860822916030884, + -0.6295607089996338, + -25.334890365600586 + ], + [ + 0.6281072497367859, + 0.04316438362002373, + -0.7769286632537842, + -54.722476959228516 + ], + [ + 0.06125132367014885, + -0.9981048107147217, + -0.005933838430792093, + -20.22829246520996 + ], + [ + 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": "1730639055_542267560", + "mask_path": "../../mask/hdr_left_02561.png" + }, + { + "file_path": "../../rgb/hdr_left_02562.png", + "transform_matrix": [ + [ + -0.7702926993370056, + -0.04421377182006836, + -0.6361557841300964, + -25.40518569946289 + ], + [ + 0.6351673007011414, + 0.03545917198061943, + -0.7715601921081543, + -54.67972183227539 + ], + [ + 0.0566711388528347, + -0.998392641544342, + 0.0007692017243243754, + -20.222885131835938 + ], + [ + 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": "1730639055_642268419", + "mask_path": "../../mask/hdr_left_02562.png" + }, + { + "file_path": "../../rgb/hdr_left_02563.png", + "transform_matrix": [ + [ + -0.7641815543174744, + -0.04838469997048378, + -0.6431838274002075, + -25.469022750854492 + ], + [ + 0.6424574255943298, + 0.03137534484267235, + -0.7656788229942322, + -54.64396286010742 + ], + [ + 0.057227250188589096, + -0.9983358979225159, + 0.007108653895556927, + -20.221637725830078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2563, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639055_742267608", + "mask_path": "../../mask/hdr_left_02563.png" + }, + { + "file_path": "../../rgb/hdr_left_02564.png", + "transform_matrix": [ + [ + -0.7613568305969238, + -0.048369888216257095, + -0.6465262174606323, + -25.563756942749023 + ], + [ + 0.6457810997962952, + 0.031812939792871475, + -0.7628595232963562, + -54.5953369140625 + ], + [ + 0.057467326521873474, + -0.9983227849006653, + 0.0070153651759028435, + -20.218982696533203 + ], + [ + 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": "1730639055_842268943", + "mask_path": "../../mask/hdr_left_02564.png" + }, + { + "file_path": "../../rgb/hdr_left_02565.png", + "transform_matrix": [ + [ + -0.7631142139434814, + -0.03921956568956375, + -0.6450725197792053, + -25.652299880981445 + ], + [ + 0.6440860033035278, + 0.03571631386876106, + -0.7641187310218811, + -54.552799224853516 + ], + [ + 0.05300801247358322, + -0.9985921382904053, + -0.001994844526052475, + -20.219802856445312 + ], + [ + 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": "1730639055_942268133", + "mask_path": "../../mask/hdr_left_02565.png" + }, + { + "file_path": "../../rgb/hdr_left_02566.png", + "transform_matrix": [ + [ + -0.7660440802574158, + -0.03242234140634537, + -0.6419697999954224, + -25.720516204833984 + ], + [ + 0.6409536004066467, + 0.03686907887458801, + -0.766693651676178, + -54.5150260925293 + ], + [ + 0.0485268272459507, + -0.9987940788269043, + -0.007462125737220049, + -20.223285675048828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2566, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639056_42269706", + "mask_path": "../../mask/hdr_left_02566.png" + }, + { + "file_path": "../../rgb/hdr_left_02567.png", + "transform_matrix": [ + [ + -0.7661001086235046, + -0.030052905902266502, + -0.64201819896698, + -25.800559997558594 + ], + [ + 0.6411377191543579, + 0.034342966973781586, + -0.7666569352149963, + -54.464969635009766 + ], + [ + 0.045089080929756165, + -0.9989582300186157, + -0.007042095065116882, + -20.223873138427734 + ], + [ + 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": "1730639056_142268180", + "mask_path": "../../mask/hdr_left_02567.png" + }, + { + "file_path": "../../rgb/hdr_left_02568.png", + "transform_matrix": [ + [ + -0.7612589001655579, + -0.03151204064488411, + -0.6476818919181824, + -25.880836486816406 + ], + [ + 0.6468011140823364, + 0.034241095185279846, + -0.761889636516571, + -54.40758514404297 + ], + [ + 0.04618602618575096, + -0.9989166855812073, + -0.005684313829988241, + -20.21211814880371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2568, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639056_242268323", + "mask_path": "../../mask/hdr_left_02568.png" + }, + { + "file_path": "../../rgb/hdr_left_02569.png", + "transform_matrix": [ + [ + -0.7548803091049194, + -0.03366683050990105, + -0.6549978256225586, + -25.942970275878906 + ], + [ + 0.654251217842102, + 0.0313052274286747, + -0.7556290030479431, + -54.367881774902344 + ], + [ + 0.04594448581337929, + -0.9989427924156189, + -0.0016051344573497772, + -20.204479217529297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2569, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639056_342268705", + "mask_path": "../../mask/hdr_left_02569.png" + }, + { + "file_path": "../../rgb/hdr_left_02570.png", + "transform_matrix": [ + [ + -0.7484613656997681, + -0.03727732598781586, + -0.6621297597885132, + -26.00697898864746 + ], + [ + 0.6614972352981567, + 0.029079370200634003, + -0.7493836879730225, + -54.33690643310547 + ], + [ + 0.04718932509422302, + -0.9988818168640137, + 0.0028940632473677397, + -20.196613311767578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2570, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639056_442270278", + "mask_path": "../../mask/hdr_left_02570.png" + }, + { + "file_path": "../../rgb/hdr_left_02571.png", + "transform_matrix": [ + [ + -0.7479687929153442, + -0.033654943108558655, + -0.6628801226615906, + -26.094099044799805 + ], + [ + 0.6621930599212646, + 0.030174722895026207, + -0.7487254738807678, + -54.28695297241211 + ], + [ + 0.04520053043961525, + -0.9989778995513916, + -0.00028367957565933466, + -20.195850372314453 + ], + [ + 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": "1730639056_542268037", + "mask_path": "../../mask/hdr_left_02571.png" + }, + { + "file_path": "../../rgb/hdr_left_02572.png", + "transform_matrix": [ + [ + -0.7508745789527893, + -0.026113316416740417, + -0.6599283218383789, + -26.16807746887207 + ], + [ + 0.6591468453407288, + 0.032983459532260895, + -0.7512905597686768, + -54.24729919433594 + ], + [ + 0.041385408490896225, + -0.9991147518157959, + -0.007553931325674057, + -20.201250076293945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2572, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639056_642269849", + "mask_path": "../../mask/hdr_left_02572.png" + }, + { + "file_path": "../../rgb/hdr_left_02573.png", + "transform_matrix": [ + [ + -0.7533130645751953, + -0.023687342181801796, + -0.6572353839874268, + -26.230257034301758 + ], + [ + 0.6565009951591492, + 0.03227246552705765, + -0.7536344528198242, + -54.21632385253906 + ], + [ + 0.03906220570206642, + -0.9991984367370605, + -0.008760499767959118, + -20.205211639404297 + ], + [ + 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": "1730639056_742267370", + "mask_path": "../../mask/hdr_left_02573.png" + }, + { + "file_path": "../../rgb/hdr_left_02574.png", + "transform_matrix": [ + [ + -0.7527024745941162, + -0.022620132192969322, + -0.6579720377922058, + -26.30124282836914 + ], + [ + 0.6573880314826965, + 0.02848733775317669, + -0.7530136704444885, + -54.1739501953125 + ], + [ + 0.03577713668346405, + -0.9993382096290588, + -0.006572285201400518, + -20.197843551635742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2574, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639056_842267751", + "mask_path": "../../mask/hdr_left_02574.png" + }, + { + "file_path": "../../rgb/hdr_left_02575.png", + "transform_matrix": [ + [ + -0.7467088103294373, + -0.027130603790283203, + -0.6645975708961487, + -26.36442756652832 + ], + [ + 0.6640111804008484, + 0.028066907078027725, + -0.7471957206726074, + -54.125732421875 + ], + [ + 0.038925062865018845, + -0.9992378354072571, + -0.0029427791014313698, + -20.181394577026367 + ], + [ + 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": "1730639056_942267417", + "mask_path": "../../mask/hdr_left_02575.png" + }, + { + "file_path": "../../rgb/hdr_left_02576.png", + "transform_matrix": [ + [ + -0.739713728427887, + -0.03124993108212948, + -0.6721957325935364, + -26.413841247558594 + ], + [ + 0.6716510653495789, + 0.027070773765444756, + -0.740372896194458, + -54.091636657714844 + ], + [ + 0.041333455592393875, + -0.9991450309753418, + 0.0009644325473345816, + -20.174680709838867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2576, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_42267799", + "mask_path": "../../mask/hdr_left_02576.png" + }, + { + "file_path": "../../rgb/hdr_left_02577.png", + "transform_matrix": [ + [ + -0.7326576709747314, + -0.03528721630573273, + -0.6796818971633911, + -26.465261459350586 + ], + [ + 0.6792435050010681, + 0.02504604123532772, + -0.7334855198860168, + -54.06541061401367 + ], + [ + 0.04290599748492241, + -0.9990633726119995, + 0.005618437193334103, + -20.169044494628906 + ], + [ + 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": "1730639057_142267704", + "mask_path": "../../mask/hdr_left_02577.png" + }, + { + "file_path": "../../rgb/hdr_left_02578.png", + "transform_matrix": [ + [ + -0.7296900153160095, + -0.03692987933754921, + -0.6827801465988159, + -26.536949157714844 + ], + [ + 0.6823093891143799, + 0.026088900864124298, + -0.7305979132652283, + -54.01866912841797 + ], + [ + 0.04479387402534485, + -0.9989773035049438, + 0.0061607928946614265, + -20.164447784423828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2578, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_242266893", + "mask_path": "../../mask/hdr_left_02578.png" + }, + { + "file_path": "../../rgb/hdr_left_02579.png", + "transform_matrix": [ + [ + -0.730445146560669, + -0.030094485729932785, + -0.6823078393936157, + -26.600540161132812 + ], + [ + 0.6815593838691711, + 0.03208605945110321, + -0.7310591340065002, + -53.97821044921875 + ], + [ + 0.04389341548085213, + -0.9990319609642029, + -0.00292592984624207, + -20.165647506713867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2579, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_342267751", + "mask_path": "../../mask/hdr_left_02579.png" + }, + { + "file_path": "../../rgb/hdr_left_02580.png", + "transform_matrix": [ + [ + -0.7312222123146057, + -0.02389274723827839, + -0.6817206740379333, + -26.65118408203125 + ], + [ + 0.6808527112007141, + 0.03578702732920647, + -0.7315455079078674, + -53.948978424072266 + ], + [ + 0.041875384747982025, + -0.99907386302948, + -0.00990082323551178, + -20.171634674072266 + ], + [ + 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": "1730639057_442268133", + "mask_path": "../../mask/hdr_left_02580.png" + }, + { + "file_path": "../../rgb/hdr_left_02581.png", + "transform_matrix": [ + [ + -0.7304287552833557, + -0.0207577645778656, + -0.6826733350753784, + -26.716333389282227 + ], + [ + 0.6818109154701233, + 0.03651797026395798, + -0.7306164503097534, + -53.90348434448242 + ], + [ + 0.04009580239653587, + -0.9991174340248108, + -0.012520906515419483, + -20.16706085205078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2581, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_542267799", + "mask_path": "../../mask/hdr_left_02581.png" + }, + { + "file_path": "../../rgb/hdr_left_02582.png", + "transform_matrix": [ + [ + -0.7250951528549194, + -0.02326670102775097, + -0.6882554888725281, + -26.780263900756836 + ], + [ + 0.6873769164085388, + 0.03625882789492607, + -0.7253952622413635, + -53.84908676147461 + ], + [ + 0.04183289036154747, + -0.9990716576576233, + -0.010298105888068676, + -20.15032196044922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2582, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_642268180", + "mask_path": "../../mask/hdr_left_02582.png" + }, + { + "file_path": "../../rgb/hdr_left_02583.png", + "transform_matrix": [ + [ + -0.7181563377380371, + -0.029002483934164047, + -0.695277214050293, + -26.82920265197754 + ], + [ + 0.6944122314453125, + 0.03503119945526123, + -0.7187241911888123, + -53.8107795715332 + ], + [ + 0.04520118236541748, + -0.998965322971344, + -0.005018195603042841, + -20.142574310302734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2583, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_742268800", + "mask_path": "../../mask/hdr_left_02583.png" + }, + { + "file_path": "../../rgb/hdr_left_02584.png", + "transform_matrix": [ + [ + -0.7111695408821106, + -0.03499164432287216, + -0.7021490931510925, + -26.88003921508789 + ], + [ + 0.701347291469574, + 0.03355251997709274, + -0.7120296359062195, + -53.77944564819336 + ], + [ + 0.04847395420074463, + -0.9988242983818054, + 0.0006797700771130621, + -20.136873245239258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2584, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_842268943", + "mask_path": "../../mask/hdr_left_02584.png" + }, + { + "file_path": "../../rgb/hdr_left_02585.png", + "transform_matrix": [ + [ + -0.7095458507537842, + -0.03108718805015087, + -0.7039731740951538, + -26.946746826171875 + ], + [ + 0.7031236886978149, + 0.03468271717429161, + -0.7102212309837341, + -53.73841857910156 + ], + [ + 0.046494483947753906, + -0.9989147782325745, + -0.0027508384082466364, + -20.131092071533203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2585, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_942268133", + "mask_path": "../../mask/hdr_left_02585.png" + }, + { + "file_path": "../../rgb/hdr_left_02586.png", + "transform_matrix": [ + [ + -0.7100405097007751, + -0.024433283135294914, + -0.7037369012832642, + -27.00477409362793 + ], + [ + 0.70274817943573, + 0.038686033338308334, + -0.7103860378265381, + -53.70237731933594 + ], + [ + 0.04458185285329819, + -0.9989526271820068, + -0.010298201814293861, + -20.13287925720215 + ], + [ + 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": "1730639058_42267799", + "mask_path": "../../mask/hdr_left_02586.png" + }, + { + "file_path": "../../rgb/hdr_left_02587.png", + "transform_matrix": [ + [ + -0.7092549204826355, + -0.021350516006350517, + -0.7046287059783936, + -27.057233810424805 + ], + [ + 0.7036436200141907, + 0.03942950442433357, + -0.7094581127166748, + -53.66617965698242 + ], + [ + 0.04293045401573181, + -0.9989942312240601, + -0.012942411936819553, + -20.133041381835938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2587, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639058_142267465", + "mask_path": "../../mask/hdr_left_02587.png" + }, + { + "file_path": "../../rgb/hdr_left_02588.png", + "transform_matrix": [ + [ + -0.7059199810028076, + -0.019134175032377243, + -0.7080330848693848, + -27.115686416625977 + ], + [ + 0.7070754766464233, + 0.03951380029320717, + -0.7060331106185913, + -53.617923736572266 + ], + [ + 0.04148644208908081, + -0.9990358352661133, + -0.01436427142471075, + -20.1291446685791 + ], + [ + 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": "1730639058_242267847", + "mask_path": "../../mask/hdr_left_02588.png" + }, + { + "file_path": "../../rgb/hdr_left_02589.png", + "transform_matrix": [ + [ + -0.6981220841407776, + -0.022375261411070824, + -0.715628981590271, + -27.16853141784668 + ], + [ + 0.7146058082580566, + 0.04009135439991951, + -0.6983774304389954, + -53.568992614746094 + ], + [ + 0.04431691765785217, + -0.9989455342292786, + -0.01199915912002325, + -20.1170711517334 + ], + [ + 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": "1730639058_342267990", + "mask_path": "../../mask/hdr_left_02589.png" + }, + { + "file_path": "../../rgb/hdr_left_02590.png", + "transform_matrix": [ + [ + -0.6898268461227417, + -0.027050556614995003, + -0.7234688997268677, + -27.210588455200195 + ], + [ + 0.7225135564804077, + 0.037724655121564865, + -0.6903265714645386, + -53.52975845336914 + ], + [ + 0.04596633091568947, + -0.9989219903945923, + -0.006479079835116863, + -20.111087799072266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2590, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639058_442269802", + "mask_path": "../../mask/hdr_left_02590.png" + }, + { + "file_path": "../../rgb/hdr_left_02591.png", + "transform_matrix": [ + [ + -0.6821002960205078, + -0.030595596879720688, + -0.7306183576583862, + -27.259254455566406 + ], + [ + 0.7297948598861694, + 0.034703515470027924, + -0.6827847957611084, + -53.49161148071289 + ], + [ + 0.04624522849917412, + -0.9989292621612549, + -0.0013427656376734376, + -20.10809326171875 + ], + [ + 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": "1730639058_542267560", + "mask_path": "../../mask/hdr_left_02591.png" + }, + { + "file_path": "../../rgb/hdr_left_02592.png", + "transform_matrix": [ + [ + -0.6795128583908081, + -0.023043086752295494, + -0.73330157995224, + -27.321517944335938 + ], + [ + 0.7324512600898743, + 0.036128632724285126, + -0.6798601150512695, + -53.445343017578125 + ], + [ + 0.04215925559401512, + -0.999081552028656, + -0.007671928033232689, + -20.10700035095215 + ], + [ + 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": "1730639058_642268896", + "mask_path": "../../mask/hdr_left_02592.png" + }, + { + "file_path": "../../rgb/hdr_left_02593.png", + "transform_matrix": [ + [ + -0.6781660914421082, + -0.01324574463069439, + -0.734789252281189, + -27.37140464782715 + ], + [ + 0.7339586019515991, + 0.03861633688211441, + -0.6780955791473389, + -53.409278869628906 + ], + [ + 0.037356745451688766, + -0.9991663694381714, + -0.01646646112203598, + -20.11525535583496 + ], + [ + 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": "1730639058_742268323", + "mask_path": "../../mask/hdr_left_02593.png" + }, + { + "file_path": "../../rgb/hdr_left_02594.png", + "transform_matrix": [ + [ + -0.6761910915374756, + -0.007076974958181381, + -0.7366921901702881, + -27.414730072021484 + ], + [ + 0.7359688878059387, + 0.03883897513151169, + -0.6759003400802612, + -53.3752326965332 + ], + [ + 0.03339569643139839, + -0.9992204308509827, + -0.021054131910204887, + -20.117862701416016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2594, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639058_842268228", + "mask_path": "../../mask/hdr_left_02594.png" + }, + { + "file_path": "../../rgb/hdr_left_02595.png", + "transform_matrix": [ + [ + -0.673036515712738, + -0.0028428174555301666, + -0.7396037578582764, + -27.470867156982422 + ], + [ + 0.7391300201416016, + 0.033407337963581085, + -0.6727339029312134, + -53.32538604736328 + ], + [ + 0.02662065252661705, + -0.9994378089904785, + -0.02038314752280712, + -20.116283416748047 + ], + [ + 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": "1730639058_942269563", + "mask_path": "../../mask/hdr_left_02595.png" + }, + { + "file_path": "../../rgb/hdr_left_02596.png", + "transform_matrix": [ + [ + -0.6651260256767273, + -0.003009587526321411, + -0.7467249631881714, + -27.5247802734375 + ], + [ + 0.7463119626045227, + 0.030817046761512756, + -0.6648824214935303, + -53.27217483520508 + ], + [ + 0.025012878701090813, + -0.9995205402374268, + -0.018251124769449234, + -20.10430908203125 + ], + [ + 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": "1730639059_42268276", + "mask_path": "../../mask/hdr_left_02596.png" + }, + { + "file_path": "../../rgb/hdr_left_02597.png", + "transform_matrix": [ + [ + -0.6552547216415405, + -0.005572660826146603, + -0.7553874254226685, + -27.563404083251953 + ], + [ + 0.7549690008163452, + 0.02925388142466545, + -0.6551075577735901, + -53.23197937011719 + ], + [ + 0.025748703628778458, + -0.9995564818382263, + -0.01496155746281147, + -20.100805282592773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2597, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639059_142267942", + "mask_path": "../../mask/hdr_left_02597.png" + }, + { + "file_path": "../../rgb/hdr_left_02598.png", + "transform_matrix": [ + [ + -0.6455515623092651, + -0.010162672959268093, + -0.763649046421051, + -27.603408813476562 + ], + [ + 0.7632495760917664, + 0.02638380415737629, + -0.64556485414505, + -53.19219970703125 + ], + [ + 0.026708628982305527, + -0.9996002316474915, + -0.009275446645915508, + -20.102079391479492 + ], + [ + 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": "1730639059_242268085", + "mask_path": "../../mask/hdr_left_02598.png" + }, + { + "file_path": "../../rgb/hdr_left_02599.png", + "transform_matrix": [ + [ + -0.6386435627937317, + -0.009255700744688511, + -0.7694470286369324, + -27.657785415649414 + ], + [ + 0.7691670060157776, + 0.021849803626537323, + -0.6386740803718567, + -53.144081115722656 + ], + [ + 0.022723641246557236, + -0.999718427658081, + -0.006835056468844414, + -20.09933090209961 + ], + [ + 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": "1730639059_342267036", + "mask_path": "../../mask/hdr_left_02599.png" + }, + { + "file_path": "../../rgb/hdr_left_02600.png", + "transform_matrix": [ + [ + -0.6384323239326477, + -0.006760728545486927, + -0.7696481943130493, + -27.716190338134766 + ], + [ + 0.7693095207214355, + 0.02533094771206379, + -0.638373851776123, + -53.097801208496094 + ], + [ + 0.023811791092157364, + -0.9996563196182251, + -0.010971001349389553, + -20.090312957763672 + ], + [ + 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": "1730639059_442269563", + "mask_path": "../../mask/hdr_left_02600.png" + }, + { + "file_path": "../../rgb/hdr_left_02601.png", + "transform_matrix": [ + [ + -0.6425395607948303, + -0.007151130121201277, + -0.7662191390991211, + -27.76726531982422 + ], + [ + 0.7657420039176941, + 0.030502351000905037, + -0.6424241662025452, + -53.05961227416992 + ], + [ + 0.027965540066361427, + -0.9995091557502747, + -0.014123047702014446, + -20.084123611450195 + ], + [ + 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": "1730639059_542268276", + "mask_path": "../../mask/hdr_left_02601.png" + }, + { + "file_path": "../../rgb/hdr_left_02602.png", + "transform_matrix": [ + [ + -0.647533655166626, + -0.010495638474822044, + -0.7619646191596985, + -27.820985794067383 + ], + [ + 0.7615535855293274, + 0.02668979950249195, + -0.6475521326065063, + -53.02385711669922 + ], + [ + 0.027133150026202202, + -0.9995887279510498, + -0.00928955152630806, + -20.084375381469727 + ], + [ + 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": "1730639059_642267465", + "mask_path": "../../mask/hdr_left_02602.png" + }, + { + "file_path": "../../rgb/hdr_left_02603.png", + "transform_matrix": [ + [ + -0.6489343047142029, + -0.01911364123225212, + -0.7606042623519897, + -27.871997833251953 + ], + [ + 0.7605462670326233, + 0.011686685495078564, + -0.6491785049438477, + -52.991519927978516 + ], + [ + 0.02129710651934147, + -0.9997490644454956, + 0.006952920462936163, + -20.082754135131836 + ], + [ + 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": "1730639059_742268562", + "mask_path": "../../mask/hdr_left_02603.png" + }, + { + "file_path": "../../rgb/hdr_left_02604.png", + "transform_matrix": [ + [ + -0.6419064402580261, + -0.0246574804186821, + -0.7663863897323608, + -27.908479690551758 + ], + [ + 0.7662651538848877, + 0.0160981398075819, + -0.642322838306427, + -52.96366500854492 + ], + [ + 0.02817545086145401, + -0.9995663166046143, + 0.008560668677091599, + -20.05671501159668 + ], + [ + 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": "1730639059_842267513", + "mask_path": "../../mask/hdr_left_02604.png" + }, + { + "file_path": "../../rgb/hdr_left_02606.png", + "transform_matrix": [ + [ + -0.628408670425415, + -0.03249988704919815, + -0.777204155921936, + -28.00948143005371 + ], + [ + 0.7770726084709167, + 0.019377054646611214, + -0.6291125416755676, + -52.89188003540039 + ], + [ + 0.03550601378083229, + -0.9992839097976685, + 0.013078066520392895, + -20.052364349365234 + ], + [ + 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": "1730639060_42267799", + "mask_path": "../../mask/hdr_left_02606.png" + }, + { + "file_path": "../../rgb/hdr_left_02607.png", + "transform_matrix": [ + [ + -0.6278685331344604, + -0.028639186173677444, + -0.7777923345565796, + -28.05852508544922 + ], + [ + 0.7775480151176453, + 0.021396873518824577, + -0.6284593343734741, + -52.85586929321289 + ], + [ + 0.034640878438949585, + -0.9993608593940735, + 0.008833924308419228, + -20.05841827392578 + ], + [ + 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": "1730639060_142269134", + "mask_path": "../../mask/hdr_left_02607.png" + }, + { + "file_path": "../../rgb/hdr_left_02609.png", + "transform_matrix": [ + [ + -0.6239975094795227, + -0.026254285126924515, + -0.7809851169586182, + -28.140344619750977 + ], + [ + 0.780627965927124, + 0.024220438674092293, + -0.6245263814926147, + -52.76526641845703 + ], + [ + 0.035312291234731674, + -0.9993618726730347, + 0.00538133829832077, + -20.066715240478516 + ], + [ + 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": "1730639060_342267513", + "mask_path": "../../mask/hdr_left_02609.png" + }, + { + "file_path": "../../rgb/hdr_left_02610.png", + "transform_matrix": [ + [ + -0.618312656879425, + -0.028548464179039, + -0.7854134440422058, + -28.182626724243164 + ], + [ + 0.7849884629249573, + 0.026524078100919724, + -0.6189422607421875, + -52.71977996826172 + ], + [ + 0.03850221633911133, + -0.9992404580116272, + 0.00601004296913743, + -20.054067611694336 + ], + [ + 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": "1730639060_442267656", + "mask_path": "../../mask/hdr_left_02610.png" + }, + { + "file_path": "../../rgb/hdr_left_02612.png", + "transform_matrix": [ + [ + -0.6011665463447571, + -0.0362144336104393, + -0.7983027696609497, + -28.257946014404297 + ], + [ + 0.7980300784111023, + 0.025040065869688988, + -0.6020970940589905, + -52.63419723510742 + ], + [ + 0.04179415479302406, + -0.9990304112434387, + 0.013846960850059986, + -20.052322387695312 + ], + [ + 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": "1730639060_642267942", + "mask_path": "../../mask/hdr_left_02612.png" + }, + { + "file_path": "../../rgb/hdr_left_02613.png", + "transform_matrix": [ + [ + -0.5966268181800842, + -0.051718614995479584, + -0.8008504509925842, + -28.32561492919922 + ], + [ + 0.8007215261459351, + 0.02838524803519249, + -0.5983638763427734, + -52.57240295410156 + ], + [ + 0.05367888882756233, + -0.9982582926750183, + 0.024476805701851845, + -20.03401756286621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2613, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639060_742267370", + "mask_path": "../../mask/hdr_left_02613.png" + }, + { + "file_path": "../../rgb/hdr_left_02614.png", + "transform_matrix": [ + [ + -0.5984384417533875, + -0.05870981141924858, + -0.799014687538147, + -28.382217407226562 + ], + [ + 0.7987423539161682, + 0.03383832424879074, + -0.6007208824157715, + -52.530643463134766 + ], + [ + 0.0623055174946785, + -0.9977014660835266, + 0.02664385735988617, + -20.022802352905273 + ], + [ + 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": "1730639060_842267036", + "mask_path": "../../mask/hdr_left_02614.png" + }, + { + "file_path": "../../rgb/hdr_left_02615.png", + "transform_matrix": [ + [ + -0.601919949054718, + -0.06277283281087875, + -0.7960854172706604, + -28.435483932495117 + ], + [ + 0.7959787845611572, + 0.03287072479724884, + -0.6044312715530396, + -52.49074172973633 + ], + [ + 0.06410976499319077, + -0.997486412525177, + 0.030180303379893303, + -20.02347755432129 + ], + [ + 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": "1730639060_942267894", + "mask_path": "../../mask/hdr_left_02615.png" + }, + { + "file_path": "../../rgb/hdr_left_02616.png", + "transform_matrix": [ + [ + -0.5985794067382812, + -0.07278534024953842, + -0.797749936580658, + -28.496631622314453 + ], + [ + 0.798017144203186, + 0.03258713334798813, + -0.6017529964447021, + -52.43619155883789 + ], + [ + 0.06979517638683319, + -0.9968151450157166, + 0.03857796639204025, + -20.01602554321289 + ], + [ + 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": "1730639061_42267322", + "mask_path": "../../mask/hdr_left_02616.png" + }, + { + "file_path": "../../rgb/hdr_left_02617.png", + "transform_matrix": [ + [ + -0.5857177972793579, + -0.08398188650608063, + -0.8061524033546448, + -28.550302505493164 + ], + [ + 0.8061611652374268, + 0.042591392993927, + -0.590161144733429, + -52.376365661621094 + ], + [ + 0.08389799296855927, + -0.995556652545929, + 0.04275640472769737, + -19.98583984375 + ], + [ + 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": "1730639061_142267704", + "mask_path": "../../mask/hdr_left_02617.png" + }, + { + "file_path": "../../rgb/hdr_left_02618.png", + "transform_matrix": [ + [ + -0.570905864238739, + -0.08880843222141266, + -0.8161982297897339, + -28.59173583984375 + ], + [ + 0.8157504796981812, + 0.051046740263700485, + -0.5761469602584839, + -52.33055877685547 + ], + [ + 0.09283095598220825, + -0.994739830493927, + 0.04330262914299965, + -19.965730667114258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2618, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639061_242267608", + "mask_path": "../../mask/hdr_left_02618.png" + }, + { + "file_path": "../../rgb/hdr_left_02619.png", + "transform_matrix": [ + [ + -0.5659834742546082, + -0.07108401507139206, + -0.8213463425636292, + -28.64982795715332 + ], + [ + 0.8202933669090271, + 0.05095861107110977, + -0.5696682333946228, + -52.27430725097656 + ], + [ + 0.08234896510839462, + -0.9961678385734558, + 0.029468011111021042, + -19.967397689819336 + ], + [ + 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": "1730639061_342267274", + "mask_path": "../../mask/hdr_left_02619.png" + }, + { + "file_path": "../../rgb/hdr_left_02620.png", + "transform_matrix": [ + [ + -0.5666967034339905, + -0.04520959034562111, + -0.822685182094574, + -28.694229125976562 + ], + [ + 0.8213474750518799, + 0.04794218763709068, + -0.5684099197387695, + -52.23089599609375 + ], + [ + 0.06513889878988266, + -0.9978264570236206, + 0.00996411219239235, + -19.97318458557129 + ], + [ + 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": "1730639061_442268371", + "mask_path": "../../mask/hdr_left_02620.png" + }, + { + "file_path": "../../rgb/hdr_left_02622.png", + "transform_matrix": [ + [ + -0.5594114661216736, + -0.0290620569139719, + -0.8283804655075073, + -28.78215789794922 + ], + [ + 0.826893150806427, + 0.049763843417167664, + -0.5601528882980347, + -52.11077880859375 + ], + [ + 0.057502590119838715, + -0.9983381628990173, + -0.00380724691785872, + -19.969615936279297 + ], + [ + 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": "1730639061_642267704", + "mask_path": "../../mask/hdr_left_02622.png" + }, + { + "file_path": "../../rgb/hdr_left_02623.png", + "transform_matrix": [ + [ + -0.5485915541648865, + -0.02677888236939907, + -0.8356615304946899, + -28.821178436279297 + ], + [ + 0.834153413772583, + 0.05046616867184639, + -0.5492187738418579, + -52.03675079345703 + ], + [ + 0.05688009783625603, + -0.9983667135238647, + -0.00534761743620038, + -19.953506469726562 + ], + [ + 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": "1730639061_742268323", + "mask_path": "../../mask/hdr_left_02623.png" + }, + { + "file_path": "../../rgb/hdr_left_02624.png", + "transform_matrix": [ + [ + -0.5359664559364319, + -0.02813464216887951, + -0.8437703847885132, + -28.85067367553711 + ], + [ + 0.8422855734825134, + 0.0501343235373497, + -0.5366950035095215, + -51.988399505615234 + ], + [ + 0.05740157142281532, + -0.9983461499214172, + -0.00317290797829628, + -19.943986892700195 + ], + [ + 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": "1730639061_842267036", + "mask_path": "../../mask/hdr_left_02624.png" + }, + { + "file_path": "../../rgb/hdr_left_02625.png", + "transform_matrix": [ + [ + -0.522903561592102, + -0.03568669781088829, + -0.8516443967819214, + -28.88713836669922 + ], + [ + 0.8502941131591797, + 0.04821369796991348, + -0.5240948796272278, + -51.94176483154297 + ], + [ + 0.059764135628938675, + -0.9981993436813354, + 0.0051330700516700745, + -19.941890716552734 + ], + [ + 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": "1730639061_942267894", + "mask_path": "../../mask/hdr_left_02625.png" + }, + { + "file_path": "../../rgb/hdr_left_02626.png", + "transform_matrix": [ + [ + -0.5161810517311096, + -0.03894602507352829, + -0.8555935025215149, + -28.94314193725586 + ], + [ + 0.8543406128883362, + 0.04714082553982735, + -0.5175710320472717, + -51.87964630126953 + ], + [ + 0.060490719974040985, + -0.9981288313865662, + 0.008939973078668118, + -19.94052505493164 + ], + [ + 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": "1730639062_42268276", + "mask_path": "../../mask/hdr_left_02626.png" + }, + { + "file_path": "../../rgb/hdr_left_02627.png", + "transform_matrix": [ + [ + -0.5127496719360352, + -0.036278802901506424, + -0.8577712774276733, + -28.99759292602539 + ], + [ + 0.8566485047340393, + 0.04463169351220131, + -0.5139661431312561, + -51.82345962524414 + ], + [ + 0.05692986026406288, + -0.9983446598052979, + 0.008193304762244225, + -19.94194793701172 + ], + [ + 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": "1730639062_142266988", + "mask_path": "../../mask/hdr_left_02627.png" + }, + { + "file_path": "../../rgb/hdr_left_02628.png", + "transform_matrix": [ + [ + -0.5103960037231445, + -0.03630445525050163, + -0.8591728806495667, + -29.0468692779541 + ], + [ + 0.8582823872566223, + 0.04048861190676689, + -0.511577844619751, + -51.77545928955078 + ], + [ + 0.053359270095825195, + -0.9985202550888062, + 0.010494250804185867, + -19.94314193725586 + ], + [ + 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": "1730639062_242267847", + "mask_path": "../../mask/hdr_left_02628.png" + }, + { + "file_path": "../../rgb/hdr_left_02629.png", + "transform_matrix": [ + [ + -0.5077102184295654, + -0.0365636982023716, + -0.8607516884803772, + -29.10736656188965 + ], + [ + 0.8600549101829529, + 0.03688777983188629, + -0.5088663101196289, + -51.71126937866211 + ], + [ + 0.05035724490880966, + -0.998650312423706, + 0.012718482874333858, + -19.94086456298828 + ], + [ + 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": "1730639062_342267990", + "mask_path": "../../mask/hdr_left_02629.png" + }, + { + "file_path": "../../rgb/hdr_left_02630.png", + "transform_matrix": [ + [ + -0.49981868267059326, + -0.043759167194366455, + -0.8650239109992981, + -29.165367126464844 + ], + [ + 0.8645309805870056, + 0.035453177988529205, + -0.501327395439148, + -51.643245697021484 + ], + [ + 0.0526055172085762, + -0.9984129071235657, + 0.020110998302698135, + -19.92682647705078 + ], + [ + 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": "1730639062_442267417", + "mask_path": "../../mask/hdr_left_02630.png" + }, + { + "file_path": "../../rgb/hdr_left_02631.png", + "transform_matrix": [ + [ + -0.4904654920101166, + -0.053547680377960205, + -0.8698139190673828, + -29.211658477783203 + ], + [ + 0.869717538356781, + 0.03301979601383209, + -0.49244385957717896, + -51.58992385864258 + ], + [ + 0.05509030446410179, + -0.9980192184448242, + 0.030376294627785683, + -19.917774200439453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2631, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639062_542266845", + "mask_path": "../../mask/hdr_left_02631.png" + }, + { + "file_path": "../../rgb/hdr_left_02632.png", + "transform_matrix": [ + [ + -0.4833184778690338, + -0.05608387663960457, + -0.8736463189125061, + -29.276105880737305 + ], + [ + 0.8735961318016052, + 0.03391848877072334, + -0.4854680597782135, + -51.525447845458984 + ], + [ + 0.05685969814658165, + -0.9978497624397278, + 0.03260123357176781, + -19.910179138183594 + ], + [ + 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": "1730639062_642267942", + "mask_path": "../../mask/hdr_left_02632.png" + }, + { + "file_path": "../../rgb/hdr_left_02633.png", + "transform_matrix": [ + [ + -0.48323681950569153, + -0.04889904335141182, + -0.8741229772567749, + -29.345481872558594 + ], + [ + 0.8737603425979614, + 0.03578846901655197, + -0.4850383400917053, + -51.457061767578125 + ], + [ + 0.05500142648816109, + -0.9981623888015747, + 0.025431735441088676, + -19.907499313354492 + ], + [ + 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": "1730639062_742267370", + "mask_path": "../../mask/hdr_left_02633.png" + }, + { + "file_path": "../../rgb/hdr_left_02634.png", + "transform_matrix": [ + [ + -0.4856300950050354, + -0.04284907877445221, + -0.8731136322021484, + -29.397502899169922 + ], + [ + 0.8725740909576416, + 0.036459483206272125, + -0.4871193766593933, + -51.406429290771484 + ], + [ + 0.05270588397979736, + -0.9984161257743835, + 0.019683172926306725, + -19.907480239868164 + ], + [ + 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": "1730639062_842267751", + "mask_path": "../../mask/hdr_left_02634.png" + }, + { + "file_path": "../../rgb/hdr_left_02635.png", + "transform_matrix": [ + [ + -0.48612791299819946, + -0.041352879256010056, + -0.8729086518287659, + -29.451126098632812 + ], + [ + 0.872348964214325, + 0.03628549352288246, + -0.4875352382659912, + -51.342552185058594 + ], + [ + 0.05183490365743637, + -0.9984855651855469, + 0.01843474991619587, + -19.907724380493164 + ], + [ + 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": "1730639062_942266464", + "mask_path": "../../mask/hdr_left_02635.png" + }, + { + "file_path": "../../rgb/hdr_left_02636.png", + "transform_matrix": [ + [ + -0.4801108241081238, + -0.04163733124732971, + -0.8762190341949463, + -29.508604049682617 + ], + [ + 0.8756668567657471, + 0.03643225133419037, + -0.4815395772457123, + -51.26548385620117 + ], + [ + 0.051972646266222, + -0.9984683990478516, + 0.018968913704156876, + -19.891895294189453 + ], + [ + 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": "1730639063_42267084", + "mask_path": "../../mask/hdr_left_02636.png" + }, + { + "file_path": "../../rgb/hdr_left_02637.png", + "transform_matrix": [ + [ + -0.47126492857933044, + -0.04607557877898216, + -0.8807872533798218, + -29.554691314697266 + ], + [ + 0.8803391456604004, + 0.036529771983623505, + -0.47293609380722046, + -51.20446014404297 + ], + [ + 0.05396576225757599, + -0.9982698559761047, + 0.02334693633019924, + -19.87900161743164 + ], + [ + 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": "1730639063_142270803", + "mask_path": "../../mask/hdr_left_02637.png" + }, + { + "file_path": "../../rgb/hdr_left_02638.png", + "transform_matrix": [ + [ + -0.4625316560268402, + -0.05210224539041519, + -0.8850704431533813, + -29.59575080871582 + ], + [ + 0.8847507238388062, + 0.03736775740981102, + -0.4645642042160034, + -51.152137756347656 + ], + [ + 0.05727792903780937, + -0.9979424476623535, + 0.02881372906267643, + -19.877452850341797 + ], + [ + 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": "1730639063_242267608", + "mask_path": "../../mask/hdr_left_02638.png" + }, + { + "file_path": "../../rgb/hdr_left_02639.png", + "transform_matrix": [ + [ + -0.4582657516002655, + -0.051438502967357635, + -0.8873255848884583, + -29.658100128173828 + ], + [ + 0.8869653940200806, + 0.037908922880887985, + -0.46027740836143494, + -51.07692337036133 + ], + [ + 0.057313524186611176, + -0.997956395149231, + 0.028251811861991882, + -19.87301254272461 + ], + [ + 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": "1730639063_342267036", + "mask_path": "../../mask/hdr_left_02639.png" + }, + { + "file_path": "../../rgb/hdr_left_02640.png", + "transform_matrix": [ + [ + -0.4590536653995514, + -0.04216177389025688, + -0.8874075412750244, + -29.719953536987305 + ], + [ + 0.886792778968811, + 0.03846946358680725, + -0.46056339144706726, + -51.00625228881836 + ], + [ + 0.053556255996227264, + -0.9983699917793274, + 0.019729210063815117, + -19.868959426879883 + ], + [ + 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": "1730639063_442267656", + "mask_path": "../../mask/hdr_left_02640.png" + }, + { + "file_path": "../../rgb/hdr_left_02641.png", + "transform_matrix": [ + [ + -0.4605068266391754, + -0.03607584163546562, + -0.8869227766990662, + -29.764995574951172 + ], + [ + 0.8862131834030151, + 0.03826267644762993, + -0.4616946876049042, + -50.952842712402344 + ], + [ + 0.05059206113219261, + -0.9986163377761841, + 0.014350667595863342, + -19.869365692138672 + ], + [ + 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": "1730639063_542268991", + "mask_path": "../../mask/hdr_left_02641.png" + }, + { + "file_path": "../../rgb/hdr_left_02642.png", + "transform_matrix": [ + [ + -0.4586792290210724, + -0.03555187210440636, + -0.8878904581069946, + -29.813732147216797 + ], + [ + 0.8872486352920532, + 0.03680180385708809, + -0.4598211944103241, + -50.88295364379883 + ], + [ + 0.049023471772670746, + -0.9986900091171265, + 0.014663130976259708, + -19.865283966064453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2642, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639063_642271280", + "mask_path": "../../mask/hdr_left_02642.png" + }, + { + "file_path": "../../rgb/hdr_left_02643.png", + "transform_matrix": [ + [ + -0.4506540298461914, + -0.03855020925402641, + -0.8918659687042236, + -29.861501693725586 + ], + [ + 0.8912197351455688, + 0.038057200610637665, + -0.45197248458862305, + -50.80512619018555 + ], + [ + 0.051365550607442856, + -0.998531699180603, + 0.01720607653260231, + -19.84841537475586 + ], + [ + 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": "1730639063_742267370", + "mask_path": "../../mask/hdr_left_02643.png" + }, + { + "file_path": "../../rgb/hdr_left_02644.png", + "transform_matrix": [ + [ + -0.44264987111091614, + -0.04367261379957199, + -0.895630419254303, + -29.89925193786621 + ], + [ + 0.8951331377029419, + 0.03739674389362335, + -0.4442276060581207, + -50.751487731933594 + ], + [ + 0.052894238382577896, + -0.9983457326889038, + 0.02253914251923561, + -19.840259552001953 + ], + [ + 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": "1730639063_842267990", + "mask_path": "../../mask/hdr_left_02644.png" + }, + { + "file_path": "../../rgb/hdr_left_02645.png", + "transform_matrix": [ + [ + -0.43492114543914795, + -0.0493549145758152, + -0.8991149663925171, + -29.93886375427246 + ], + [ + 0.8988848328590393, + 0.035396333783864975, + -0.4367528259754181, + -50.704811096191406 + ], + [ + 0.05338127166032791, + -0.9981539249420166, + 0.02896977588534355, + -19.837366104125977 + ], + [ + 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": "1730639063_942268371", + "mask_path": "../../mask/hdr_left_02645.png" + }, + { + "file_path": "../../rgb/hdr_left_02646.png", + "transform_matrix": [ + [ + -0.43169182538986206, + -0.04321466013789177, + -0.9009853005409241, + -29.998703002929688 + ], + [ + 0.9006845355033875, + 0.033704522997140884, + -0.4331642985343933, + -50.62841796875 + ], + [ + 0.049086324870586395, + -0.9984971284866333, + 0.024372806772589684, + -19.83241844177246 + ], + [ + 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": "1730639064_42268276", + "mask_path": "../../mask/hdr_left_02646.png" + }, + { + "file_path": "../../rgb/hdr_left_02647.png", + "transform_matrix": [ + [ + -0.4319692552089691, + -0.03557931259274483, + -0.9011862874031067, + -30.0504207611084 + ], + [ + 0.9007830619812012, + 0.032434530556201935, + -0.4330565631389618, + -50.56509017944336 + ], + [ + 0.04463740438222885, + -0.9988403916358948, + 0.018038520589470863, + -19.832828521728516 + ], + [ + 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": "1730639064_142268180", + "mask_path": "../../mask/hdr_left_02647.png" + }, + { + "file_path": "../../rgb/hdr_left_02648.png", + "transform_matrix": [ + [ + -0.4314911365509033, + -0.03369464352726936, + -0.9014877080917358, + -30.089895248413086 + ], + [ + 0.9011737108230591, + 0.02959180623292923, + -0.43244680762290955, + -50.51755905151367 + ], + [ + 0.041247785091400146, + -0.9989940524101257, + 0.017596131190657616, + -19.83804702758789 + ], + [ + 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": "1730639064_242268085", + "mask_path": "../../mask/hdr_left_02648.png" + }, + { + "file_path": "../../rgb/hdr_left_02649.png", + "transform_matrix": [ + [ + -0.42802709341049194, + -0.032874636352062225, + -0.9031678438186646, + -30.134668350219727 + ], + [ + 0.9029676914215088, + 0.02643439546227455, + -0.4288945198059082, + -50.453521728515625 + ], + [ + 0.037974439561367035, + -0.9991098642349243, + 0.018370095640420914, + -19.831315994262695 + ], + [ + 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": "1730639064_342267274", + "mask_path": "../../mask/hdr_left_02649.png" + }, + { + "file_path": "../../rgb/hdr_left_02650.png", + "transform_matrix": [ + [ + -0.4198552370071411, + -0.035980064421892166, + -0.9068777561187744, + -30.17714500427246 + ], + [ + 0.9066722393035889, + 0.02832166664302349, + -0.4208839237689972, + -50.38657760620117 + ], + [ + 0.04082771763205528, + -0.9989511966705322, + 0.0207311250269413, + -19.8132266998291 + ], + [ + 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": "1730639064_442267417", + "mask_path": "../../mask/hdr_left_02650.png" + }, + { + "file_path": "../../rgb/hdr_left_02651.png", + "transform_matrix": [ + [ + -0.41135159134864807, + -0.03938550129532814, + -0.9106253385543823, + -30.21099090576172 + ], + [ + 0.9104464054107666, + 0.02973490208387375, + -0.41255679726600647, + -50.33378982543945 + ], + [ + 0.043326105922460556, + -0.9987815618515015, + 0.023626888170838356, + -19.805622100830078 + ], + [ + 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": "1730639064_542268037", + "mask_path": "../../mask/hdr_left_02651.png" + }, + { + "file_path": "../../rgb/hdr_left_02652.png", + "transform_matrix": [ + [ + -0.4022272825241089, + -0.043875131756067276, + -0.914487898349762, + -30.252843856811523 + ], + [ + 0.9144235253334045, + 0.03005850873887539, + -0.4036410450935364, + -50.27477264404297 + ], + [ + 0.045197948813438416, + -0.9985848069190979, + 0.02803010307252407, + -19.801258087158203 + ], + [ + 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": "1730639064_642268180", + "mask_path": "../../mask/hdr_left_02652.png" + }, + { + "file_path": "../../rgb/hdr_left_02653.png", + "transform_matrix": [ + [ + -0.40002644062042236, + -0.039845891296863556, + -0.9156369566917419, + -30.309309005737305 + ], + [ + 0.9154552817344666, + 0.03039705380797386, + -0.40126994252204895, + -50.19845962524414 + ], + [ + 0.04382162541151047, + -0.9987434148788452, + 0.024317506700754166, + -19.79405975341797 + ], + [ + 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": "1730639064_742268323", + "mask_path": "../../mask/hdr_left_02653.png" + }, + { + "file_path": "../../rgb/hdr_left_02654.png", + "transform_matrix": [ + [ + -0.40190771222114563, + -0.03284774348139763, + -0.9150908589363098, + -30.352663040161133 + ], + [ + 0.9147316813468933, + 0.03107214905321598, + -0.40286538004875183, + -50.14020919799805 + ], + [ + 0.04166704788804054, + -0.9989773631095886, + 0.017558733001351357, + -19.794029235839844 + ], + [ + 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": "1730639064_842267036", + "mask_path": "../../mask/hdr_left_02654.png" + }, + { + "file_path": "../../rgb/hdr_left_02655.png", + "transform_matrix": [ + [ + -0.40251943469047546, + -0.029900046065449715, + -0.9149229526519775, + -30.38947296142578 + ], + [ + 0.9145473837852478, + 0.030280789360404015, + -0.40334391593933105, + -50.09127426147461 + ], + [ + 0.03976459056138992, + -0.9990941286087036, + 0.015156401321291924, + -19.794315338134766 + ], + [ + 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": "1730639064_942269563", + "mask_path": "../../mask/hdr_left_02655.png" + }, + { + "file_path": "../../rgb/hdr_left_02656.png", + "transform_matrix": [ + [ + -0.3998703956604004, + -0.027510613203048706, + -0.9161587357521057, + -30.432233810424805 + ], + [ + 0.9157611727714539, + 0.030032917857170105, + -0.40059879422187805, + -50.02622604370117 + ], + [ + 0.03853564336895943, + -0.9991702437400818, + 0.013183876872062683, + -19.7877197265625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2656, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_42268037", + "mask_path": "../../mask/hdr_left_02656.png" + }, + { + "file_path": "../../rgb/hdr_left_02657.png", + "transform_matrix": [ + [ + -0.39151638746261597, + -0.029981248080730438, + -0.919682502746582, + -30.469532012939453 + ], + [ + 0.9191851615905762, + 0.03351263701915741, + -0.39239728450775146, + -49.95487594604492 + ], + [ + 0.04258554056286812, + -0.9989885687828064, + 0.014437571167945862, + -19.772064208984375 + ], + [ + 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": "1730639065_142268896", + "mask_path": "../../mask/hdr_left_02657.png" + }, + { + "file_path": "../../rgb/hdr_left_02658.png", + "transform_matrix": [ + [ + -0.3824646770954132, + -0.03370672091841698, + -0.9233550429344177, + -30.500181198120117 + ], + [ + 0.9228569865226746, + 0.03510349988937378, + -0.3835398554801941, + -49.89656448364258 + ], + [ + 0.04534086212515831, + -0.99881511926651, + 0.017680635675787926, + -19.764894485473633 + ], + [ + 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": "1730639065_242267608", + "mask_path": "../../mask/hdr_left_02658.png" + }, + { + "file_path": "../../rgb/hdr_left_02659.png", + "transform_matrix": [ + [ + -0.3729115426540375, + -0.03813551738858223, + -0.9270828366279602, + -30.5386905670166 + ], + [ + 0.9267095327377319, + 0.03458024933934212, + -0.37418389320373535, + -49.83909606933594 + ], + [ + 0.04632845148444176, + -0.9986740946769714, + 0.022445175796747208, + -19.759092330932617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2659, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_342267751", + "mask_path": "../../mask/hdr_left_02659.png" + }, + { + "file_path": "../../rgb/hdr_left_02660.png", + "transform_matrix": [ + [ + -0.3699667751789093, + -0.03332015872001648, + -0.9284472465515137, + -30.58759880065918 + ], + [ + 0.9280471205711365, + 0.033051326870918274, + -0.3709934651851654, + -49.762298583984375 + ], + [ + 0.04304797202348709, + -0.9988981485366821, + 0.018694782629609108, + -19.755281448364258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2660, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_442268610", + "mask_path": "../../mask/hdr_left_02660.png" + }, + { + "file_path": "../../rgb/hdr_left_02661.png", + "transform_matrix": [ + [ + -0.3700290620326996, + -0.02517305314540863, + -0.9286790490150452, + -30.628732681274414 + ], + [ + 0.928161084651947, + 0.03296273946762085, + -0.3707162141799927, + -49.698158264160156 + ], + [ + 0.03994385898113251, + -0.9991395473480225, + 0.011167475953698158, + -19.757226943969727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2661, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_542267084", + "mask_path": "../../mask/hdr_left_02661.png" + }, + { + "file_path": "../../rgb/hdr_left_02662.png", + "transform_matrix": [ + [ + -0.3693242371082306, + -0.02271709032356739, + -0.9290229082107544, + -30.666013717651367 + ], + [ + 0.9285012483596802, + 0.03243421018123627, + -0.3699099123477936, + -49.641239166259766 + ], + [ + 0.03853539749979973, + -0.9992157220840454, + 0.009114110842347145, + -19.754894256591797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2662, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_642269134", + "mask_path": "../../mask/hdr_left_02662.png" + }, + { + "file_path": "../../rgb/hdr_left_02663.png", + "transform_matrix": [ + [ + -0.3648903965950012, + -0.022168129682540894, + -0.9307865500450134, + -30.709270477294922 + ], + [ + 0.9303160309791565, + 0.031017953529953957, + -0.36544477939605713, + -49.566158294677734 + ], + [ + 0.03697231784462929, + -0.9992730021476746, + 0.009305212646722794, + -19.74852752685547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2663, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_742269039", + "mask_path": "../../mask/hdr_left_02663.png" + }, + { + "file_path": "../../rgb/hdr_left_02664.png", + "transform_matrix": [ + [ + -0.3538150191307068, + -0.027591245248913765, + -0.934908390045166, + -30.748159408569336 + ], + [ + 0.9344009160995483, + 0.03376103937625885, + -0.35461944341659546, + -49.48679733276367 + ], + [ + 0.041347868740558624, + -0.9990490078926086, + 0.013836121186614037, + -19.7309513092041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2664, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_842267751", + "mask_path": "../../mask/hdr_left_02664.png" + }, + { + "file_path": "../../rgb/hdr_left_02665.png", + "transform_matrix": [ + [ + -0.342407763004303, + -0.03410276025533676, + -0.9389322400093079, + -30.778600692749023 + ], + [ + 0.9384925365447998, + 0.035018667578697205, + -0.34351927042007446, + -49.42597579956055 + ], + [ + 0.044595107436180115, + -0.9988046288490295, + 0.020014522597193718, + -19.72372055053711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2665, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_942269325", + "mask_path": "../../mask/hdr_left_02665.png" + }, + { + "file_path": "../../rgb/hdr_left_02666.png", + "transform_matrix": [ + [ + -0.33147332072257996, + -0.0406474806368351, + -0.9425885677337646, + -30.820484161376953 + ], + [ + 0.9423280954360962, + 0.03475946933031082, + -0.3328806757926941, + -49.36316680908203 + ], + [ + 0.04629463702440262, + -0.9985688328742981, + 0.02678142860531807, + -19.715906143188477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2666, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_42268037", + "mask_path": "../../mask/hdr_left_02666.png" + }, + { + "file_path": "../../rgb/hdr_left_02667.png", + "transform_matrix": [ + [ + -0.3288334310054779, + -0.0368933379650116, + -0.9436670541763306, + -30.86956024169922 + ], + [ + 0.9433456063270569, + 0.034101955592632294, + -0.33005470037460327, + -49.28084182739258 + ], + [ + 0.04435770586133003, + -0.9987372159957886, + 0.023589307442307472, + -19.714126586914062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2667, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_142266511", + "mask_path": "../../mask/hdr_left_02667.png" + }, + { + "file_path": "../../rgb/hdr_left_02668.png", + "transform_matrix": [ + [ + -0.32987886667251587, + -0.03171706199645996, + -0.9434903264045715, + -30.90911102294922 + ], + [ + 0.9430864453315735, + 0.03344322741031647, + -0.3308618664741516, + -49.221351623535156 + ], + [ + 0.042047325521707535, + -0.9989373087882996, + 0.018879719078540802, + -19.71584701538086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2668, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_242267847", + "mask_path": "../../mask/hdr_left_02668.png" + }, + { + "file_path": "../../rgb/hdr_left_02669.png", + "transform_matrix": [ + [ + -0.32920926809310913, + -0.03190233185887337, + -0.943717896938324, + -30.946022033691406 + ], + [ + 0.9434099197387695, + 0.03120945766568184, + -0.3301568925380707, + -49.16756820678711 + ], + [ + 0.039985693991184235, + -0.9990037083625793, + 0.019822537899017334, + -19.7158145904541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2669, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_342267274", + "mask_path": "../../mask/hdr_left_02669.png" + }, + { + "file_path": "../../rgb/hdr_left_02670.png", + "transform_matrix": [ + [ + -0.324466735124588, + -0.031904470175504684, + -0.9453588724136353, + -30.987770080566406 + ], + [ + 0.9450478553771973, + 0.03140484541654587, + -0.32541990280151367, + -49.09074020385742 + ], + [ + 0.04007119685411453, + -0.9989974498748779, + 0.01996142603456974, + -19.706640243530273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2670, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_442268848", + "mask_path": "../../mask/hdr_left_02670.png" + }, + { + "file_path": "../../rgb/hdr_left_02671.png", + "transform_matrix": [ + [ + -0.3145257830619812, + -0.036020565778017044, + -0.9485652446746826, + -31.02574920654297 + ], + [ + 0.9481677412986755, + 0.03575736656785011, + -0.315751850605011, + -49.0128059387207 + ], + [ + 0.045291751623153687, + -0.998711109161377, + 0.02290692739188671, + -19.68587875366211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2671, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_542267322", + "mask_path": "../../mask/hdr_left_02671.png" + }, + { + "file_path": "../../rgb/hdr_left_02672.png", + "transform_matrix": [ + [ + -0.30491527915000916, + -0.04301963746547699, + -0.9514073729515076, + -31.054975509643555 + ], + [ + 0.951122522354126, + 0.03755229711532593, + -0.3065219819545746, + -48.95459747314453 + ], + [ + 0.048913996666669846, + -0.9983683228492737, + 0.02946668304502964, + -19.679006576538086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2672, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_642268896", + "mask_path": "../../mask/hdr_left_02672.png" + }, + { + "file_path": "../../rgb/hdr_left_02673.png", + "transform_matrix": [ + [ + -0.2956315875053406, + -0.04543331637978554, + -0.9542210102081299, + -31.098743438720703 + ], + [ + 0.9539978504180908, + 0.038136377930641174, + -0.29737818241119385, + -48.87976837158203 + ], + [ + 0.049901410937309265, + -0.9982391595840454, + 0.03206896409392357, + -19.675806045532227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2673, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_742267608", + "mask_path": "../../mask/hdr_left_02673.png" + }, + { + "file_path": "../../rgb/hdr_left_02674.png", + "transform_matrix": [ + [ + -0.29349660873413086, + -0.038359854370355606, + -0.955190122127533, + -31.148359298706055 + ], + [ + 0.9547243714332581, + 0.039027366787195206, + -0.29492080211639404, + -48.796356201171875 + ], + [ + 0.04859168082475662, + -0.9985015988349915, + 0.02516869269311428, + -19.670059204101562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2674, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_842267513", + "mask_path": "../../mask/hdr_left_02674.png" + }, + { + "file_path": "../../rgb/hdr_left_02675.png", + "transform_matrix": [ + [ + -0.29501253366470337, + -0.03209836035966873, + -0.9549540877342224, + -31.184593200683594 + ], + [ + 0.9543485045433044, + 0.03901057317852974, + -0.296136736869812, + -48.73635482788086 + ], + [ + 0.046758804470300674, + -0.9987230896949768, + 0.019124414771795273, + -19.667322158813477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2675, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_942267894", + "mask_path": "../../mask/hdr_left_02675.png" + }, + { + "file_path": "../../rgb/hdr_left_02676.png", + "transform_matrix": [ + [ + -0.2946159541606903, + -0.030229458585381508, + -0.9551374912261963, + -31.21997833251953 + ], + [ + 0.9544859528541565, + 0.039278678596019745, + -0.2956582307815552, + -48.67485046386719 + ], + [ + 0.04645412415266037, + -0.9987709522247314, + 0.017281465232372284, + -19.667259216308594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2676, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_42267799", + "mask_path": "../../mask/hdr_left_02676.png" + }, + { + "file_path": "../../rgb/hdr_left_02677.png", + "transform_matrix": [ + [ + -0.28773510456085205, + -0.028627140447497368, + -0.9572820663452148, + -31.25401496887207 + ], + [ + 0.9564711451530457, + 0.0422346331179142, + -0.288754403591156, + -48.593101501464844 + ], + [ + 0.04869666323065758, + -0.9986975789070129, + 0.015228651463985443, + -19.652040481567383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2677, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_142267227", + "mask_path": "../../mask/hdr_left_02677.png" + }, + { + "file_path": "../../rgb/hdr_left_02678.png", + "transform_matrix": [ + [ + -0.2767590582370758, + -0.03204267472028732, + -0.9604049324989319, + -31.280529022216797 + ], + [ + 0.959518551826477, + 0.04511344060301781, + -0.2780088186264038, + -48.52220153808594 + ], + [ + 0.05223530903458595, + -0.9984679222106934, + 0.018259985372424126, + -19.635690689086914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2678, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_242268323", + "mask_path": "../../mask/hdr_left_02678.png" + }, + { + "file_path": "../../rgb/hdr_left_02679.png", + "transform_matrix": [ + [ + -0.26628240942955017, + -0.038806281983852386, + -0.96311354637146, + -31.305376052856445 + ], + [ + 0.9623603224754333, + 0.04565880820155144, + -0.26791393756866455, + -48.462825775146484 + ], + [ + 0.05437135323882103, + -0.9982030987739563, + 0.02518748678267002, + -19.630956649780273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2679, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_342267513", + "mask_path": "../../mask/hdr_left_02679.png" + }, + { + "file_path": "../../rgb/hdr_left_02680.png", + "transform_matrix": [ + [ + -0.2586638629436493, + -0.042798615992069244, + -0.9650187492370605, + -31.34368324279785 + ], + [ + 0.9643847942352295, + 0.045719560235738754, + -0.2605215907096863, + -48.38427734375 + ], + [ + 0.05527019500732422, + -0.9980370998382568, + 0.029448341578245163, + -19.6246395111084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2680, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_442268610", + "mask_path": "../../mask/hdr_left_02680.png" + }, + { + "file_path": "../../rgb/hdr_left_02681.png", + "transform_matrix": [ + [ + -0.25695905089378357, + -0.034600626677274704, + -0.9658027291297913, + -31.386131286621094 + ], + [ + 0.9648910164833069, + 0.047049082815647125, + -0.2584020495414734, + -48.30167007446289 + ], + [ + 0.05438099801540375, + -0.9982932209968567, + 0.021296147257089615, + -19.61859893798828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2681, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_542268037", + "mask_path": "../../mask/hdr_left_02681.png" + }, + { + "file_path": "../../rgb/hdr_left_02682.png", + "transform_matrix": [ + [ + -0.2583591043949127, + -0.02605920471251011, + -0.9656973481178284, + -31.417404174804688 + ], + [ + 0.964618444442749, + 0.04742101952433586, + -0.25935012102127075, + -48.239498138427734 + ], + [ + 0.05255281180143356, + -0.9985350370407104, + 0.012885537929832935, + -19.616867065429688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2682, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_642268896", + "mask_path": "../../mask/hdr_left_02682.png" + }, + { + "file_path": "../../rgb/hdr_left_02683.png", + "transform_matrix": [ + [ + -0.257638543844223, + -0.0235248152166605, + -0.9659550189971924, + -31.447132110595703 + ], + [ + 0.9648104310035706, + 0.04812316969037056, + -0.25850531458854675, + -48.17206573486328 + ], + [ + 0.052566103637218475, + -0.9985643625259399, + 0.010298598557710648, + -19.619937896728516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2683, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_742267131", + "mask_path": "../../mask/hdr_left_02683.png" + }, + { + "file_path": "../../rgb/hdr_left_02684.png", + "transform_matrix": [ + [ + -0.25026950240135193, + -0.022952711209654808, + -0.9679040908813477, + -31.47795295715332 + ], + [ + 0.9666730165481567, + 0.04976273328065872, + -0.25113123655319214, + -48.087242126464844 + ], + [ + 0.05392969027161598, + -0.9984973073005676, + 0.009733675047755241, + -19.600440979003906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2684, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_842267751", + "mask_path": "../../mask/hdr_left_02684.png" + }, + { + "file_path": "../../rgb/hdr_left_02685.png", + "transform_matrix": [ + [ + -0.23935359716415405, + -0.02724890224635601, + -0.970550000667572, + -31.50096321105957 + ], + [ + 0.96930992603302, + 0.0510588176548481, + -0.24048130214214325, + -48.02128219604492 + ], + [ + 0.056107986718416214, + -0.9983238577842712, + 0.0141915213316679, + -19.587646484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2685, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_942268610", + "mask_path": "../../mask/hdr_left_02685.png" + }, + { + "file_path": "../../rgb/hdr_left_02686.png", + "transform_matrix": [ + [ + -0.22887898981571198, + -0.034449946135282516, + -0.9728450775146484, + -31.52445411682129 + ], + [ + 0.9716796278953552, + 0.05224236845970154, + -0.23045484721660614, + -47.963687896728516 + ], + [ + 0.05876288563013077, + -0.9980400800704956, + 0.021517133340239525, + -19.581798553466797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2686, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_42267560", + "mask_path": "../../mask/hdr_left_02686.png" + }, + { + "file_path": "../../rgb/hdr_left_02687.png", + "transform_matrix": [ + [ + -0.2248530089855194, + -0.03173491358757019, + -0.9738757610321045, + -31.559791564941406 + ], + [ + 0.972815215587616, + 0.049537792801856995, + -0.22622235119342804, + -47.8830680847168 + ], + [ + 0.05542280524969101, + -0.9982680082321167, + 0.0197334885597229, + -19.577917098999023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2687, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_142267704", + "mask_path": "../../mask/hdr_left_02687.png" + }, + { + "file_path": "../../rgb/hdr_left_02688.png", + "transform_matrix": [ + [ + -0.23261263966560364, + -0.022338753566145897, + -0.972312867641449, + -31.596359252929688 + ], + [ + 0.9711606502532959, + 0.048455048352479935, + -0.2334502637386322, + -47.81196975708008 + ], + [ + 0.052328452467918396, + -0.9985755681991577, + 0.010423260740935802, + -19.578243255615234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2688, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_242267131", + "mask_path": "../../mask/hdr_left_02688.png" + }, + { + "file_path": "../../rgb/hdr_left_02689.png", + "transform_matrix": [ + [ + -0.2496894896030426, + -0.019392888993024826, + -0.9681317210197449, + -31.631540298461914 + ], + [ + 0.9669786691665649, + 0.04772873967885971, + -0.25034821033477783, + -47.751556396484375 + ], + [ + 0.051062677055597305, + -0.9986720681190491, + 0.006835146341472864, + -19.583850860595703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2689, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_342268228", + "mask_path": "../../mask/hdr_left_02689.png" + }, + { + "file_path": "../../rgb/hdr_left_02690.png", + "transform_matrix": [ + [ + -0.2671002745628357, + -0.016393743455410004, + -0.9635292887687683, + -31.675519943237305 + ], + [ + 0.9624007940292358, + 0.04673586040735245, + -0.26758265495300293, + -47.66460418701172 + ], + [ + 0.049418047070503235, + -0.9987728595733643, + 0.0032941934186965227, + -19.572904586791992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2690, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_442268371", + "mask_path": "../../mask/hdr_left_02690.png" + }, + { + "file_path": "../../rgb/hdr_left_02691.png", + "transform_matrix": [ + [ + -0.2769884765148163, + -0.022885160520672798, + -0.9606006145477295, + -31.712568283081055 + ], + [ + 0.9594668745994568, + 0.04748094081878662, + -0.277792751789093, + -47.58200454711914 + ], + [ + 0.051967553794384, + -0.9986100196838379, + 0.008805884048342705, + -19.555927276611328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2691, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_542267560", + "mask_path": "../../mask/hdr_left_02691.png" + }, + { + "file_path": "../../rgb/hdr_left_02692.png", + "transform_matrix": [ + [ + -0.2854086756706238, + -0.03530818223953247, + -0.9577552676200867, + -31.743928909301758 + ], + [ + 0.9567428827285767, + 0.04834776371717453, + -0.2868894040584564, + -47.52351379394531 + ], + [ + 0.05643486604094505, + -0.998206377029419, + 0.01998198591172695, + -19.548095703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2692, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_642267227", + "mask_path": "../../mask/hdr_left_02692.png" + }, + { + "file_path": "../../rgb/hdr_left_02693.png", + "transform_matrix": [ + [ + -0.29569128155708313, + -0.03901778534054756, + -0.9544863700866699, + -31.788185119628906 + ], + [ + 0.9536994695663452, + 0.045459598302841187, + -0.29730579257011414, + -47.44990539550781 + ], + [ + 0.054990775883197784, + -0.9982039928436279, + 0.023769235238432884, + -19.545787811279297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2693, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_742267847", + "mask_path": "../../mask/hdr_left_02693.png" + }, + { + "file_path": "../../rgb/hdr_left_02694.png", + "transform_matrix": [ + [ + -0.31211110949516296, + -0.035116858780384064, + -0.9493963718414307, + -31.838197708129883 + ], + [ + 0.9486339092254639, + 0.042936768382787704, + -0.31344863772392273, + -47.36846923828125 + ], + [ + 0.05177133530378342, + -0.9984604716300964, + 0.019912004470825195, + -19.544755935668945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2694, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_842267274", + "mask_path": "../../mask/hdr_left_02694.png" + }, + { + "file_path": "../../rgb/hdr_left_02695.png", + "transform_matrix": [ + [ + -0.3239928185939789, + -0.03229152038693428, + -0.9455083608627319, + -31.87955093383789 + ], + [ + 0.9447335004806519, + 0.04185270890593529, + -0.32515671849250793, + -47.303646087646484 + ], + [ + 0.05007188022136688, + -0.9986017942428589, + 0.016946906223893166, + -19.543386459350586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2695, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_942268848", + "mask_path": "../../mask/hdr_left_02695.png" + }, + { + "file_path": "../../rgb/hdr_left_02696.png", + "transform_matrix": [ + [ + -0.3295644521713257, + -0.0336599200963974, + -0.9435327649116516, + -31.9202880859375 + ], + [ + 0.9428663849830627, + 0.040015414357185364, + -0.330759197473526, + -47.23115158081055 + ], + [ + 0.04888917878270149, + -0.9986319541931152, + 0.018549149855971336, + -19.545595169067383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2696, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_42267799", + "mask_path": "../../mask/hdr_left_02696.png" + }, + { + "file_path": "../../rgb/hdr_left_02697.png", + "transform_matrix": [ + [ + -0.3295223116874695, + -0.03555429354310036, + -0.9434781074523926, + -31.96330451965332 + ], + [ + 0.9430049657821655, + 0.036757078021764755, + -0.330742210149765, + -47.144378662109375 + ], + [ + 0.046438802033662796, + -0.9986916184425354, + 0.021415602415800095, + -19.528642654418945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2697, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_142267942", + "mask_path": "../../mask/hdr_left_02697.png" + }, + { + "file_path": "../../rgb/hdr_left_02698.png", + "transform_matrix": [ + [ + -0.3255002498626709, + -0.04153367131948471, + -0.9446292519569397, + -31.99959945678711 + ], + [ + 0.9443850517272949, + 0.03512442484498024, + -0.3269604444503784, + -47.074214935302734 + ], + [ + 0.046759430319070816, + -0.9985195398330688, + 0.027790769934654236, + -19.51504135131836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2698, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_242268323", + "mask_path": "../../mask/hdr_left_02698.png" + }, + { + "file_path": "../../rgb/hdr_left_02699.png", + "transform_matrix": [ + [ + -0.32157328724861145, + -0.051162175834178925, + -0.945501446723938, + -32.036373138427734 + ], + [ + 0.9456552863121033, + 0.03351380303502083, + -0.3234390616416931, + -47.018890380859375 + ], + [ + 0.048235196620225906, + -0.9981278777122498, + 0.037604641169309616, + -19.509557723999023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2699, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_342266798", + "mask_path": "../../mask/hdr_left_02699.png" + }, + { + "file_path": "../../rgb/hdr_left_02700.png", + "transform_matrix": [ + [ + -0.3212774693965912, + -0.05376654863357544, + -0.9454575181007385, + -32.09019470214844 + ], + [ + 0.9458028078079224, + 0.031655650585889816, + -0.3231950104236603, + -46.93940353393555 + ], + [ + 0.04730614647269249, + -0.998051643371582, + 0.04068230092525482, + -19.505842208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2700, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_442267179", + "mask_path": "../../mask/hdr_left_02700.png" + }, + { + "file_path": "../../rgb/hdr_left_02701.png", + "transform_matrix": [ + [ + -0.3273426592350006, + -0.04335511475801468, + -0.9439104795455933, + -32.14248275756836 + ], + [ + 0.9439048767089844, + 0.030960384756326675, + -0.3287627398967743, + -46.8631706237793 + ], + [ + 0.0434773750603199, + -0.9985800385475159, + 0.030788453295826912, + -19.506624221801758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2701, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_542267560", + "mask_path": "../../mask/hdr_left_02701.png" + }, + { + "file_path": "../../rgb/hdr_left_02702.png", + "transform_matrix": [ + [ + -0.33414798974990845, + -0.03540528938174248, + -0.9418553709983826, + -32.181419372558594 + ], + [ + 0.9417057037353516, + 0.029003551229834557, + -0.3351851999759674, + -46.80501174926758 + ], + [ + 0.03918447718024254, + -0.9989520907402039, + 0.02364988438785076, + -19.508792877197266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2702, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_642268419", + "mask_path": "../../mask/hdr_left_02702.png" + }, + { + "file_path": "../../rgb/hdr_left_02703.png", + "transform_matrix": [ + [ + -0.3389069139957428, + -0.03603450953960419, + -0.9401295781135559, + -32.224613189697266 + ], + [ + 0.9401519298553467, + 0.02467789687216282, + -0.33986085653305054, + -46.74139404296875 + ], + [ + 0.0354471355676651, + -0.9990457892417908, + 0.025514403358101845, + -19.510902404785156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2703, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_742267131", + "mask_path": "../../mask/hdr_left_02703.png" + }, + { + "file_path": "../../rgb/hdr_left_02704.png", + "transform_matrix": [ + [ + -0.3379811644554138, + -0.038480713963508606, + -0.9403658509254456, + -32.269439697265625 + ], + [ + 0.9405043721199036, + 0.02327639050781727, + -0.3389834463596344, + -46.66147994995117 + ], + [ + 0.03493265062570572, + -0.9989882111549377, + 0.028324294835329056, + -19.4954833984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2704, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_842267513", + "mask_path": "../../mask/hdr_left_02704.png" + }, + { + "file_path": "../../rgb/hdr_left_02705.png", + "transform_matrix": [ + [ + -0.3345544934272766, + -0.04271123558282852, + -0.9414079785346985, + -32.308189392089844 + ], + [ + 0.9416866898536682, + 0.023060645908117294, + -0.33569982647895813, + -46.59287643432617 + ], + [ + 0.03604762628674507, + -0.9988213777542114, + 0.03250556066632271, + -19.486196517944336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2705, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_942267656", + "mask_path": "../../mask/hdr_left_02705.png" + }, + { + "file_path": "../../rgb/hdr_left_02706.png", + "transform_matrix": [ + [ + -0.3315809965133667, + -0.049258071929216385, + -0.9421399235725403, + -32.34939956665039 + ], + [ + 0.9426429271697998, + 0.02340051904320717, + -0.33298152685165405, + -46.53166961669922 + ], + [ + 0.03844858705997467, + -0.9985119700431824, + 0.038673605769872665, + -19.48185920715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2706, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_42270421", + "mask_path": "../../mask/hdr_left_02706.png" + }, + { + "file_path": "../../rgb/hdr_left_02707.png", + "transform_matrix": [ + [ + -0.335440069437027, + -0.044595856219530106, + -0.9410053491592407, + -32.401634216308594 + ], + [ + 0.9413924217224121, + 0.021771633997559547, + -0.3366098701953888, + -46.45372772216797 + ], + [ + 0.03549862653017044, + -0.9987679719924927, + 0.03467912971973419, + -19.476547241210938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2707, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_142267465", + "mask_path": "../../mask/hdr_left_02707.png" + }, + { + "file_path": "../../rgb/hdr_left_02708.png", + "transform_matrix": [ + [ + -0.34272050857543945, + -0.03463956341147423, + -0.9387986063957214, + -32.44818878173828 + ], + [ + 0.9389154314994812, + 0.020681185647845268, + -0.3435262441635132, + -46.38486099243164 + ], + [ + 0.031315065920352936, + -0.9991858601570129, + 0.02543575130403042, + -19.480506896972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2708, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_242268562", + "mask_path": "../../mask/hdr_left_02708.png" + }, + { + "file_path": "../../rgb/hdr_left_02709.png", + "transform_matrix": [ + [ + -0.3482605516910553, + -0.030243931338191032, + -0.9369096755981445, + -32.486209869384766 + ], + [ + 0.9369943737983704, + 0.01808752305805683, + -0.34887588024139404, + -46.331573486328125 + ], + [ + 0.027497751638293266, + -0.9993789196014404, + 0.022039223462343216, + -19.482213973999023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2709, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_342268466", + "mask_path": "../../mask/hdr_left_02709.png" + }, + { + "file_path": "../../rgb/hdr_left_02710.png", + "transform_matrix": [ + [ + -0.3505007028579712, + -0.03070075251162052, + -0.9360591769218445, + -32.527957916259766 + ], + [ + 0.9362912178039551, + 0.012563809752464294, + -0.35099971294403076, + -46.26619338989258 + ], + [ + 0.022536424919962883, + -0.9994496703147888, + 0.024341221898794174, + -19.481996536254883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2710, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_442267417", + "mask_path": "../../mask/hdr_left_02710.png" + }, + { + "file_path": "../../rgb/hdr_left_02711.png", + "transform_matrix": [ + [ + -0.34595632553100586, + -0.03474123775959015, + -0.9376071095466614, + -32.56761169433594 + ], + [ + 0.9379612803459167, + 0.012006119824945927, + -0.34653186798095703, + -46.18907928466797 + ], + [ + 0.023295966908335686, + -0.9993242621421814, + 0.028432346880435944, + -19.469409942626953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2711, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_542267084", + "mask_path": "../../mask/hdr_left_02711.png" + }, + { + "file_path": "../../rgb/hdr_left_02712.png", + "transform_matrix": [ + [ + -0.33976805210113525, + -0.03930247202515602, + -0.9396877288818359, + -32.600738525390625 + ], + [ + 0.9401478171348572, + 0.013503522612154484, + -0.3404991924762726, + -46.12628173828125 + ], + [ + 0.02607155218720436, + -0.9991361498832703, + 0.03236206993460655, + -19.46285629272461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2712, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_642268419", + "mask_path": "../../mask/hdr_left_02712.png" + }, + { + "file_path": "../../rgb/hdr_left_02713.png", + "transform_matrix": [ + [ + -0.33265480399131775, + -0.04390060901641846, + -0.9420262575149536, + -32.638336181640625 + ], + [ + 0.9425506591796875, + 0.016981467604637146, + -0.33363139629364014, + -46.063106536865234 + ], + [ + 0.030643604695796967, + -0.9988915920257568, + 0.035729583352804184, + -19.455097198486328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2713, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_742267608", + "mask_path": "../../mask/hdr_left_02713.png" + }, + { + "file_path": "../../rgb/hdr_left_02714.png", + "transform_matrix": [ + [ + -0.3323115408420563, + -0.037095095962285995, + -0.9424399137496948, + -32.69095230102539 + ], + [ + 0.9427297115325928, + 0.017451895400881767, + -0.33310067653656006, + -45.98032760620117 + ], + [ + 0.028803762048482895, + -0.9991593956947327, + 0.029171183705329895, + -19.45378875732422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2714, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_842267990", + "mask_path": "../../mask/hdr_left_02714.png" + }, + { + "file_path": "../../rgb/hdr_left_02715.png", + "transform_matrix": [ + [ + -0.3350197970867157, + -0.02780388481914997, + -0.9418007135391235, + -32.732845306396484 + ], + [ + 0.941866397857666, + 0.017151815816760063, + -0.3355494439601898, + -45.914737701416016 + ], + [ + 0.02548316866159439, + -0.9994662404060364, + 0.02044135145843029, + -19.460447311401367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2715, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_942267179", + "mask_path": "../../mask/hdr_left_02715.png" + }, + { + "file_path": "../../rgb/hdr_left_02716.png", + "transform_matrix": [ + [ + -0.33555868268013, + -0.024975022301077843, + -0.9416882395744324, + -32.76346969604492 + ], + [ + 0.9416903257369995, + 0.017523063346743584, + -0.3360242545604706, + -45.860225677490234 + ], + [ + 0.024893470108509064, + -0.9995344877243042, + 0.01763872057199478, + -19.45901870727539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2716, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_42267560", + "mask_path": "../../mask/hdr_left_02716.png" + }, + { + "file_path": "../../rgb/hdr_left_02717.png", + "transform_matrix": [ + [ + -0.3312629163265228, + -0.026200180873274803, + -0.9431746006011963, + -32.80192565917969 + ], + [ + 0.9432967901229858, + 0.013425935991108418, + -0.3316788077354431, + -45.782569885253906 + ], + [ + 0.021353041753172874, + -0.9995666146278381, + 0.020267033949494362, + -19.454439163208008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2717, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_142267704", + "mask_path": "../../mask/hdr_left_02717.png" + }, + { + "file_path": "../../rgb/hdr_left_02718.png", + "transform_matrix": [ + [ + -0.32137662172317505, + -0.03076343983411789, + -0.9464516639709473, + -32.833011627197266 + ], + [ + 0.9466671943664551, + 0.014045203104615211, + -0.3219064474105835, + -45.707550048828125 + ], + [ + 0.02319605089724064, + -0.9994280338287354, + 0.02460893988609314, + -19.438547134399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2718, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_242268562", + "mask_path": "../../mask/hdr_left_02718.png" + }, + { + "file_path": "../../rgb/hdr_left_02719.png", + "transform_matrix": [ + [ + -0.31154635548591614, + -0.0361173190176487, + -0.9495442509651184, + -32.862152099609375 + ], + [ + 0.9498671889305115, + 0.01580461673438549, + -0.31225353479385376, + -45.650779724121094 + ], + [ + 0.026284942403435707, + -0.9992226362228394, + 0.029382791370153427, + -19.434377670288086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2719, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_342267513", + "mask_path": "../../mask/hdr_left_02719.png" + }, + { + "file_path": "../../rgb/hdr_left_02720.png", + "transform_matrix": [ + [ + -0.3021712005138397, + -0.0404234454035759, + -0.9523961544036865, + -32.90209197998047 + ], + [ + 0.952812671661377, + 0.01757850870490074, + -0.3030494451522827, + -45.585540771484375 + ], + [ + 0.028992002829909325, + -0.9990280270576477, + 0.033204250037670135, + -19.426494598388672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2720, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_442268371", + "mask_path": "../../mask/hdr_left_02720.png" + }, + { + "file_path": "../../rgb/hdr_left_02721.png", + "transform_matrix": [ + [ + -0.29996660351753235, + -0.036218125373125076, + -0.9532619118690491, + -32.949462890625 + ], + [ + 0.9535282850265503, + 0.018313217908143997, + -0.300746351480484, + -45.5032844543457 + ], + [ + 0.028349759057164192, + -0.9991760849952698, + 0.029041651636362076, + -19.424903869628906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2721, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_542267560", + "mask_path": "../../mask/hdr_left_02721.png" + }, + { + "file_path": "../../rgb/hdr_left_02722.png", + "transform_matrix": [ + [ + -0.3011544644832611, + -0.029010724276304245, + -0.9531340003013611, + -32.98653030395508 + ], + [ + 0.953197717666626, + 0.018968096002936363, + -0.301751971244812, + -45.442161560058594 + ], + [ + 0.026833174750208855, + -0.9993991851806641, + 0.021940629929304123, + -19.426273345947266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2722, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_642268657", + "mask_path": "../../mask/hdr_left_02722.png" + }, + { + "file_path": "../../rgb/hdr_left_02723.png", + "transform_matrix": [ + [ + -0.3021872937679291, + -0.02795255556702614, + -0.952838659286499, + -33.02037048339844 + ], + [ + 0.9529340267181396, + 0.01681741140782833, + -0.30271098017692566, + -45.389892578125 + ], + [ + 0.02448582462966442, + -0.9994678497314453, + 0.021554933860898018, + -19.43050193786621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2723, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_742267370", + "mask_path": "../../mask/hdr_left_02723.png" + }, + { + "file_path": "../../rgb/hdr_left_02724.png", + "transform_matrix": [ + [ + -0.2993800938129425, + -0.02894674427807331, + -0.9536947011947632, + -33.06291198730469 + ], + [ + 0.9537482261657715, + 0.019334904849529266, + -0.2999837100505829, + -45.30978012084961 + ], + [ + 0.02712315134704113, + -0.9993939995765686, + 0.021819427609443665, + -19.419158935546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2724, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_842267274", + "mask_path": "../../mask/hdr_left_02724.png" + }, + { + "file_path": "../../rgb/hdr_left_02725.png", + "transform_matrix": [ + [ + -0.29259780049324036, + -0.03406050428748131, + -0.9556288123130798, + -33.09934997558594 + ], + [ + 0.9556390643119812, + 0.02487684041261673, + -0.29348763823509216, + -45.230979919433594 + ], + [ + 0.033769357949495316, + -0.999110221862793, + 0.02527063898742199, + -19.39444351196289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2725, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_942267417", + "mask_path": "../../mask/hdr_left_02725.png" + }, + { + "file_path": "../../rgb/hdr_left_02726.png", + "transform_matrix": [ + [ + -0.288749098777771, + -0.03835258260369301, + -0.9566363096237183, + -33.12948226928711 + ], + [ + 0.9566279649734497, + 0.028686389327049255, + -0.2898966372013092, + -45.168025970458984 + ], + [ + 0.03856072202324867, + -0.9988524913787842, + 0.028405986726284027, + -19.389419555664062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2726, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_42268037", + "mask_path": "../../mask/hdr_left_02726.png" + }, + { + "file_path": "../../rgb/hdr_left_02727.png", + "transform_matrix": [ + [ + -0.28903043270111084, + -0.04275248944759369, + -0.9563647508621216, + -33.1749153137207 + ], + [ + 0.9564470648765564, + 0.029753729701042175, + -0.2903853952884674, + -45.087860107421875 + ], + [ + 0.04087011516094208, + -0.9986425638198853, + 0.032290756702423096, + -19.39213752746582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2727, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_142267465", + "mask_path": "../../mask/hdr_left_02727.png" + }, + { + "file_path": "../../rgb/hdr_left_02728.png", + "transform_matrix": [ + [ + -0.29838797450065613, + -0.03703353554010391, + -0.9537259340286255, + -33.229827880859375 + ], + [ + 0.9535248279571533, + 0.03229161351919174, + -0.29957902431488037, + -44.99244689941406 + ], + [ + 0.04189181327819824, + -0.9987921714782715, + 0.025676971301436424, + -19.388975143432617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2728, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_242268562", + "mask_path": "../../mask/hdr_left_02728.png" + }, + { + "file_path": "../../rgb/hdr_left_02729.png", + "transform_matrix": [ + [ + -0.31182438135147095, + -0.026855574920773506, + -0.9497600793838501, + -33.275264739990234 + ], + [ + 0.9492155313491821, + 0.035275015980005264, + -0.31264305114746094, + -44.91553497314453 + ], + [ + 0.04189900681376457, + -0.9990167617797852, + 0.014492116868495941, + -19.384742736816406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2729, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_342268228", + "mask_path": "../../mask/hdr_left_02729.png" + }, + { + "file_path": "../../rgb/hdr_left_02730.png", + "transform_matrix": [ + [ + -0.3249812722206116, + -0.023943282663822174, + -0.9454173445701599, + -33.31866455078125 + ], + [ + 0.9446555972099304, + 0.03920605033636093, + -0.3257123827934265, + -44.83677291870117 + ], + [ + 0.04486469924449921, + -0.9989444017410278, + 0.00987693015486002, + -19.383514404296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2730, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_442270040", + "mask_path": "../../mask/hdr_left_02730.png" + }, + { + "file_path": "../../rgb/hdr_left_02731.png", + "transform_matrix": [ + [ + -0.3354121148586273, + -0.029212115332484245, + -0.9416185021400452, + -33.37101364135742 + ], + [ + 0.9409220814704895, + 0.038969751447439194, + -0.33637312054634094, + -44.73347091674805 + ], + [ + 0.04652080312371254, + -0.9988133311271667, + 0.01441540103405714, + -19.35870933532715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2731, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_542267084", + "mask_path": "../../mask/hdr_left_02731.png" + }, + { + "file_path": "../../rgb/hdr_right_02548.png", + "transform_matrix": [ + [ + 0.9438210129737854, + -0.043441880494356155, + 0.3275893032550812, + -25.43633460998535 + ], + [ + -0.3252086341381073, + 0.05387327820062637, + 0.9441065788269043, + -54.903011322021484 + ], + [ + -0.05866206809878349, + -0.9976023435592651, + 0.03671905770897865, + -20.232681274414062 + ], + [ + 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": "1730639055_542267560", + "mask_path": "../../mask/hdr_right_02548.png" + }, + { + "file_path": "../../rgb/hdr_right_02549.png", + "transform_matrix": [ + [ + 0.9409756660461426, + -0.043703317642211914, + 0.3356408178806305, + -25.508167266845703 + ], + [ + -0.33370068669319153, + 0.046167828142642975, + 0.9415479302406311, + -54.85941696166992 + ], + [ + -0.05664457008242607, + -0.9979771971702576, + 0.0288589745759964, + -20.225746154785156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2549, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639055_642268419", + "mask_path": "../../mask/hdr_right_02549.png" + }, + { + "file_path": "../../rgb/hdr_right_02550.png", + "transform_matrix": [ + [ + 0.9376161694526672, + -0.04777434840798378, + 0.344374418258667, + -25.57365608215332 + ], + [ + -0.34257274866104126, + 0.042080625891685486, + 0.9385485053062439, + -54.822715759277344 + ], + [ + -0.05933003127574921, + -0.9979713559150696, + 0.023089276626706123, + -20.223222732543945 + ], + [ + 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": "1730639055_742267608", + "mask_path": "../../mask/hdr_right_02550.png" + }, + { + "file_path": "../../rgb/hdr_right_02551.png", + "transform_matrix": [ + [ + 0.9361012578010559, + -0.047712668776512146, + 0.34847956895828247, + -25.669172286987305 + ], + [ + -0.3466574549674988, + 0.04251536354422569, + 0.9370278120040894, + -54.77363204956055 + ], + [ + -0.05952383577823639, + -0.997955858707428, + 0.02325873076915741, + -20.220596313476562 + ], + [ + 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": "1730639055_842268943", + "mask_path": "../../mask/hdr_right_02551.png" + }, + { + "file_path": "../../rgb/hdr_right_02552.png", + "transform_matrix": [ + [ + 0.9372857809066772, + -0.03858666494488716, + 0.34641969203948975, + -25.757347106933594 + ], + [ + -0.34462228417396545, + 0.04641842097043991, + 0.9375930428504944, + -54.731285095214844 + ], + [ + -0.05225884169340134, + -0.9981765747070312, + 0.0302094928920269, + -20.223100662231445 + ], + [ + 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": "1730639055_942268133", + "mask_path": "../../mask/hdr_right_02552.png" + }, + { + "file_path": "../../rgb/hdr_right_02553.png", + "transform_matrix": [ + [ + 0.9390023946762085, + -0.03183531388640404, + 0.34243401885032654, + -25.824819564819336 + ], + [ + -0.34079575538635254, + 0.04757308214902878, + 0.9389329552650452, + -54.69392776489258 + ], + [ + -0.04618186131119728, + -0.9983603358268738, + 0.03382189944386482, + -20.227542877197266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2553, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639056_42269706", + "mask_path": "../../mask/hdr_right_02553.png" + }, + { + "file_path": "../../rgb/hdr_right_02554.png", + "transform_matrix": [ + [ + 0.9390789866447449, + -0.029465962201356888, + 0.3424361050128937, + -25.904869079589844 + ], + [ + -0.34098920226097107, + 0.04504798352718353, + 0.9389872550964355, + -54.64387130737305 + ], + [ + -0.0430942177772522, + -0.9985501766204834, + 0.03225604072213173, + -20.227924346923828 + ], + [ + 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": "1730639056_142268180", + "mask_path": "../../mask/hdr_right_02554.png" + }, + { + "file_path": "../../rgb/hdr_right_02555.png", + "transform_matrix": [ + [ + 0.9364560842514038, + -0.030845239758491516, + 0.3494262099266052, + -25.986473083496094 + ], + [ + -0.3479395806789398, + 0.04494161158800125, + 0.9364391565322876, + -54.58571243286133 + ], + [ + -0.04458846524357796, + -0.9985132813453674, + 0.03135356307029724, + -20.21592903137207 + ], + [ + 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": "1730639056_242268323", + "mask_path": "../../mask/hdr_right_02555.png" + }, + { + "file_path": "../../rgb/hdr_right_02556.png", + "transform_matrix": [ + [ + 0.9329496026039124, + -0.03289605677127838, + 0.3585009276866913, + -26.050325393676758 + ], + [ + -0.35708776116371155, + 0.04200007766485214, + 0.9331260919570923, + -54.54499435424805 + ], + [ + -0.04575323686003685, + -0.9985759258270264, + 0.027437172830104828, + -20.20745086669922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2556, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639056_342268705", + "mask_path": "../../mask/hdr_right_02556.png" + }, + { + "file_path": "../../rgb/hdr_right_02557.png", + "transform_matrix": [ + [ + 0.9293378591537476, + -0.03640381991863251, + 0.3674314618110657, + -26.116018295288086 + ], + [ + -0.36603671312332153, + 0.039767324924468994, + 0.929750382900238, + -54.51300048828125 + ], + [ + -0.048458222299814224, + -0.9985455870628357, + 0.023632142692804337, + -20.19870948791504 + ], + [ + 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": "1730639056_442270278", + "mask_path": "../../mask/hdr_right_02557.png" + }, + { + "file_path": "../../rgb/hdr_right_02558.png", + "transform_matrix": [ + [ + 0.9291421175003052, + -0.03277203440666199, + 0.36826762557029724, + -26.203306198120117 + ], + [ + -0.3669118881225586, + 0.04086143895983696, + 0.9293578863143921, + -54.46293640136719 + ], + [ + -0.04550488665699959, + -0.9986271858215332, + 0.0259416326880455, + -20.198524475097656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2558, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639056_542268037", + "mask_path": "../../mask/hdr_right_02558.png" + }, + { + "file_path": "../../rgb/hdr_right_02559.png", + "transform_matrix": [ + [ + 0.930889904499054, + -0.02527487650513649, + 0.36442437767982483, + -26.27657127380371 + ], + [ + -0.36316460371017456, + 0.04367244616150856, + 0.930700957775116, + -54.4236946105957 + ], + [ + -0.03943865746259689, + -0.9987261295318604, + 0.03147530183196068, + -20.205276489257812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2559, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639056_642269849", + "mask_path": "../../mask/hdr_right_02559.png" + }, + { + "file_path": "../../rgb/hdr_right_02560.png", + "transform_matrix": [ + [ + 0.9322708249092102, + -0.022887852042913437, + 0.3610363304615021, + -26.338111877441406 + ], + [ + -0.3598800599575043, + 0.04296460002660751, + 0.9320088028907776, + -54.39310836791992 + ], + [ + -0.03684346377849579, + -0.9988144040107727, + 0.031817760318517685, + -20.20940399169922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2560, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639056_742267370", + "mask_path": "../../mask/hdr_right_02560.png" + }, + { + "file_path": "../../rgb/hdr_right_02561.png", + "transform_matrix": [ + [ + 0.931951642036438, + -0.02181044965982437, + 0.3619261085987091, + -26.409271240234375 + ], + [ + -0.3609374165534973, + 0.03918006271123886, + 0.9317667484283447, + -54.350643157958984 + ], + [ + -0.0345025360584259, + -0.9989941120147705, + 0.02864171378314495, + -20.201475143432617 + ], + [ + 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": "1730639056_842267751", + "mask_path": "../../mask/hdr_right_02561.png" + }, + { + "file_path": "../../rgb/hdr_right_02562.png", + "transform_matrix": [ + [ + 0.9285640716552734, + -0.026225216686725616, + 0.3702448010444641, + -26.474021911621094 + ], + [ + -0.36914944648742676, + 0.03875230252742767, + 0.928561806678772, + -54.30146789550781 + ], + [ + -0.038699571043252945, + -0.9989046454429626, + 0.026302969083189964, + -20.18439483642578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2562, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639056_942267417", + "mask_path": "../../mask/hdr_right_02562.png" + }, + { + "file_path": "../../rgb/hdr_right_02563.png", + "transform_matrix": [ + [ + 0.9245681762695312, + -0.030234068632125854, + 0.37981534004211426, + -26.52523422241211 + ], + [ + -0.3786618113517761, + 0.03774677962064743, + 0.9247650504112244, + -54.26625061035156 + ], + [ + -0.042296215891838074, + -0.9988299012184143, + 0.023450979962944984, + -20.176965713500977 + ], + [ + 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": "1730639057_42267799", + "mask_path": "../../mask/hdr_right_02563.png" + }, + { + "file_path": "../../rgb/hdr_right_02564.png", + "transform_matrix": [ + [ + 0.9204770922660828, + -0.03416145220398903, + 0.38930049538612366, + -26.57843589782715 + ], + [ + -0.3881547451019287, + 0.0357118621468544, + 0.9209020733833313, + -54.23888397216797 + ], + [ + -0.04536199942231178, + -0.9987781047821045, + 0.019612019881606102, + -20.170434951782227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2564, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_142267704", + "mask_path": "../../mask/hdr_right_02564.png" + }, + { + "file_path": "../../rgb/hdr_right_02565.png", + "transform_matrix": [ + [ + 0.918739378452301, + -0.035758331418037415, + 0.3932419717311859, + -26.650859832763672 + ], + [ + -0.392018586397171, + 0.03674958646297455, + 0.9192230105400085, + -54.19165802001953 + ], + [ + -0.04732135683298111, + -0.9986845254898071, + 0.0197453610599041, + -20.16579246520996 + ], + [ + 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": "1730639057_242266893", + "mask_path": "../../mask/hdr_right_02565.png" + }, + { + "file_path": "../../rgb/hdr_right_02566.png", + "transform_matrix": [ + [ + 0.9193094968795776, + -0.028932245448231697, + 0.39247021079063416, + -26.71432113647461 + ], + [ + -0.39113759994506836, + 0.04274553433060646, + 0.9193390607833862, + -54.15126037597656 + ], + [ + -0.04337489604949951, + -0.9986670017242432, + 0.027979891747236252, + -20.16881561279297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2566, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_342267751", + "mask_path": "../../mask/hdr_right_02566.png" + }, + { + "file_path": "../../rgb/hdr_right_02567.png", + "transform_matrix": [ + [ + 0.919858992099762, + -0.02274090237915516, + 0.39158958196640015, + -26.764812469482422 + ], + [ + -0.3902958333492279, + 0.04644591733813286, + 0.9195172786712646, + -54.122100830078125 + ], + [ + -0.03909838944673538, + -0.9986619353294373, + 0.03384801000356674, + -20.176156997680664 + ], + [ + 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": "1730639057_442268133", + "mask_path": "../../mask/hdr_right_02567.png" + }, + { + "file_path": "../../rgb/hdr_right_02568.png", + "transform_matrix": [ + [ + 0.9194478988647461, + -0.01959281601011753, + 0.3927235007286072, + -26.83017921447754 + ], + [ + -0.3915112018585205, + 0.047175005078315735, + 0.9189632534980774, + -54.07645034790039 + ], + [ + -0.03653181344270706, + -0.9986944198608398, + 0.035704150795936584, + -20.172056198120117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2568, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_542267799", + "mask_path": "../../mask/hdr_right_02568.png" + }, + { + "file_path": "../../rgb/hdr_right_02569.png", + "transform_matrix": [ + [ + 0.9163310527801514, + -0.022019369527697563, + 0.39981579780578613, + -26.89544105529785 + ], + [ + -0.3985254168510437, + 0.04690684750676155, + 0.9159570336341858, + -54.02117919921875 + ], + [ + -0.03892289102077484, + -0.9986565709114075, + 0.03420691937208176, + -20.154924392700195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2569, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_642268180", + "mask_path": "../../mask/hdr_right_02569.png" + }, + { + "file_path": "../../rgb/hdr_right_02570.png", + "transform_matrix": [ + [ + 0.912186324596405, + -0.0276498980820179, + 0.4088418483734131, + -26.946060180664062 + ], + [ + -0.40741845965385437, + 0.04566725715994835, + 0.9120991230010986, + -53.98176193237305 + ], + [ + -0.04389013722538948, + -0.9985739588737488, + 0.03039197437465191, + -20.146217346191406 + ], + [ + 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": "1730639057_742268800", + "mask_path": "../../mask/hdr_right_02570.png" + }, + { + "file_path": "../../rgb/hdr_right_02571.png", + "transform_matrix": [ + [ + 0.9079447984695435, + -0.03353476524353027, + 0.41774606704711914, + -26.998550415039062 + ], + [ + -0.4162260591983795, + 0.04417578503489494, + 0.9081874489784241, + -53.949302673339844 + ], + [ + -0.04891011118888855, + -0.9984608292579651, + 0.026151126250624657, + -20.13946533203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2571, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_842268943", + "mask_path": "../../mask/hdr_right_02571.png" + }, + { + "file_path": "../../rgb/hdr_right_02572.png", + "transform_matrix": [ + [ + 0.9070529341697693, + -0.02960442565381527, + 0.4199744164943695, + -27.065685272216797 + ], + [ + -0.41850927472114563, + 0.04530181735754013, + 0.9070820212364197, + -53.9079704284668 + ], + [ + -0.04587924852967262, + -0.9985345602035522, + 0.0287014227360487, + -20.134315490722656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2572, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639057_942268133", + "mask_path": "../../mask/hdr_right_02572.png" + }, + { + "file_path": "../../rgb/hdr_right_02573.png", + "transform_matrix": [ + [ + 0.9074580073356628, + -0.022956116124987602, + 0.4195152521133423, + -27.123638153076172 + ], + [ + -0.41808760166168213, + 0.04930390417575836, + 0.9070677757263184, + -53.871944427490234 + ], + [ + -0.04150649160146713, + -0.9985199570655823, + 0.03514355793595314, + -20.137577056884766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2573, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639058_42267799", + "mask_path": "../../mask/hdr_right_02573.png" + }, + { + "file_path": "../../rgb/hdr_right_02574.png", + "transform_matrix": [ + [ + 0.9070335030555725, + -0.01986081339418888, + 0.4205898642539978, + -27.17630386352539 + ], + [ + -0.41924354434013367, + 0.05004512146115303, + 0.9064934253692627, + -53.83558654785156 + ], + [ + -0.03905216604471207, + -0.9985494017601013, + 0.037066079676151276, + -20.138221740722656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2574, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639058_142267465", + "mask_path": "../../mask/hdr_right_02574.png" + }, + { + "file_path": "../../rgb/hdr_right_02575.png", + "transform_matrix": [ + [ + 0.9050670862197876, + -0.01759391836822033, + 0.4249047636985779, + -27.235567092895508 + ], + [ + -0.42363783717155457, + 0.05012207850813866, + 0.9044439196586609, + -53.78675079345703 + ], + [ + -0.03720982372760773, + -0.9985881447792053, + 0.03791039437055588, + -20.134565353393555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2575, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639058_242267847", + "mask_path": "../../mask/hdr_right_02575.png" + }, + { + "file_path": "../../rgb/hdr_right_02576.png", + "transform_matrix": [ + [ + 0.9003186225891113, + -0.020719436928629875, + 0.43473803997039795, + -27.290237426757812 + ], + [ + -0.43332648277282715, + 0.050682298839092255, + 0.8998108506202698, + -53.73651885986328 + ], + [ + -0.04067709669470787, + -0.998499870300293, + 0.03665193170309067, + -20.122106552124023 + ], + [ + 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": "1730639058_342267990", + "mask_path": "../../mask/hdr_right_02576.png" + }, + { + "file_path": "../../rgb/hdr_right_02577.png", + "transform_matrix": [ + [ + 0.8951814770698547, + -0.02527378685772419, + 0.44498497247695923, + -27.334190368652344 + ], + [ + -0.4435138702392578, + 0.048297468572854996, + 0.8949652314186096, + -53.695919036865234 + ], + [ + -0.04411080852150917, + -0.9985131621360779, + 0.032025717198848724, + -20.115055084228516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2577, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639058_442269802", + "mask_path": "../../mask/hdr_right_02577.png" + }, + { + "file_path": "../../rgb/hdr_right_02578.png", + "transform_matrix": [ + [ + 0.8903467059135437, + -0.028707534074783325, + 0.45437735319137573, + -27.38459014892578 + ], + [ + -0.4529407024383545, + 0.04525857791304588, + 0.8903911709785461, + -53.656494140625 + ], + [ + -0.04612540826201439, + -0.998562753200531, + 0.02729301154613495, + -20.111021041870117 + ], + [ + 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": "1730639058_542267560", + "mask_path": "../../mask/hdr_right_02578.png" + }, + { + "file_path": "../../rgb/hdr_right_02579.png", + "transform_matrix": [ + [ + 0.8888535499572754, + -0.021115776151418686, + 0.4577046036720276, + -27.44748306274414 + ], + [ + -0.4564310610294342, + 0.046675585210323334, + 0.8885335922241211, + -53.609718322753906 + ], + [ + -0.040125709027051926, + -0.9986869096755981, + 0.03184986114501953, + -20.11107635498047 + ], + [ + 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": "1730639058_642268896", + "mask_path": "../../mask/hdr_right_02579.png" + }, + { + "file_path": "../../rgb/hdr_right_02580.png", + "transform_matrix": [ + [ + 0.8881256580352783, + -0.011297561228275299, + 0.45946183800697327, + -27.497711181640625 + ], + [ + -0.45844221115112305, + 0.04915769025683403, + 0.8873636722564697, + -53.57334518432617 + ], + [ + -0.032611120492219925, + -0.9987271428108215, + 0.038478925824165344, + -20.120960235595703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2580, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639058_742268323", + "mask_path": "../../mask/hdr_right_02580.png" + }, + { + "file_path": "../../rgb/hdr_right_02581.png", + "transform_matrix": [ + [ + 0.8869376182556152, + -0.005100103095173836, + 0.46186089515686035, + -27.541488647460938 + ], + [ + -0.4610801935195923, + 0.04937439411878586, + 0.8859837651252747, + -53.53892135620117 + ], + [ + -0.027322711423039436, + -0.9987673163414001, + 0.0414404533803463, + -20.124364852905273 + ], + [ + 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": "1730639058_842268228", + "mask_path": "../../mask/hdr_right_02581.png" + }, + { + "file_path": "../../rgb/hdr_right_02582.png", + "transform_matrix": [ + [ + 0.8849789500236511, + -0.0008208978688344359, + 0.46563026309013367, + -27.598325729370117 + ], + [ + -0.4651488661766052, + 0.043936215341091156, + 0.8841415643692017, + -53.48854064941406 + ], + [ + -0.02118382416665554, + -0.9990339875221252, + 0.03850078955292702, + -20.122411727905273 + ], + [ + 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": "1730639058_942269563", + "mask_path": "../../mask/hdr_right_02582.png" + }, + { + "file_path": "../../rgb/hdr_right_02583.png", + "transform_matrix": [ + [ + 0.8799723386764526, + -0.0008756290189921856, + 0.47502419352531433, + -27.653968811035156 + ], + [ + -0.47458672523498535, + 0.04132484644651413, + 0.8792381286621094, + -53.433982849121094 + ], + [ + -0.020400188863277435, + -0.9991453886032104, + 0.035949159413576126, + -20.109947204589844 + ], + [ + 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": "1730639059_42268276", + "mask_path": "../../mask/hdr_right_02583.png" + }, + { + "file_path": "../../rgb/hdr_right_02584.png", + "transform_matrix": [ + [ + 0.873640775680542, + -0.0033006775192916393, + 0.48656031489372253, + -27.69470977783203 + ], + [ + -0.4860641360282898, + 0.03973352164030075, + 0.8730194568634033, + -53.39209747314453 + ], + [ + -0.022214310243725777, + -0.9992048740386963, + 0.033108487725257874, + -20.105796813964844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2584, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639059_142267942", + "mask_path": "../../mask/hdr_right_02584.png" + }, + { + "file_path": "../../rgb/hdr_right_02585.png", + "transform_matrix": [ + [ + 0.8673242330551147, + -0.007757072802633047, + 0.4976830780506134, + -27.736745834350586 + ], + [ + -0.4971124529838562, + 0.03683492913842201, + 0.8669039011001587, + -53.35065841674805 + ], + [ + -0.025056757032871246, + -0.9992912411689758, + 0.028091689571738243, + -20.105945587158203 + ], + [ + 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": "1730639059_242268085", + "mask_path": "../../mask/hdr_right_02585.png" + }, + { + "file_path": "../../rgb/hdr_right_02586.png", + "transform_matrix": [ + [ + 0.8628117442131042, + -0.006755934562534094, + 0.505480170249939, + -27.792545318603516 + ], + [ + -0.5050399899482727, + 0.032280083745718, + 0.8624920845031738, + -53.30134582519531 + ], + [ + -0.022143881767988205, + -0.9994560480117798, + 0.024439621716737747, + -20.102558135986328 + ], + [ + 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": "1730639059_342267036", + "mask_path": "../../mask/hdr_right_02586.png" + }, + { + "file_path": "../../rgb/hdr_right_02587.png", + "transform_matrix": [ + [ + 0.8626896739006042, + -0.004258019849658012, + 0.5057157278060913, + -27.850997924804688 + ], + [ + -0.5052655935287476, + 0.03575936332345009, + 0.8622227311134338, + -53.2550048828125 + ], + [ + -0.021755436435341835, + -0.9993513822555542, + 0.028697803616523743, + -20.09442138671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2587, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639059_442269563", + "mask_path": "../../mask/hdr_right_02587.png" + }, + { + "file_path": "../../rgb/hdr_right_02588.png", + "transform_matrix": [ + [ + 0.865379273891449, + -0.00470426119863987, + 0.5010954141616821, + -27.901227951049805 + ], + [ + -0.5005140900611877, + 0.04094230383634567, + 0.8647597432136536, + -53.21751403808594 + ], + [ + -0.024584054946899414, + -0.9991503953933716, + 0.033076073974370956, + -20.089021682739258 + ], + [ + 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": "1730639059_542268276", + "mask_path": "../../mask/hdr_right_02588.png" + }, + { + "file_path": "../../rgb/hdr_right_02589.png", + "transform_matrix": [ + [ + 0.8686116933822632, + -0.008117234334349632, + 0.49542704224586487, + -27.953908920288086 + ], + [ + -0.4948394000530243, + 0.03714706376194954, + 0.8681901693344116, + -53.18266677856445 + ], + [ + -0.02545095607638359, + -0.9992768168449402, + 0.028249645605683327, + -20.0882568359375 + ], + [ + 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": "1730639059_642267465", + "mask_path": "../../mask/hdr_right_02589.png" + }, + { + "file_path": "../../rgb/hdr_right_02590.png", + "transform_matrix": [ + [ + 0.8694373369216919, + -0.016755428165197372, + 0.49375903606414795, + -28.004602432250977 + ], + [ + -0.49338433146476746, + 0.02215229906141758, + 0.8695293068885803, + -53.150638580322266 + ], + [ + -0.025507234036922455, + -0.9996141791343689, + 0.010993167757987976, + -20.083118438720703 + ], + [ + 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": "1730639059_742268562", + "mask_path": "../../mask/hdr_right_02590.png" + }, + { + "file_path": "../../rgb/hdr_right_02591.png", + "transform_matrix": [ + [ + 0.864786684513092, + -0.022204095497727394, + 0.5016483664512634, + -28.042516708374023 + ], + [ + -0.5010852813720703, + 0.026541413739323616, + 0.8649908304214478, + -53.12158203125 + ], + [ + -0.03252079337835312, + -0.9994010329246521, + 0.011826514266431332, + -20.056989669799805 + ], + [ + 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": "1730639059_842267513", + "mask_path": "../../mask/hdr_right_02591.png" + }, + { + "file_path": "../../rgb/hdr_right_02593.png", + "transform_matrix": [ + [ + 0.8557652235031128, + -0.02986634150147438, + 0.5165016651153564, + -28.146207809448242 + ], + [ + -0.5157411694526672, + 0.02977622300386429, + 0.856226921081543, + -53.0474739074707 + ], + [ + -0.04095183685421944, + -0.9991102814674377, + 0.010078154504299164, + -20.051973342895508 + ], + [ + 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": "1730639060_42267799", + "mask_path": "../../mask/hdr_right_02593.png" + }, + { + "file_path": "../../rgb/hdr_right_02594.png", + "transform_matrix": [ + [ + 0.8554701805114746, + -0.025997338816523552, + 0.5171991586685181, + -28.19538688659668 + ], + [ + -0.5164046287536621, + 0.03179337456822395, + 0.8557542562484741, + -53.0113410949707 + ], + [ + -0.03869083896279335, + -0.9991563558578491, + 0.013773135840892792, + -20.05886459350586 + ], + [ + 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": "1730639060_142269134", + "mask_path": "../../mask/hdr_right_02594.png" + }, + { + "file_path": "../../rgb/hdr_right_02596.png", + "transform_matrix": [ + [ + 0.8529282212257385, + -0.023560259491205215, + 0.5214962959289551, + -28.277990341186523 + ], + [ + -0.520632803440094, + 0.0346028134226799, + 0.8530792593955994, + -52.9200439453125 + ], + [ + -0.038144003599882126, + -0.9991233944892883, + 0.017247473821043968, + -20.067888259887695 + ], + [ + 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": "1730639060_342267513", + "mask_path": "../../mask/hdr_right_02596.png" + }, + { + "file_path": "../../rgb/hdr_right_02597.png", + "transform_matrix": [ + [ + 0.8490882515907288, + -0.025779716670513153, + 0.5276215672492981, + -28.321378707885742 + ], + [ + -0.526629626750946, + 0.03688642010092735, + 0.8492942452430725, + -52.873565673828125 + ], + [ + -0.041356638073921204, + -0.9989868402481079, + 0.017743464559316635, + -20.055225372314453 + ], + [ + 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": "1730639060_442267656", + "mask_path": "../../mask/hdr_right_02597.png" + }, + { + "file_path": "../../rgb/hdr_right_02599.png", + "transform_matrix": [ + [ + 0.8373446464538574, + -0.033224280923604965, + 0.5456648468971252, + -28.399934768676758 + ], + [ + -0.5446405410766602, + 0.03534173220396042, + 0.8379246592521667, + -52.78499984741211 + ], + [ + -0.04712418094277382, + -0.9988229274749756, + 0.0114979213103652, + -20.05199432373047 + ], + [ + 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": "1730639060_642267942", + "mask_path": "../../mask/hdr_right_02599.png" + }, + { + "file_path": "../../rgb/hdr_right_02600.png", + "transform_matrix": [ + [ + 0.8338982462882996, + -0.048676490783691406, + 0.5497674345970154, + -28.468299865722656 + ], + [ + -0.5484336614608765, + 0.03867197781801224, + 0.8352993726730347, + -52.7225341796875 + ], + [ + -0.061920031905174255, + -0.9980656504631042, + 0.005552669055759907, + -20.03193473815918 + ], + [ + 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": "1730639060_742267370", + "mask_path": "../../mask/hdr_right_02600.png" + }, + { + "file_path": "../../rgb/hdr_right_02601.png", + "transform_matrix": [ + [ + 0.8349531292915344, + -0.05569469928741455, + 0.5474956035614014, + -28.524471282958984 + ], + [ + -0.5457521080970764, + 0.04413224756717682, + 0.836783766746521, + -52.681182861328125 + ], + [ + -0.0707666277885437, + -0.9974719882011414, + 0.0064528523944318295, + -20.020578384399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2601, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639060_842267036", + "mask_path": "../../mask/hdr_right_02601.png" + }, + { + "file_path": "../../rgb/hdr_right_02602.png", + "transform_matrix": [ + [ + 0.8372136354446411, + -0.05980503559112549, + 0.5435962677001953, + -28.577022552490234 + ], + [ + -0.5418914556503296, + 0.04317878931760788, + 0.839338481426239, + -52.641944885253906 + ], + [ + -0.07366849482059479, + -0.9972757697105408, + 0.0037420226726680994, + -20.020593643188477 + ], + [ + 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": "1730639060_942267894", + "mask_path": "../../mask/hdr_right_02602.png" + }, + { + "file_path": "../../rgb/hdr_right_02603.png", + "transform_matrix": [ + [ + 0.8346101641654968, + -0.06978119164705276, + 0.5464032292366028, + -28.63863754272461 + ], + [ + -0.5447221398353577, + 0.04288532957434654, + 0.8375192880630493, + -52.586917877197266 + ], + [ + -0.0818757712841034, + -0.9966400861740112, + -0.0022188324946910143, + -20.011625289916992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2603, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639061_42267322", + "mask_path": "../../mask/hdr_right_02603.png" + }, + { + "file_path": "../../rgb/hdr_right_02604.png", + "transform_matrix": [ + [ + 0.8253523111343384, + -0.08082221448421478, + 0.5588036775588989, + -28.69448471069336 + ], + [ + -0.5563012361526489, + 0.05284185707569122, + 0.8292989134788513, + -52.52499771118164 + ], + [ + -0.0965539887547493, + -0.995326817035675, + -0.0013483611401170492, + -19.9810791015625 + ], + [ + 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": "1730639061_142267704", + "mask_path": "../../mask/hdr_right_02604.png" + }, + { + "file_path": "../../rgb/hdr_right_02605.png", + "transform_matrix": [ + [ + 0.8148415684700012, + -0.08546694368124008, + 0.5733487606048584, + -28.738492965698242 + ], + [ + -0.570070207118988, + 0.061238065361976624, + 0.8193106651306152, + -52.47665786743164 + ], + [ + -0.10513473302125931, + -0.9944572448730469, + 0.0011771649587899446, + -19.96116828918457 + ], + [ + 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": "1730639061_242267608", + "mask_path": "../../mask/hdr_right_02605.png" + }, + { + "file_path": "../../rgb/hdr_right_02606.png", + "transform_matrix": [ + [ + 0.8120262622833252, + -0.06766767799854279, + 0.5796849727630615, + -28.797788619995117 + ], + [ + -0.5765511989593506, + 0.061123527586460114, + 0.8147715926170349, + -52.41924285888672 + ], + [ + -0.09056607633829117, + -0.9958338141441345, + 0.010620025917887688, + -19.965295791625977 + ], + [ + 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": "1730639061_342267274", + "mask_path": "../../mask/hdr_right_02606.png" + }, + { + "file_path": "../../rgb/hdr_right_02607.png", + "transform_matrix": [ + [ + 0.8132340908050537, + -0.04178783670067787, + 0.5804345011711121, + -28.842411041259766 + ], + [ + -0.5779808163642883, + 0.058103252202272415, + 0.8139793276786804, + -52.375614166259766 + ], + [ + -0.0677395686507225, + -0.9974355697631836, + 0.02309896983206272, + -19.974464416503906 + ], + [ + 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": "1730639061_442268371", + "mask_path": "../../mask/hdr_right_02607.png" + }, + { + "file_path": "../../rgb/hdr_right_02609.png", + "transform_matrix": [ + [ + 0.8083794116973877, + -0.02554546855390072, + 0.5881072878837585, + -28.93174171447754 + ], + [ + -0.5860050320625305, + 0.059889569878578186, + 0.8080911636352539, + -52.25400161743164 + ], + [ + -0.05586456507444382, + -0.9978780746459961, + 0.03344372287392616, + -19.973440170288086 + ], + [ + 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": "1730639061_642267704", + "mask_path": "../../mask/hdr_right_02609.png" + }, + { + "file_path": "../../rgb/hdr_right_02610.png", + "transform_matrix": [ + [ + 0.8007000088691711, + -0.02313031069934368, + 0.5986188054084778, + -28.972623825073242 + ], + [ + -0.5965579152107239, + 0.06054466590285301, + 0.8002831339836121, + -52.17799758911133 + ], + [ + -0.054753970354795456, + -0.9978974461555481, + 0.03467954695224762, + -19.957622528076172 + ], + [ + 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": "1730639061_742268323", + "mask_path": "../../mask/hdr_right_02610.png" + }, + { + "file_path": "../../rgb/hdr_right_02611.png", + "transform_matrix": [ + [ + 0.7915948629379272, + -0.024335158988833427, + 0.6105615496635437, + -29.00421714782715 + ], + [ + -0.6084760427474976, + 0.06015760824084282, + 0.7912887930870056, + -52.12737274169922 + ], + [ + -0.055986061692237854, + -0.9978922009468079, + 0.03281309828162193, + -19.94767951965332 + ], + [ + 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": "1730639061_842267036", + "mask_path": "../../mask/hdr_right_02611.png" + }, + { + "file_path": "../../rgb/hdr_right_02612.png", + "transform_matrix": [ + [ + 0.7819789052009583, + -0.031735144555568695, + 0.6224965453147888, + -29.042755126953125 + ], + [ + -0.6203089356422424, + 0.05818041414022446, + 0.7821968793869019, + -52.07844924926758 + ], + [ + -0.061040233820676804, + -0.9978015422821045, + 0.025810260325670242, + -19.9439697265625 + ], + [ + 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": "1730639061_942267894", + "mask_path": "../../mask/hdr_right_02612.png" + }, + { + "file_path": "../../rgb/hdr_right_02613.png", + "transform_matrix": [ + [ + 0.776996910572052, + -0.034917134791612625, + 0.6285353302955627, + -29.099803924560547 + ], + [ + -0.626341700553894, + 0.05707761272788048, + 0.7774561643600464, + -52.015140533447266 + ], + [ + -0.06302183121442795, + -0.9977589845657349, + 0.022479068487882614, + -19.941850662231445 + ], + [ + 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": "1730639062_42268276", + "mask_path": "../../mask/hdr_right_02613.png" + }, + { + "file_path": "../../rgb/hdr_right_02614.png", + "transform_matrix": [ + [ + 0.7745227217674255, + -0.03220929577946663, + 0.6317254900932312, + -29.154815673828125 + ], + [ + -0.6297490000724792, + 0.05455251410603523, + 0.7748808264732361, + -51.95830154418945 + ], + [ + -0.05942057818174362, + -0.9979913234710693, + 0.02196839079260826, + -19.943302154541016 + ], + [ + 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": "1730639062_142266988", + "mask_path": "../../mask/hdr_right_02614.png" + }, + { + "file_path": "../../rgb/hdr_right_02615.png", + "transform_matrix": [ + [ + 0.7727884650230408, + -0.03220776841044426, + 0.63384610414505, + -29.2044620513916 + ], + [ + -0.6321125030517578, + 0.050399672240018845, + 0.7732357978820801, + -51.909873962402344 + ], + [ + -0.05684984102845192, + -0.9982096552848816, + 0.018589351326227188, + -19.94390106201172 + ], + [ + 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": "1730639062_242267847", + "mask_path": "../../mask/hdr_right_02615.png" + }, + { + "file_path": "../../rgb/hdr_right_02616.png", + "transform_matrix": [ + [ + 0.7708017826080322, + -0.03243616595864296, + 0.6362489461898804, + -29.2653751373291 + ], + [ + -0.6347150206565857, + 0.046787165105342865, + 0.7713286876678467, + -51.84519577026367 + ], + [ + -0.054787229746580124, + -0.9983780980110168, + 0.015475907362997532, + -19.941064834594727 + ], + [ + 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": "1730639062_342267990", + "mask_path": "../../mask/hdr_right_02616.png" + }, + { + "file_path": "../../rgb/hdr_right_02617.png", + "transform_matrix": [ + [ + 0.7648189067840576, + -0.03954377397894859, + 0.6430306434631348, + -29.32453155517578 + ], + [ + -0.6414991021156311, + 0.045316699892282486, + 0.7657841444015503, + -51.77579116821289 + ], + [ + -0.059422023594379425, + -0.9981897473335266, + 0.009291771799325943, + -19.925596237182617 + ], + [ + 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": "1730639062_442267417", + "mask_path": "../../mask/hdr_right_02617.png" + }, + { + "file_path": "../../rgb/hdr_right_02618.png", + "transform_matrix": [ + [ + 0.7576307058334351, + -0.049230434000492096, + 0.650824248790741, + -29.37213706970215 + ], + [ + -0.6494128108024597, + 0.042840540409088135, + 0.7592282295227051, + -51.72084045410156 + ], + [ + -0.06525880098342896, + -0.9978682398796082, + 0.0004864231450483203, + -19.914535522460938 + ], + [ + 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": "1730639062_542266845", + "mask_path": "../../mask/hdr_right_02618.png" + }, + { + "file_path": "../../rgb/hdr_right_02619.png", + "transform_matrix": [ + [ + 0.7522122263908386, + -0.05168760567903519, + 0.6568906903266907, + -29.437620162963867 + ], + [ + -0.6554359793663025, + 0.04370422661304474, + 0.7539851665496826, + -51.65507507324219 + ], + [ + -0.06768059730529785, + -0.9977064728736877, + -0.0010030685225501657, + -19.90654754638672 + ], + [ + 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": "1730639062_642267942", + "mask_path": "../../mask/hdr_right_02619.png" + }, + { + "file_path": "../../rgb/hdr_right_02620.png", + "transform_matrix": [ + [ + 0.7523205280303955, + -0.044498566538095474, + 0.6572928428649902, + -29.507089614868164 + ], + [ + -0.6557310223579407, + 0.0455714650452137, + 0.753618061542511, + -51.586605072021484 + ], + [ + -0.06348872184753418, + -0.9979695081710815, + 0.005105255171656609, + -19.9052677154541 + ], + [ + 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": "1730639062_742267370", + "mask_path": "../../mask/hdr_right_02620.png" + }, + { + "file_path": "../../rgb/hdr_right_02621.png", + "transform_matrix": [ + [ + 0.7542445659637451, + -0.038473013788461685, + 0.6554655432701111, + -29.558815002441406 + ], + [ + -0.6539038419723511, + 0.04625268280506134, + 0.7551625967025757, + -51.536354064941406 + ], + [ + -0.059370413422584534, + -0.9981886148452759, + 0.009728181175887585, + -19.906341552734375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2621, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639062_842267751", + "mask_path": "../../mask/hdr_right_02621.png" + }, + { + "file_path": "../../rgb/hdr_right_02622.png", + "transform_matrix": [ + [ + 0.7546472549438477, + -0.03698186203837395, + 0.6550876498222351, + -29.612375259399414 + ], + [ + -0.653550922870636, + 0.0460808239877224, + 0.7554785013198853, + -51.472557067871094 + ], + [ + -0.05812597647309303, + -0.9982529282569885, + 0.010605237446725368, + -19.906810760498047 + ], + [ + 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": "1730639062_942266464", + "mask_path": "../../mask/hdr_right_02622.png" + }, + { + "file_path": "../../rgb/hdr_right_02623.png", + "transform_matrix": [ + [ + 0.7501198649406433, + -0.037199169397354126, + 0.6602548360824585, + -29.670740127563477 + ], + [ + -0.6587148308753967, + 0.04619742929935455, + 0.750973105430603, + -51.394378662109375 + ], + [ + -0.05843764916062355, + -0.9982394576072693, + 0.010149959474802017, + -19.89087677001953 + ], + [ + 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": "1730639063_42267084", + "mask_path": "../../mask/hdr_right_02623.png" + }, + { + "file_path": "../../rgb/hdr_right_02624.png", + "transform_matrix": [ + [ + 0.7433494925498962, + -0.04154103621840477, + 0.6676119565963745, + -29.718074798583984 + ], + [ + -0.6660417914390564, + 0.046251121908426285, + 0.7444791197776794, + -51.33176040649414 + ], + [ + -0.06180424243211746, + -0.998065710067749, + 0.006712682545185089, + -19.87715721130371 + ], + [ + 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": "1730639063_142270803", + "mask_path": "../../mask/hdr_right_02624.png" + }, + { + "file_path": "../../rgb/hdr_right_02625.png", + "transform_matrix": [ + [ + 0.7365828156471252, + -0.04747440293431282, + 0.6746791005134583, + -29.76032066345215 + ], + [ + -0.6730424165725708, + 0.047045547515153885, + 0.7381062507629395, + -51.27788543701172 + ], + [ + -0.06678179651498795, + -0.9977639317512512, + 0.0027006552554666996, + -19.874608993530273 + ], + [ + 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": "1730639063_242267608", + "mask_path": "../../mask/hdr_right_02625.png" + }, + { + "file_path": "../../rgb/hdr_right_02626.png", + "transform_matrix": [ + [ + 0.7333444356918335, + -0.04676389694213867, + 0.6782472133636475, + -29.823278427124023 + ], + [ + -0.6765850782394409, + 0.04756411910057068, + 0.7348267436027527, + -51.20186996459961 + ], + [ + -0.06662358343601227, + -0.9977728724479675, + 0.0032411213032901287, + -19.870285034179688 + ], + [ + 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": "1730639063_342267036", + "mask_path": "../../mask/hdr_right_02626.png" + }, + { + "file_path": "../../rgb/hdr_right_02627.png", + "transform_matrix": [ + [ + 0.7341419458389282, + -0.037492066621780396, + 0.6779602766036987, + -29.88511085510254 + ], + [ + -0.6763234734535217, + 0.048125971108675, + 0.7350309491157532, + -51.13125228881836 + ], + [ + -0.060185324400663376, + -0.9981374144554138, + 0.009974528104066849, + -19.867839813232422 + ], + [ + 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": "1730639063_442267656", + "mask_path": "../../mask/hdr_right_02627.png" + }, + { + "file_path": "../../rgb/hdr_right_02628.png", + "transform_matrix": [ + [ + 0.7353614568710327, + -0.031419992446899414, + 0.6769464015960693, + -29.92999839782715 + ], + [ + -0.6753933429718018, + 0.0479251854121685, + 0.7358987331390381, + -51.07805252075195 + ], + [ + -0.05556471645832062, + -0.9983565807342529, + 0.014021473936736584, + -19.86924171447754 + ], + [ + 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": "1730639063_542268991", + "mask_path": "../../mask/hdr_right_02628.png" + }, + { + "file_path": "../../rgb/hdr_right_02629.png", + "transform_matrix": [ + [ + 0.7339752912521362, + -0.03087599016726017, + 0.6784740686416626, + -29.978994369506836 + ], + [ + -0.6770103573799133, + 0.04645496606826782, + 0.7345059514045715, + -51.007816314697266 + ], + [ + -0.05419709160923958, + -0.998443067073822, + 0.013193429447710514, + -19.865039825439453 + ], + [ + 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": "1730639063_642271280", + "mask_path": "../../mask/hdr_right_02629.png" + }, + { + "file_path": "../../rgb/hdr_right_02630.png", + "transform_matrix": [ + [ + 0.7277787327766418, + -0.033788397908210754, + 0.6849793195724487, + -30.027860641479492 + ], + [ + -0.6834171414375305, + 0.04766843840479851, + 0.7284702062606812, + -50.92852783203125 + ], + [ + -0.05726573243737221, + -0.998291552066803, + 0.011600502766668797, + -19.847734451293945 + ], + [ + 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": "1730639063_742267370", + "mask_path": "../../mask/hdr_right_02630.png" + }, + { + "file_path": "../../rgb/hdr_right_02631.png", + "transform_matrix": [ + [ + 0.7215232253074646, + -0.038826700299978256, + 0.6913008689880371, + -30.06666374206543 + ], + [ + -0.6897401213645935, + 0.04696669057011604, + 0.7225321531295776, + -50.873443603515625 + ], + [ + -0.060521647334098816, + -0.9981415271759033, + 0.007107221055775881, + -19.838544845581055 + ], + [ + 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": "1730639063_842267990", + "mask_path": "../../mask/hdr_right_02631.png" + }, + { + "file_path": "../../rgb/hdr_right_02632.png", + "transform_matrix": [ + [ + 0.715429425239563, + -0.04442903771996498, + 0.6972710490226746, + -30.107261657714844 + ], + [ + -0.6958232522010803, + 0.044926341623067856, + 0.7168065309524536, + -50.82537841796875 + ], + [ + -0.06317286938428879, + -0.9980018734931946, + 0.0012268663849681616, + -19.834354400634766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2632, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639063_942268371", + "mask_path": "../../mask/hdr_right_02632.png" + }, + { + "file_path": "../../rgb/hdr_right_02633.png", + "transform_matrix": [ + [ + 0.7130511999130249, + -0.03825230523943901, + 0.7000676989555359, + -30.167591094970703 + ], + [ + -0.6987444758415222, + 0.04321538656949997, + 0.7140647768974304, + -50.748313903808594 + ], + [ + -0.05756831914186478, + -0.998333215713501, + 0.004086196888238192, + -19.830196380615234 + ], + [ + 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": "1730639064_42268276", + "mask_path": "../../mask/hdr_right_02633.png" + }, + { + "file_path": "../../rgb/hdr_right_02634.png", + "transform_matrix": [ + [ + 0.7134042978286743, + -0.03061745874583721, + 0.7000835537910461, + -30.219331741333008 + ], + [ + -0.6988778710365295, + 0.04194517806172371, + 0.7140101194381714, + -50.68497085571289 + ], + [ + -0.051226306706666946, + -0.9986506700515747, + 0.008526008576154709, + -19.831743240356445 + ], + [ + 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": "1730639064_142268180", + "mask_path": "../../mask/hdr_right_02634.png" + }, + { + "file_path": "../../rgb/hdr_right_02635.png", + "transform_matrix": [ + [ + 0.713063657283783, + -0.028727233409881592, + 0.7005106210708618, + -30.258882522583008 + ], + [ + -0.6994619369506836, + 0.03909989446401596, + 0.7135995030403137, + -50.637332916259766 + ], + [ + -0.047889627516269684, + -0.9988222718238831, + 0.0077870977111160755, + -19.836933135986328 + ], + [ + 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": "1730639064_242268085", + "mask_path": "../../mask/hdr_right_02635.png" + }, + { + "file_path": "../../rgb/hdr_right_02636.png", + "transform_matrix": [ + [ + 0.7103831768035889, + -0.02787056565284729, + 0.7032631635665894, + -30.304119110107422 + ], + [ + -0.7023701071739197, + 0.035923704504966736, + 0.7109048962593079, + -50.5726318359375 + ], + [ + -0.0450771301984787, + -0.9989657998085022, + 0.005944142118096352, + -19.829931259155273 + ], + [ + 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": "1730639064_342267274", + "mask_path": "../../mask/hdr_right_02636.png" + }, + { + "file_path": "../../rgb/hdr_right_02637.png", + "transform_matrix": [ + [ + 0.7039577960968018, + -0.03089139610528946, + 0.7095698714256287, + -30.347640991210938 + ], + [ + -0.7085795402526855, + 0.03776590898633003, + 0.7046195864677429, + -50.50418472290039 + ], + [ + -0.048564232885837555, + -0.9988090395927429, + 0.004696594085544348, + -19.811458587646484 + ], + [ + 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": "1730639064_442267417", + "mask_path": "../../mask/hdr_right_02637.png" + }, + { + "file_path": "../../rgb/hdr_right_02638.png", + "transform_matrix": [ + [ + 0.6972324252128601, + -0.03420976176857948, + 0.7160283327102661, + -30.38255500793457 + ], + [ + -0.7149638533592224, + 0.03913183510303497, + 0.698065459728241, + -50.449825286865234 + ], + [ + -0.05190015584230423, + -0.9986482858657837, + 0.0028252422343939543, + -19.8033504486084 + ], + [ + 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": "1730639064_542268037", + "mask_path": "../../mask/hdr_right_02638.png" + }, + { + "file_path": "../../rgb/hdr_right_02639.png", + "transform_matrix": [ + [ + 0.6899594664573669, + -0.03860727697610855, + 0.7228176593780518, + -30.425518035888672 + ], + [ + -0.7217432260513306, + 0.03940444812178612, + 0.6910384297370911, + -50.38912582397461 + ], + [ + -0.05516134575009346, + -0.9984772801399231, + -0.0006770694744773209, + -19.798152923583984 + ], + [ + 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": "1730639064_642268180", + "mask_path": "../../mask/hdr_right_02639.png" + }, + { + "file_path": "../../rgb/hdr_right_02640.png", + "transform_matrix": [ + [ + 0.688295304775238, + -0.03455424681305885, + 0.7246071696281433, + -30.48229217529297 + ], + [ + -0.7235209941864014, + 0.039729248732328415, + 0.6891582012176514, + -50.3123664855957 + ], + [ + -0.052601441740989685, + -0.9986128211021423, + 0.0023447361309081316, + -19.791664123535156 + ], + [ + 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": "1730639064_742268323", + "mask_path": "../../mask/hdr_right_02640.png" + }, + { + "file_path": "../../rgb/hdr_right_02641.png", + "transform_matrix": [ + [ + 0.6898991465568542, + -0.02757328934967518, + 0.7233802676200867, + -30.525461196899414 + ], + [ + -0.7222943305969238, + 0.040413349866867065, + 0.6904040575027466, + -50.25441360473633 + ], + [ + -0.048270922154188156, + -0.9988025426864624, + 0.007965105585753918, + -19.792938232421875 + ], + [ + 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": "1730639064_842267036", + "mask_path": "../../mask/hdr_right_02641.png" + }, + { + "file_path": "../../rgb/hdr_right_02642.png", + "transform_matrix": [ + [ + 0.6904261112213135, + -0.024631138890981674, + 0.7229834794998169, + -30.562213897705078 + ], + [ + -0.7219603061676025, + 0.039624959230422974, + 0.6907990574836731, + -50.205570220947266 + ], + [ + -0.04566336050629616, + -0.9989109635353088, + 0.009575402364134789, + -19.793649673461914 + ], + [ + 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": "1730639064_942269563", + "mask_path": "../../mask/hdr_right_02642.png" + }, + { + "file_path": "../../rgb/hdr_right_02643.png", + "transform_matrix": [ + [ + 0.68836510181427, + -0.022214194759726524, + 0.7250242233276367, + -30.605314254760742 + ], + [ + -0.7240386605262756, + 0.039361339062452316, + 0.6886354088783264, + -50.1400032043457 + ], + [ + -0.04383540526032448, + -0.9989780783653259, + 0.011011037975549698, + -19.787412643432617 + ], + [ + 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": "1730639065_42268037", + "mask_path": "../../mask/hdr_right_02643.png" + }, + { + "file_path": "../../rgb/hdr_right_02644.png", + "transform_matrix": [ + [ + 0.6817069053649902, + -0.024600693956017494, + 0.7312116026878357, + -30.643627166748047 + ], + [ + -0.730044424533844, + 0.04279245436191559, + 0.6820586323738098, + -50.06709671020508 + ], + [ + -0.04806945472955704, + -0.9987810850143433, + 0.011212312616407871, + -19.771642684936523 + ], + [ + 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": "1730639065_142268896", + "mask_path": "../../mask/hdr_right_02644.png" + }, + { + "file_path": "../../rgb/hdr_right_02645.png", + "transform_matrix": [ + [ + 0.6744397878646851, + -0.02823619730770588, + 0.7377897500991821, + -30.67534637451172 + ], + [ + -0.7365129590034485, + 0.04433078691363335, + 0.6749692559242249, + -50.007102966308594 + ], + [ + -0.05176536738872528, + -0.9986177682876587, + 0.009102119132876396, + -19.76390838623047 + ], + [ + 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": "1730639065_242267608", + "mask_path": "../../mask/hdr_right_02645.png" + }, + { + "file_path": "../../rgb/hdr_right_02646.png", + "transform_matrix": [ + [ + 0.6667180061340332, + -0.03257128223776817, + 0.7445980906486511, + -30.714956283569336 + ], + [ + -0.7433280348777771, + 0.04375201091170311, + 0.6674947142601013, + -49.94786071777344 + ], + [ + -0.05431881919503212, + -0.9985113143920898, + 0.004959099926054478, + -19.757165908813477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2646, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_342267751", + "mask_path": "../../mask/hdr_right_02646.png" + }, + { + "file_path": "../../rgb/hdr_right_02647.png", + "transform_matrix": [ + [ + 0.6644303798675537, + -0.027725540101528168, + 0.7468357086181641, + -30.76424217224121 + ], + [ + -0.7456786632537842, + 0.04220438376069069, + 0.6649677753448486, + -49.870460510253906 + ], + [ + -0.04995632916688919, + -0.9987242221832275, + 0.0073675308376550674, + -19.75400733947754 + ], + [ + 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": "1730639065_442268610", + "mask_path": "../../mask/hdr_right_02647.png" + }, + { + "file_path": "../../rgb/hdr_right_02648.png", + "transform_matrix": [ + [ + 0.6645933985710144, + -0.01957731507718563, + 0.7469487190246582, + -30.805410385131836 + ], + [ + -0.745880663394928, + 0.04211415350437164, + 0.6647469997406006, + -49.806270599365234 + ], + [ + -0.044471073895692825, + -0.9989209771156311, + 0.013386448845267296, + -19.75737953186035 + ], + [ + 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": "1730639065_542267084", + "mask_path": "../../mask/hdr_right_02648.png" + }, + { + "file_path": "../../rgb/hdr_right_02649.png", + "transform_matrix": [ + [ + 0.6640558838844299, + -0.017114009708166122, + 0.7474871277809143, + -30.842784881591797 + ], + [ + -0.7464772462844849, + 0.0415809191763401, + 0.6641106009483337, + -49.74919509887695 + ], + [ + -0.0424467995762825, + -0.9989885687828064, + 0.01483683567494154, + -19.75541877746582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2649, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_642269134", + "mask_path": "../../mask/hdr_right_02649.png" + }, + { + "file_path": "../../rgb/hdr_right_02650.png", + "transform_matrix": [ + [ + 0.6604915261268616, + -0.01652141660451889, + 0.7506517767906189, + -30.886554718017578 + ], + [ + -0.7497109174728394, + 0.04013807699084282, + 0.6605471968650818, + -49.67327117919922 + ], + [ + -0.041042886674404144, + -0.9990575313568115, + 0.014124574139714241, + -19.74895668029785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2650, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_742269039", + "mask_path": "../../mask/hdr_right_02650.png" + }, + { + "file_path": "../../rgb/hdr_right_02651.png", + "transform_matrix": [ + [ + 0.6514701247215271, + -0.021837588399648666, + 0.7583600282669067, + -30.926679611206055 + ], + [ + -0.7572355270385742, + 0.04281432554125786, + 0.6517371535301208, + -49.59183883666992 + ], + [ + -0.046701040118932724, + -0.99884432554245, + 0.011356058530509472, + -19.730609893798828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2651, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_842267751", + "mask_path": "../../mask/hdr_right_02651.png" + }, + { + "file_path": "../../rgb/hdr_right_02652.png", + "transform_matrix": [ + [ + 0.6420999765396118, + -0.028240805491805077, + 0.7661005854606628, + -30.958349227905273 + ], + [ + -0.7648647427558899, + 0.04400288313627243, + 0.6426863074302673, + -49.528892517089844 + ], + [ + -0.05186060816049576, + -0.9986321330070496, + 0.0066538527607917786, + -19.722230911254883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2652, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639065_942269325", + "mask_path": "../../mask/hdr_right_02652.png" + }, + { + "file_path": "../../rgb/hdr_right_02653.png", + "transform_matrix": [ + [ + 0.6330487728118896, + -0.03468341752886772, + 0.7733345627784729, + -31.001367568969727 + ], + [ + -0.7721006870269775, + 0.04367701709270477, + 0.6339975595474243, + -49.464046478271484 + ], + [ + -0.05576615408062935, + -0.9984434843063354, + 0.000870588468387723, + -19.71309471130371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2653, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_42268037", + "mask_path": "../../mask/hdr_right_02653.png" + }, + { + "file_path": "../../rgb/hdr_right_02654.png", + "transform_matrix": [ + [ + 0.630946934223175, + -0.030903251841664314, + 0.7752103805541992, + -31.050750732421875 + ], + [ + -0.7740233540534973, + 0.043001819401979446, + 0.6316950917243958, + -49.38117980957031 + ], + [ + -0.052856892347335815, + -0.9985969066619873, + 0.003212026320397854, + -19.711898803710938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2654, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_142266511", + "mask_path": "../../mask/hdr_right_02654.png" + }, + { + "file_path": "../../rgb/hdr_right_02655.png", + "transform_matrix": [ + [ + 0.6318854689598083, + -0.025735516101121902, + 0.7746344804763794, + -31.090225219726562 + ], + [ + -0.7735063433647156, + 0.04234839603304863, + 0.6323722004890442, + -49.32184600830078 + ], + [ + -0.04907895252108574, + -0.9987714290618896, + 0.006852748338133097, + -19.71449851989746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2655, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_242267847", + "mask_path": "../../mask/hdr_right_02655.png" + }, + { + "file_path": "../../rgb/hdr_right_02656.png", + "transform_matrix": [ + [ + 0.6313331127166748, + -0.025914514437317848, + 0.7750787138938904, + -31.127206802368164 + ], + [ + -0.7740580439567566, + 0.04011078178882599, + 0.6318427920341492, + -49.26792907714844 + ], + [ + -0.047462910413742065, + -0.998859167098999, + 0.005263924598693848, + -19.714200973510742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2656, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_342267274", + "mask_path": "../../mask/hdr_right_02656.png" + }, + { + "file_path": "../../rgb/hdr_right_02657.png", + "transform_matrix": [ + [ + 0.6274350881576538, + -0.02587205544114113, + 0.7782390117645264, + -31.16945457458496 + ], + [ + -0.7772132158279419, + 0.040276020765304565, + 0.6279469728469849, + -49.1901969909668 + ], + [ + -0.047590650618076324, + -0.9988535642623901, + 0.005162479355931282, + -19.705001831054688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2657, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_442268848", + "mask_path": "../../mask/hdr_right_02657.png" + }, + { + "file_path": "../../rgb/hdr_right_02658.png", + "transform_matrix": [ + [ + 0.6191717386245728, + -0.029896441847085953, + 0.7846863269805908, + -31.20844078063965 + ], + [ + -0.7834309339523315, + 0.044565338641405106, + 0.6198790669441223, + -49.11039352416992 + ], + [ + -0.05350198969244957, + -0.9985589981079102, + 0.004171800799667835, + -19.683822631835938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2658, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_542267322", + "mask_path": "../../mask/hdr_right_02658.png" + }, + { + "file_path": "../../rgb/hdr_right_02659.png", + "transform_matrix": [ + [ + 0.6110857725143433, + -0.036808889359235764, + 0.7907081246376038, + -31.238590240478516 + ], + [ + -0.789351761341095, + 0.04629991576075554, + 0.6121928691864014, + -49.05039978027344 + ], + [ + -0.05914385989308357, + -0.9982492327690125, + -0.0007619464304298162, + -19.675737380981445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2659, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_642268896", + "mask_path": "../../mask/hdr_right_02659.png" + }, + { + "file_path": "../../rgb/hdr_right_02660.png", + "transform_matrix": [ + [ + 0.6033116579055786, + -0.0391385555267334, + 0.79654461145401, + -31.283260345458984 + ], + [ + -0.795172393321991, + 0.04682394117116928, + 0.6045729517936707, + -48.97380447387695 + ], + [ + -0.06095946952700615, + -0.998136043548584, + -0.0028724661096930504, + -19.672039031982422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2660, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_742267608", + "mask_path": "../../mask/hdr_right_02660.png" + }, + { + "file_path": "../../rgb/hdr_right_02661.png", + "transform_matrix": [ + [ + 0.601657509803772, + -0.032043445855379105, + 0.7981112599372864, + -31.333141326904297 + ], + [ + -0.7966909408569336, + 0.047698453068733215, + 0.6025018095970154, + -48.889915466308594 + ], + [ + -0.05737490952014923, + -0.9983476400375366, + 0.0031694024801254272, + -19.66765594482422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2661, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_842267513", + "mask_path": "../../mask/hdr_right_02661.png" + }, + { + "file_path": "../../rgb/hdr_right_02662.png", + "transform_matrix": [ + [ + 0.6030213832855225, + -0.02579408884048462, + 0.7973079681396484, + -31.3692684173584 + ], + [ + -0.7959229350090027, + 0.047689683735370636, + 0.603516697883606, + -48.83015060424805 + ], + [ + -0.053590524941682816, + -0.9985290169715881, + 0.00822779256850481, + -19.66609001159668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2662, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639066_942267894", + "mask_path": "../../mask/hdr_right_02662.png" + }, + { + "file_path": "../../rgb/hdr_right_02663.png", + "transform_matrix": [ + [ + 0.6027170419692993, + -0.023921171203255653, + 0.7975964546203613, + -31.40470314025879 + ], + [ + -0.7962144017219543, + 0.04795454815030098, + 0.6031110882759094, + -48.768550872802734 + ], + [ + -0.05267549678683281, + -0.9985630512237549, + 0.009856641292572021, + -19.666391372680664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2663, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_42267799", + "mask_path": "../../mask/hdr_right_02663.png" + }, + { + "file_path": "../../rgb/hdr_right_02664.png", + "transform_matrix": [ + [ + 0.5969857573509216, + -0.022256270051002502, + 0.8019430637359619, + -31.439414978027344 + ], + [ + -0.8004267811775208, + 0.05086381733417511, + 0.5972685813903809, + -48.685455322265625 + ], + [ + -0.05408285930752754, + -0.9984575510025024, + 0.012550454586744308, + -19.651670455932617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2664, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_142267227", + "mask_path": "../../mask/hdr_right_02664.png" + }, + { + "file_path": "../../rgb/hdr_right_02665.png", + "transform_matrix": [ + [ + 0.5877231955528259, + -0.02557419426739216, + 0.8086578845977783, + -31.466955184936523 + ], + [ + -0.8069485425949097, + 0.05366979166865349, + 0.588178277015686, + -48.61246871948242 + ], + [ + -0.05844268202781677, + -0.9982312321662903, + 0.010905923321843147, + -19.63482666015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2665, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_242268323", + "mask_path": "../../mask/hdr_right_02665.png" + }, + { + "file_path": "../../rgb/hdr_right_02666.png", + "transform_matrix": [ + [ + 0.5787782073020935, + -0.03224676474928856, + 0.8148471713066101, + -31.492727279663086 + ], + [ + -0.8130622506141663, + 0.054146721959114075, + 0.579653263092041, + -48.55113220214844 + ], + [ + -0.06281324476003647, + -0.998012125492096, + 0.0051203155890107155, + -19.628751754760742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2666, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_342267513", + "mask_path": "../../mask/hdr_right_02666.png" + }, + { + "file_path": "../../rgb/hdr_right_02667.png", + "transform_matrix": [ + [ + 0.572254478931427, + -0.0361735075712204, + 0.8192779421806335, + -31.531694412231445 + ], + [ + -0.8174872398376465, + 0.05415701866149902, + 0.5733948349952698, + -48.47114181518555 + ], + [ + -0.06511136144399643, + -0.9978769421577454, + 0.001420211629010737, + -19.621597290039062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2667, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_442268610", + "mask_path": "../../mask/hdr_right_02667.png" + }, + { + "file_path": "../../rgb/hdr_right_02668.png", + "transform_matrix": [ + [ + 0.5709449648857117, + -0.02795829251408577, + 0.8205122351646423, + -31.57435417175293 + ], + [ + -0.8186819553375244, + 0.055471520870923996, + 0.5715615749359131, + -48.388118743896484 + ], + [ + -0.061494939029216766, + -0.9980688095092773, + 0.008782228454947472, + -19.6171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2668, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_542268037", + "mask_path": "../../mask/hdr_right_02668.png" + }, + { + "file_path": "../../rgb/hdr_right_02669.png", + "transform_matrix": [ + [ + 0.5722516775131226, + -0.01942727155983448, + 0.8198478817939758, + -31.605546951293945 + ], + [ + -0.818101167678833, + 0.0558498241007328, + 0.5723559260368347, + -48.32612991333008 + ], + [ + -0.05690767988562584, + -0.9982501268386841, + 0.01606667786836624, + -19.617109298706055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2669, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_642268896", + "mask_path": "../../mask/hdr_right_02669.png" + }, + { + "file_path": "../../rgb/hdr_right_02670.png", + "transform_matrix": [ + [ + 0.5716701745986938, + -0.016886180266737938, + 0.8203098773956299, + -31.635351181030273 + ], + [ + -0.81856769323349, + 0.056545913219451904, + 0.5716201066970825, + -48.2585334777832 + ], + [ + -0.05603765323758125, + -0.9982571601867676, + 0.018503129482269287, + -19.620708465576172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2670, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_742267131", + "mask_path": "../../mask/hdr_right_02670.png" + }, + { + "file_path": "../../rgb/hdr_right_02671.png", + "transform_matrix": [ + [ + 0.5654100775718689, + -0.01624997705221176, + 0.8246499300003052, + -31.666826248168945 + ], + [ + -0.8228293061256409, + 0.0581340454518795, + 0.5653073191642761, + -48.17226791381836 + ], + [ + -0.05712646245956421, + -0.9981764554977417, + 0.019498614594340324, + -19.601375579833984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2671, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_842267751", + "mask_path": "../../mask/hdr_right_02671.png" + }, + { + "file_path": "../../rgb/hdr_right_02672.png", + "transform_matrix": [ + [ + 0.5560385584831238, + -0.020452987402677536, + 0.8309048414230347, + -31.69076156616211 + ], + [ + -0.8289374709129333, + 0.059355564415454865, + 0.5561830401420593, + -48.104225158691406 + ], + [ + -0.060694433748722076, + -0.9980273246765137, + 0.016049733385443687, + -19.58774757385254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2672, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639067_942268610", + "mask_path": "../../mask/hdr_right_02672.png" + }, + { + "file_path": "../../rgb/hdr_right_02673.png", + "transform_matrix": [ + [ + 0.5469531416893005, + -0.027566533535718918, + 0.8367092609405518, + -31.71509552001953 + ], + [ + -0.8345821499824524, + 0.060468196868896484, + 0.5475548505783081, + -48.04466247558594 + ], + [ + -0.06568849086761475, + -0.9977893829345703, + 0.010066726244986057, + -19.580495834350586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2673, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_42267560", + "mask_path": "../../mask/hdr_right_02673.png" + }, + { + "file_path": "../../rgb/hdr_right_02674.png", + "transform_matrix": [ + [ + 0.5435287952423096, + -0.02481691539287567, + 0.8390236496925354, + -31.750782012939453 + ], + [ + -0.8371020555496216, + 0.057734739035367966, + 0.5439916253089905, + -47.96322250366211 + ], + [ + -0.0619410015642643, + -0.998023509979248, + 0.010606201365590096, + -19.576862335205078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2674, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_142267704", + "mask_path": "../../mask/hdr_right_02674.png" + }, + { + "file_path": "../../rgb/hdr_right_02675.png", + "transform_matrix": [ + [ + 0.5503188371658325, + -0.015484623610973358, + 0.8348110318183899, + -31.7867488861084 + ], + [ + -0.8330841064453125, + 0.05670347437262535, + 0.5502322316169739, + -47.8935432434082 + ], + [ + -0.05585682764649391, + -0.9982709884643555, + 0.01830499805510044, + -19.578981399536133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2675, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_242267131", + "mask_path": "../../mask/hdr_right_02675.png" + }, + { + "file_path": "../../rgb/hdr_right_02676.png", + "transform_matrix": [ + [ + 0.5649535655975342, + -0.012684673070907593, + 0.825025200843811, + -31.820476531982422 + ], + [ + -0.8233901262283325, + 0.05609541013836861, + 0.5646964311599731, + -47.8364372253418 + ], + [ + -0.05344311147928238, + -0.9983447790145874, + 0.02124686911702156, + -19.585277557373047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2676, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_342268228", + "mask_path": "../../mask/hdr_right_02676.png" + }, + { + "file_path": "../../rgb/hdr_right_02677.png", + "transform_matrix": [ + [ + 0.5797587037086487, + -0.009837210178375244, + 0.814728856086731, + -31.862905502319336 + ], + [ + -0.8132100105285645, + 0.05522112920880318, + 0.579344630241394, + -47.75284194946289 + ], + [ + -0.05068938434123993, + -0.9984257221221924, + 0.024015210568904877, + -19.574996948242188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2677, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_442268371", + "mask_path": "../../mask/hdr_right_02677.png" + }, + { + "file_path": "../../rgb/hdr_right_02678.png", + "transform_matrix": [ + [ + 0.5880340933799744, + -0.01641700230538845, + 0.8086695075035095, + -31.899015426635742 + ], + [ + -0.806966245174408, + 0.05603496730327606, + 0.5879331827163696, + -47.67222213745117 + ], + [ + -0.054965872317552567, + -0.9982938766479492, + 0.019702505320310593, + -19.556983947753906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2678, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_542267560", + "mask_path": "../../mask/hdr_right_02678.png" + }, + { + "file_path": "../../rgb/hdr_right_02679.png", + "transform_matrix": [ + [ + 0.5949395298957825, + -0.02891790308058262, + 0.8032501339912415, + -31.929513931274414 + ], + [ + -0.801299512386322, + 0.056962329894304276, + 0.5955455303192139, + -47.61549377441406 + ], + [ + -0.06297692656517029, + -0.9979574680328369, + 0.0107172392308712, + -19.547025680541992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2679, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_642267227", + "mask_path": "../../mask/hdr_right_02679.png" + }, + { + "file_path": "../../rgb/hdr_right_02680.png", + "transform_matrix": [ + [ + 0.6034782528877258, + -0.03272150084376335, + 0.796707808971405, + -31.972747802734375 + ], + [ + -0.7948938012123108, + 0.054144199937582016, + 0.604327917098999, + -47.54391098022461 + ], + [ + -0.06291162222623825, + -0.9979968667030334, + 0.006664730142802, + -19.543895721435547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2680, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_742267847", + "mask_path": "../../mask/hdr_right_02680.png" + }, + { + "file_path": "../../rgb/hdr_right_02681.png", + "transform_matrix": [ + [ + 0.6171883344650269, + -0.02897011861205101, + 0.7862820625305176, + -32.021141052246094 + ], + [ + -0.7846325039863586, + 0.051727548241615295, + 0.6177994608879089, + -47.46559143066406 + ], + [ + -0.05857015773653984, + -0.9982409477233887, + 0.009194738231599331, + -19.54353904724121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2681, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_842267274", + "mask_path": "../../mask/hdr_right_02681.png" + }, + { + "file_path": "../../rgb/hdr_right_02682.png", + "transform_matrix": [ + [ + 0.62703937292099, + -0.026254752650856972, + 0.7785451412200928, + -32.061283111572266 + ], + [ + -0.7769749760627747, + 0.0507189966738224, + 0.6274850964546204, + -47.40302276611328 + ], + [ + -0.0559614896774292, + -0.9983677268028259, + 0.011403516866266727, + -19.542713165283203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2682, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639068_942268848", + "mask_path": "../../mask/hdr_right_02682.png" + }, + { + "file_path": "../../rgb/hdr_right_02683.png", + "transform_matrix": [ + [ + 0.6315983533859253, + -0.027675872668623924, + 0.7748016119003296, + -32.10142135620117 + ], + [ + -0.7733141779899597, + 0.04891790449619293, + 0.6321331262588501, + -47.33161163330078 + ], + [ + -0.05539650842547417, + -0.9984192252159119, + 0.009494323283433914, + -19.5445556640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2683, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_42267799", + "mask_path": "../../mask/hdr_right_02683.png" + }, + { + "file_path": "../../rgb/hdr_right_02684.png", + "transform_matrix": [ + [ + 0.6315341591835022, + -0.029570339247584343, + 0.7747839689254761, + -32.144432067871094 + ], + [ + -0.7734602689743042, + 0.04566050320863724, + 0.632197916507721, + -47.244842529296875 + ], + [ + -0.0540713332593441, + -0.9985193014144897, + 0.005964681971818209, + -19.52692985534668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2684, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_142267942", + "mask_path": "../../mask/hdr_right_02684.png" + }, + { + "file_path": "../../rgb/hdr_right_02685.png", + "transform_matrix": [ + [ + 0.6281275749206543, + -0.03551361337304115, + 0.7772995233535767, + -32.18111038208008 + ], + [ + -0.7760530114173889, + 0.044004347175359726, + 0.6291307806968689, + -47.173954010009766 + ], + [ + -0.056547269225120544, + -0.9983999133110046, + 7.989953155629337e-05, + -19.512039184570312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2685, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_242268323", + "mask_path": "../../mask/hdr_right_02685.png" + }, + { + "file_path": "../../rgb/hdr_right_02686.png", + "transform_matrix": [ + [ + 0.6247038841247559, + -0.045108817517757416, + 0.7795578241348267, + -32.21820831298828 + ], + [ + -0.7784533500671387, + 0.042371753603219986, + 0.6262706518173218, + -47.117958068847656 + ], + [ + -0.061281561851501465, + -0.9980830550193787, + -0.008645320311188698, + -19.50460433959961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2686, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_342266798", + "mask_path": "../../mask/hdr_right_02686.png" + }, + { + "file_path": "../../rgb/hdr_right_02687.png", + "transform_matrix": [ + [ + 0.624402642250061, + -0.04771151393651962, + 0.7796441316604614, + -32.27203369140625 + ], + [ + -0.7786811590194702, + 0.040512558072805405, + 0.6261106133460999, + -47.038429260253906 + ], + [ + -0.06145806238055229, + -0.9980392456054688, + -0.011855906806886196, + -19.500226974487305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2687, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_442267179", + "mask_path": "../../mask/hdr_right_02687.png" + }, + { + "file_path": "../../rgb/hdr_right_02688.png", + "transform_matrix": [ + [ + 0.6296085715293884, + -0.03735297545790672, + 0.7760140895843506, + -32.32378387451172 + ], + [ + -0.7749996185302734, + 0.03985293582081795, + 0.6307038068771362, + -46.9632682800293 + ], + [ + -0.054485101252794266, + -0.9985072016716003, + -0.0038567979354411364, + -19.50289535522461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2688, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_542267560", + "mask_path": "../../mask/hdr_right_02688.png" + }, + { + "file_path": "../../rgb/hdr_right_02689.png", + "transform_matrix": [ + [ + 0.6353291273117065, + -0.029465027153491974, + 0.7716792225837708, + -32.36205291748047 + ], + [ + -0.7707473039627075, + 0.0379372164607048, + 0.6360105276107788, + -46.90634536743164 + ], + [ + -0.04801543056964874, + -0.9988455772399902, + 0.0013925256207585335, + -19.506372451782227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2689, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_642268419", + "mask_path": "../../mask/hdr_right_02689.png" + }, + { + "file_path": "../../rgb/hdr_right_02690.png", + "transform_matrix": [ + [ + 0.6392116546630859, + -0.03013964183628559, + 0.7684400677680969, + -32.404727935791016 + ], + [ + -0.7677050232887268, + 0.03364196792244911, + 0.6399197578430176, + -46.843631744384766 + ], + [ + -0.04513878375291824, + -0.9989793300628662, + -0.001634017564356327, + -19.50796890258789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2690, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_742267131", + "mask_path": "../../mask/hdr_right_02690.png" + }, + { + "file_path": "../../rgb/hdr_right_02691.png", + "transform_matrix": [ + [ + 0.6384144425392151, + -0.032577719539403915, + 0.7690030932426453, + -32.44963836669922 + ], + [ + -0.7683400511741638, + 0.0322352759540081, + 0.6392296552658081, + -46.763553619384766 + ], + [ + -0.04561367258429527, + -0.9989491701126099, + -0.004451300483196974, + -19.491958618164062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2691, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_842267513", + "mask_path": "../../mask/hdr_right_02691.png" + }, + { + "file_path": "../../rgb/hdr_right_02692.png", + "transform_matrix": [ + [ + 0.6355358362197876, + -0.036777008324861526, + 0.7711950540542603, + -32.48872375488281 + ], + [ + -0.7705724239349365, + 0.031998950988054276, + 0.6365487575531006, + -46.69432067871094 + ], + [ + -0.04808779060840607, + -0.9988111257553101, + -0.008002872578799725, + -19.48185920715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2692, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639069_942267656", + "mask_path": "../../mask/hdr_right_02692.png" + }, + { + "file_path": "../../rgb/hdr_right_02693.png", + "transform_matrix": [ + [ + 0.6329700350761414, + -0.043298058211803436, + 0.772964596748352, + -32.53019714355469 + ], + [ + -0.7723976969718933, + 0.032321613281965256, + 0.6343163847923279, + -46.632591247558594 + ], + [ + -0.05244813114404678, + -0.9985392093658447, + -0.012984705157577991, + -19.47634506225586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2693, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_42270421", + "mask_path": "../../mask/hdr_right_02693.png" + }, + { + "file_path": "../../rgb/hdr_right_02694.png", + "transform_matrix": [ + [ + 0.6362250447273254, + -0.038670677691698074, + 0.7705338001251221, + -32.58205795288086 + ], + [ + -0.7699893712997437, + 0.030715934932231903, + 0.6373170018196106, + -46.55535125732422 + ], + [ + -0.04831314459443092, + -0.9987798929214478, + -0.01023376639932394, + -19.47174644470215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2694, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_142267465", + "mask_path": "../../mask/hdr_right_02694.png" + }, + { + "file_path": "../../rgb/hdr_right_02695.png", + "transform_matrix": [ + [ + 0.6423466801643372, + -0.028780734166502953, + 0.7658737301826477, + -32.627899169921875 + ], + [ + -0.7653045654296875, + 0.029669005423784256, + 0.6429842710494995, + -46.48780822753906 + ], + [ + -0.041228268295526505, + -0.9991453289985657, + -0.0029682419262826443, + -19.477445602416992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2695, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_242268562", + "mask_path": "../../mask/hdr_right_02695.png" + }, + { + "file_path": "../../rgb/hdr_right_02696.png", + "transform_matrix": [ + [ + 0.6469235420227051, + -0.024437207728624344, + 0.7621631622314453, + -32.66533660888672 + ], + [ + -0.7616816759109497, + 0.027109073475003242, + 0.6473840475082397, + -46.435546875 + ], + [ + -0.03648179769515991, + -0.9993337392807007, + -0.0010758793214336038, + -19.479713439941406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2696, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_342268466", + "mask_path": "../../mask/hdr_right_02696.png" + }, + { + "file_path": "../../rgb/hdr_right_02697.png", + "transform_matrix": [ + [ + 0.6487376093864441, + -0.02491571567952633, + 0.7606042623519897, + -32.70683288574219 + ], + [ + -0.7603135108947754, + 0.02159939333796501, + 0.6491971611976624, + -46.370582580566406 + ], + [ + -0.03260380029678345, + -0.9994561672210693, + -0.004931414499878883, + -19.478853225708008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2697, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_442267417", + "mask_path": "../../mask/hdr_right_02697.png" + }, + { + "file_path": "../../rgb/hdr_right_02698.png", + "transform_matrix": [ + [ + 0.6449815034866333, + -0.02891344577074051, + 0.7636510133743286, + -32.74696731567383 + ], + [ + -0.7634093165397644, + 0.02101411111652851, + 0.6455730199813843, + -46.2926139831543 + ], + [ + -0.03471319004893303, + -0.999360978603363, + -0.008519085124135017, + -19.465456008911133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2698, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_542267084", + "mask_path": "../../mask/hdr_right_02698.png" + }, + { + "file_path": "../../rgb/hdr_right_02699.png", + "transform_matrix": [ + [ + 0.639860212802887, + -0.033416748046875, + 0.7677645087242126, + -32.780738830566406 + ], + [ + -0.767518162727356, + 0.022473691031336784, + 0.6406331062316895, + -46.228660583496094 + ], + [ + -0.0386623777449131, + -0.9991887807846069, + -0.011267946101725101, + -19.45819854736328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2699, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_642268419", + "mask_path": "../../mask/hdr_right_02699.png" + }, + { + "file_path": "../../rgb/hdr_right_02700.png", + "transform_matrix": [ + [ + 0.6339573860168457, + -0.037948787212371826, + 0.7724364399909973, + -32.819068908691406 + ], + [ + -0.7721091508865356, + 0.02590791881084442, + 0.6349616050720215, + -46.164161682128906 + ], + [ + -0.04410824179649353, + -0.9989438056945801, + -0.012876095250248909, + -19.44991111755371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2700, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_742267608", + "mask_path": "../../mask/hdr_right_02700.png" + }, + { + "file_path": "../../rgb/hdr_right_02701.png", + "transform_matrix": [ + [ + 0.6337969899177551, + -0.031137904152274132, + 0.7728725075721741, + -32.871768951416016 + ], + [ + -0.7724571228027344, + 0.02637491375207901, + 0.6345190405845642, + -46.08128356933594 + ], + [ + -0.040142033249139786, + -0.9991670250892639, + -0.007336356211453676, + -19.44987678527832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2701, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_842267990", + "mask_path": "../../mask/hdr_right_02701.png" + }, + { + "file_path": "../../rgb/hdr_right_02702.png", + "transform_matrix": [ + [ + 0.6361536383628845, + -0.021870138123631477, + 0.7712523937225342, + -32.913429260253906 + ], + [ + -0.7708110809326172, + 0.02609032578766346, + 0.6365293860435486, + -46.01616287231445 + ], + [ + -0.03404321148991585, + -0.9994202852249146, + -0.00026029342552646995, + -19.458202362060547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2702, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639070_942267179", + "mask_path": "../../mask/hdr_right_02702.png" + }, + { + "file_path": "../../rgb/hdr_right_02703.png", + "transform_matrix": [ + [ + 0.636630654335022, + -0.01904587261378765, + 0.7709337472915649, + -32.944007873535156 + ], + [ + -0.7704823613166809, + 0.026464495807886124, + 0.6369117498397827, + -45.96174240112305 + ], + [ + -0.032532911747694016, + -0.9994682669639587, + 0.0021735993213951588, + -19.457324981689453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2703, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_42267560", + "mask_path": "../../mask/hdr_right_02703.png" + }, + { + "file_path": "../../rgb/hdr_right_02704.png", + "transform_matrix": [ + [ + 0.633095920085907, + -0.020230567082762718, + 0.7738089561462402, + -32.9829216003418 + ], + [ + -0.7734878659248352, + 0.022340625524520874, + 0.6334173083305359, + -45.88325881958008 + ], + [ + -0.03010176494717598, + -0.999545693397522, + -0.0015043384628370404, + -19.452085494995117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2704, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_142267704", + "mask_path": "../../mask/hdr_right_02704.png" + }, + { + "file_path": "../../rgb/hdr_right_02705.png", + "transform_matrix": [ + [ + 0.6249067783355713, + -0.024701831862330437, + 0.7803086042404175, + -33.01502990722656 + ], + [ + -0.7799882292747498, + 0.022897621616721153, + 0.6253750920295715, + -45.80636215209961 + ], + [ + -0.03331512212753296, + -0.9994325637817383, + -0.0049582598730921745, + -19.43537139892578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2705, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_242268562", + "mask_path": "../../mask/hdr_right_02705.png" + }, + { + "file_path": "../../rgb/hdr_right_02706.png", + "transform_matrix": [ + [ + 0.6167048215866089, + -0.029965616762638092, + 0.7866239547729492, + -33.04514694213867 + ], + [ + -0.7862840890884399, + 0.024594631046056747, + 0.6173753142356873, + -45.74773406982422 + ], + [ + -0.03784675896167755, + -0.9992483258247375, + -0.008393866010010242, + -19.430334091186523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2706, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_342267513", + "mask_path": "../../mask/hdr_right_02706.png" + }, + { + "file_path": "../../rgb/hdr_right_02707.png", + "transform_matrix": [ + [ + 0.6088518500328064, + -0.0341867059469223, + 0.7925470471382141, + -33.086002349853516 + ], + [ + -0.792187511920929, + 0.02630832977592945, + 0.6097103953361511, + -45.68071365356445 + ], + [ + -0.041694577783346176, + -0.9990691542625427, + -0.01106440369039774, + -19.421768188476562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2707, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_442268371", + "mask_path": "../../mask/hdr_right_02707.png" + }, + { + "file_path": "../../rgb/hdr_right_02708.png", + "transform_matrix": [ + [ + 0.607088029384613, + -0.029960013926029205, + 0.7940696477890015, + -33.13362503051758 + ], + [ + -0.7936436533927917, + 0.027027824893593788, + 0.6077821850776672, + -45.59801483154297 + ], + [ + -0.03967113420367241, + -0.9991855621337891, + -0.007369306404143572, + -19.421003341674805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2708, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_542267560", + "mask_path": "../../mask/hdr_right_02708.png" + }, + { + "file_path": "../../rgb/hdr_right_02709.png", + "transform_matrix": [ + [ + 0.6081833839416504, + -0.022761765867471695, + 0.7934702038764954, + -33.17061233520508 + ], + [ + -0.7929878234863281, + 0.027689173817634583, + 0.6086079478263855, + -45.53708267211914 + ], + [ + -0.0358235239982605, + -0.9993574023246765, + -0.0012097082799300551, + -19.423768997192383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2709, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_642268657", + "mask_path": "../../mask/hdr_right_02709.png" + }, + { + "file_path": "../../rgb/hdr_right_02710.png", + "transform_matrix": [ + [ + 0.6090567708015442, + -0.021712837740778923, + 0.7928293943405151, + -33.2043571472168 + ], + [ + -0.79241943359375, + 0.02554515190422535, + 0.6094415187835693, + -45.48500061035156 + ], + [ + -0.03348565101623535, + -0.9994378685951233, + -0.001647226745262742, + -19.427993774414062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2710, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_742267370", + "mask_path": "../../mask/hdr_right_02710.png" + }, + { + "file_path": "../../rgb/hdr_right_02711.png", + "transform_matrix": [ + [ + 0.6067070364952087, + -0.02268156222999096, + 0.7946019172668457, + -33.24717330932617 + ], + [ + -0.7941073775291443, + 0.02804432064294815, + 0.6071299314498901, + -45.40435791015625 + ], + [ + -0.03605473041534424, + -0.9993493556976318, + -0.0009969151578843594, + -19.416690826416016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2711, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_842267274", + "mask_path": "../../mask/hdr_right_02711.png" + }, + { + "file_path": "../../rgb/hdr_right_02712.png", + "transform_matrix": [ + [ + 0.6009756922721863, + -0.027734793722629547, + 0.7987860441207886, + -33.28424835205078 + ], + [ + -0.7980839014053345, + 0.033542320132255554, + 0.6016120314598083, + -45.32429122924805 + ], + [ + -0.043478719890117645, + -0.9990524649620056, + -0.0019765766337513924, + -19.391502380371094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2712, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639071_942267417", + "mask_path": "../../mask/hdr_right_02712.png" + }, + { + "file_path": "../../rgb/hdr_right_02713.png", + "transform_matrix": [ + [ + 0.5976882576942444, + -0.03199321776628494, + 0.8010900020599365, + -33.31472396850586 + ], + [ + -0.8002267479896545, + 0.03732717037200928, + 0.5985348224639893, + -45.26063537597656 + ], + [ + -0.04905147850513458, + -0.9987908601760864, + -0.003291820641607046, + -19.386005401611328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2713, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_42268037", + "mask_path": "../../mask/hdr_right_02713.png" + }, + { + "file_path": "../../rgb/hdr_right_02714.png", + "transform_matrix": [ + [ + 0.5978463888168335, + -0.03639701381325722, + 0.8007839918136597, + -33.3600959777832 + ], + [ + -0.7998866438865662, + 0.03839748725295067, + 0.5989215970039368, + -45.18056106567383 + ], + [ + -0.052547045052051544, + -0.9985994696617126, + -0.006157686468213797, + -19.388010025024414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2714, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_142267465", + "mask_path": "../../mask/hdr_right_02714.png" + }, + { + "file_path": "../../rgb/hdr_right_02715.png", + "transform_matrix": [ + [ + 0.605759859085083, + -0.0307612381875515, + 0.795052707195282, + -33.41413879394531 + ], + [ + -0.7939950823783875, + 0.04099537059664726, + 0.6065402626991272, + -45.08692169189453 + ], + [ + -0.05125140771269798, + -0.9986856579780579, + 0.0004090713628102094, + -19.386234283447266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2715, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_242268562", + "mask_path": "../../mask/hdr_right_02715.png" + }, + { + "file_path": "../../rgb/hdr_right_02716.png", + "transform_matrix": [ + [ + 0.6170686483383179, + -0.020704342052340508, + 0.7866369485855103, + -33.458282470703125 + ], + [ + -0.785477876663208, + 0.044063057750463486, + 0.6173192262649536, + -45.01252365112305 + ], + [ + -0.04744281247258186, + -0.9988141655921936, + 0.010927131399512291, + -19.384286880493164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2716, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_342268228", + "mask_path": "../../mask/hdr_right_02716.png" + }, + { + "file_path": "../../rgb/hdr_right_02717.png", + "transform_matrix": [ + [ + 0.6279634833335876, + -0.01791413500905037, + 0.7780366539955139, + -33.500335693359375 + ], + [ + -0.7767203450202942, + 0.04807676374912262, + 0.6280080080032349, + -44.93626403808594 + ], + [ + -0.048655711114406586, + -0.9986830949783325, + 0.016276171430945396, + -19.384103775024414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2717, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_442270040", + "mask_path": "../../mask/hdr_right_02717.png" + }, + { + "file_path": "../../rgb/hdr_right_02718.png", + "transform_matrix": [ + [ + 0.6364558339118958, + -0.023282375186681747, + 0.7709617018699646, + -33.55154800415039 + ], + [ + -0.7695744037628174, + 0.047908004373311996, + 0.636757493019104, + -44.83500671386719 + ], + [ + -0.051760461181402206, + -0.9985803961753845, + 0.012573803775012493, + -19.358430862426758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2718, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639072_542267084", + "mask_path": "../../mask/hdr_right_02718.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/e8b3517e/mesh.ply b/2024-11-03-13-59-54/splats/e8b3517e/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..6e8e6a6b1b2ddf2d029768b3775e271add1939fd --- /dev/null +++ b/2024-11-03-13-59-54/splats/e8b3517e/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9d6ed7ddcaaec2cb7a0546d37121ceebca75cf3f366a11a39a404fc05181bcc +size 43010617 diff --git a/2024-11-03-13-59-54/splats/e8b3517e/mesh_filled_decimated.ply b/2024-11-03-13-59-54/splats/e8b3517e/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..c4f793bc96e90988a5f08e46efa655b82f746833 --- /dev/null +++ b/2024-11-03-13-59-54/splats/e8b3517e/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a61d19ebae374acfb332ce44506c21f94796297be8826bb1a7a12f2c0fc6df1d +size 1579785 diff --git a/2024-11-03-13-59-54/splats/e8b3517e/splatfacto/config.yml b/2024-11-03-13-59-54/splats/e8b3517e/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..a40bee96e6906b93ffe5ab5f2db28365e4642f5b --- /dev/null +++ b/2024-11-03-13-59-54/splats/e8b3517e/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-03-13-59-54_nerfstudio +- slices +- slice_e8b3517e +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-03-13-59-54_nerfstudio + - slices + - slice_e8b3517e + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-03-13-59-54/splats/e8b3517e/splatfacto/dataparser_transforms.json b/2024-11-03-13-59-54/splats/e8b3517e/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..4f57de2c9fe6f484a2437dfaf1c6113cb14fbbd7 --- /dev/null +++ b/2024-11-03-13-59-54/splats/e8b3517e/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + 0.2927495837211609, + 0.9550691246986389, + 0.046266332268714905, + 57.19840621948242 + ], + [ + 0.9550691246986389, + -0.28972291946411133, + -0.06247793510556221, + 5.430422782897949 + ], + [ + -0.046266332268714905, + 0.06247793510556221, + -0.9969733953475952, + -17.816354751586914 + ] + ], + "scale": 0.16188973460344908 +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/e8b3517e/splatfacto/splat.ply b/2024-11-03-13-59-54/splats/e8b3517e/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..3ca342d63f43fe22051714f978529d830e5bc6c5 --- /dev/null +++ b/2024-11-03-13-59-54/splats/e8b3517e/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec18f66c6ea1d49d7a60cfac2ea3df03089646f767f263a80db0796554ff28e9 +size 192375937 diff --git a/2024-11-03-13-59-54/splats/e8b3517e/transforms.json b/2024-11-03-13-59-54/splats/e8b3517e/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a91370c40029a4ff536a83acf4fb3d35f9df1e5c --- /dev/null +++ b/2024-11-03-13-59-54/splats/e8b3517e/transforms.json @@ -0,0 +1,21300 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_02332.png", + "transform_matrix": [ + [ + 0.9620164632797241, + -0.05538512021303177, + -0.26731395721435547, + -23.35378074645996 + ], + [ + 0.27011528611183167, + 0.051355887204408646, + 0.961457371711731, + -45.442161560058594 + ], + [ + -0.039522282779216766, + -0.9971434473991394, + 0.06436557322740555, + -19.556474685668945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2332, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_142267942", + "mask_path": "../../mask/hdr_front_02332.png" + }, + { + "file_path": "../../rgb/hdr_front_02333.png", + "transform_matrix": [ + [ + 0.9591764211654663, + -0.06313379853963852, + -0.2756711542606354, + -23.330549240112305 + ], + [ + 0.2790529131889343, + 0.05296117812395096, + 0.9588140845298767, + -45.50407791137695 + ], + [ + -0.04593370109796524, + -0.9965988397598267, + 0.0684167891740799, + -19.56669044494629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2333, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_242267608", + "mask_path": "../../mask/hdr_front_02333.png" + }, + { + "file_path": "../../rgb/hdr_front_02334.png", + "transform_matrix": [ + [ + 0.9559594392776489, + -0.06552121788263321, + -0.28609156608581543, + -23.3066463470459 + ], + [ + 0.28961431980133057, + 0.052526459097862244, + 0.9557010531425476, + -45.55388641357422 + ], + [ + -0.04759131744503975, + -0.9964677095413208, + 0.06918904930353165, + -19.577899932861328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2334, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_342268466", + "mask_path": "../../mask/hdr_front_02334.png" + }, + { + "file_path": "../../rgb/hdr_front_02335.png", + "transform_matrix": [ + [ + 0.9530579447746277, + -0.063254214823246, + -0.2961074411869049, + -23.28254508972168 + ], + [ + 0.29945263266563416, + 0.05214858800172806, + 0.9526850581169128, + -45.610107421875 + ], + [ + -0.044819753617048264, + -0.9966341257095337, + 0.068642258644104, + -19.58682632446289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2335, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_442267656", + "mask_path": "../../mask/hdr_front_02335.png" + }, + { + "file_path": "../../rgb/hdr_front_02336.png", + "transform_matrix": [ + [ + 0.9510263800621033, + -0.06035734340548515, + -0.30315977334976196, + -23.257617950439453 + ], + [ + 0.30644491314888, + 0.055593349039554596, + 0.9502636790275574, + -45.686424255371094 + ], + [ + -0.04050172120332718, + -0.9966275691986084, + 0.07136694341897964, + -19.589759826660156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2336, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_542267560", + "mask_path": "../../mask/hdr_front_02336.png" + }, + { + "file_path": "../../rgb/hdr_front_02337.png", + "transform_matrix": [ + [ + 0.9507225155830383, + -0.05421099439263344, + -0.30526694655418396, + -23.233304977416992 + ], + [ + 0.308217853307724, + 0.05857504531741142, + 0.9495107531547546, + -45.750587463378906 + ], + [ + -0.03359289467334747, + -0.9968100190162659, + 0.07239741086959839, + -19.58759117126465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2337, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_642267704", + "mask_path": "../../mask/hdr_front_02337.png" + }, + { + "file_path": "../../rgb/hdr_front_02338.png", + "transform_matrix": [ + [ + 0.9522252678871155, + -0.04799169674515724, + -0.30160200595855713, + -23.21344566345215 + ], + [ + 0.3040998876094818, + 0.05809780955314636, + 0.9508669376373291, + -45.79817199707031 + ], + [ + -0.028111299499869347, + -0.9971567392349243, + 0.06991647928953171, + -19.595699310302734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2338, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_742267847", + "mask_path": "../../mask/hdr_front_02338.png" + }, + { + "file_path": "../../rgb/hdr_front_02339.png", + "transform_matrix": [ + [ + 0.9540871381759644, + -0.04534408077597618, + -0.29607701301574707, + -23.187803268432617 + ], + [ + 0.29824379086494446, + 0.0523388609290123, + 0.9530537128448486, + -45.873558044433594 + ], + [ + -0.027719009667634964, + -0.9975994229316711, + 0.06345942616462708, + -19.599258422851562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2339, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_842266559", + "mask_path": "../../mask/hdr_front_02339.png" + }, + { + "file_path": "../../rgb/hdr_front_02340.png", + "transform_matrix": [ + [ + 0.9527454972267151, + -0.05073459446430206, + -0.29950276017189026, + -23.15056800842285 + ], + [ + 0.30199480056762695, + 0.05177556350827217, + 0.9519025683403015, + -45.963768005371094 + ], + [ + -0.03278746455907822, + -0.9973691701889038, + 0.0646505206823349, + -19.609169006347656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2340, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_942266941", + "mask_path": "../../mask/hdr_front_02340.png" + }, + { + "file_path": "../../rgb/hdr_front_02341.png", + "transform_matrix": [ + [ + 0.9498777389526367, + -0.053741518408060074, + -0.30796757340431213, + -23.122352600097656 + ], + [ + 0.3106692135334015, + 0.05234837532043457, + 0.9490755796432495, + -46.02267074584961 + ], + [ + -0.03488314896821976, + -0.9971818327903748, + 0.06642039120197296, + -19.62302589416504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2341, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_42267084", + "mask_path": "../../mask/hdr_front_02341.png" + }, + { + "file_path": "../../rgb/hdr_front_02342.png", + "transform_matrix": [ + [ + 0.9476709961891174, + -0.05068602040410042, + -0.3151994049549103, + -23.089008331298828 + ], + [ + 0.3176817297935486, + 0.05201999843120575, + 0.9467694759368896, + -46.08403778076172 + ], + [ + -0.03159129619598389, + -0.9973589777946472, + 0.06539987027645111, + -19.629005432128906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2342, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_142266988", + "mask_path": "../../mask/hdr_front_02342.png" + }, + { + "file_path": "../../rgb/hdr_front_02343.png", + "transform_matrix": [ + [ + 0.9480562806129456, + -0.04796114191412926, + -0.314466267824173, + -23.054513931274414 + ], + [ + 0.3169318735599518, + 0.057678963989019394, + 0.9466928839683533, + -46.17412185668945 + ], + [ + -0.027266383171081543, + -0.9971824884414673, + 0.0698833167552948, + -19.637773513793945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2343, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_242267131", + "mask_path": "../../mask/hdr_front_02343.png" + }, + { + "file_path": "../../rgb/hdr_front_02344.png", + "transform_matrix": [ + [ + 0.9505932927131653, + -0.04497643560171127, + -0.3071635067462921, + -23.026376724243164 + ], + [ + 0.30948638916015625, + 0.05985066294670105, + 0.9490185379981995, + -46.258201599121094 + ], + [ + -0.02429952844977379, + -0.9971936345100403, + 0.07081323117017746, + -19.640785217285156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2344, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_342268943", + "mask_path": "../../mask/hdr_front_02344.png" + }, + { + "file_path": "../../rgb/hdr_front_02345.png", + "transform_matrix": [ + [ + 0.9542252421379089, + -0.040677882730960846, + -0.2963097393512726, + -23.003616333007812 + ], + [ + 0.29830846190452576, + 0.05792111158370972, + 0.9527105093002319, + -46.320560455322266 + ], + [ + -0.021591654047369957, + -0.9974920749664307, + 0.06740433722734451, + -19.644567489624023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2345, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_442268133", + "mask_path": "../../mask/hdr_front_02345.png" + }, + { + "file_path": "../../rgb/hdr_front_02346.png", + "transform_matrix": [ + [ + 0.9575142860412598, + -0.042166899889707565, + -0.2852862775325775, + -22.971725463867188 + ], + [ + 0.2873041331768036, + 0.053884558379650116, + 0.9563224911689758, + -46.421939849853516 + ], + [ + -0.024952631443738937, + -0.997656524181366, + 0.06370995938777924, + -19.656585693359375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2346, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_542267560", + "mask_path": "../../mask/hdr_front_02346.png" + }, + { + "file_path": "../../rgb/hdr_front_02347.png", + "transform_matrix": [ + [ + 0.9577392935752869, + -0.05350370332598686, + -0.28261786699295044, + -22.930166244506836 + ], + [ + 0.2854144275188446, + 0.05484425649046898, + 0.9568337202072144, + -46.53008270263672 + ], + [ + -0.0356941781938076, + -0.9970604181289673, + 0.0677972361445427, + -19.674293518066406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2347, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_642268657", + "mask_path": "../../mask/hdr_front_02347.png" + }, + { + "file_path": "../../rgb/hdr_front_02348.png", + "transform_matrix": [ + [ + 0.9566157460212708, + -0.05963568016886711, + -0.285183846950531, + -22.901710510253906 + ], + [ + 0.28846582770347595, + 0.05642139911651611, + 0.955826461315155, + -46.599517822265625 + ], + [ + -0.040910881012678146, + -0.9966244101524353, + 0.0711764544248581, + -19.68491554260254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2348, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_742267131", + "mask_path": "../../mask/hdr_front_02348.png" + }, + { + "file_path": "../../rgb/hdr_front_02349.png", + "transform_matrix": [ + [ + 0.9564718008041382, + -0.05726930871605873, + -0.2861500084400177, + -22.874610900878906 + ], + [ + 0.28928342461586, + 0.05694805830717087, + 0.955548107624054, + -46.68017578125 + ], + [ + -0.03842789679765701, + -0.9967332482337952, + 0.07103627175092697, + -19.69706916809082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2349, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_842267036", + "mask_path": "../../mask/hdr_front_02349.png" + }, + { + "file_path": "../../rgb/hdr_front_02350.png", + "transform_matrix": [ + [ + 0.9581333994865417, + -0.05818059667944908, + -0.2803487777709961, + -22.84625816345215 + ], + [ + 0.2836863696575165, + 0.06034659594297409, + 0.9570163488388062, + -46.78749084472656 + ], + [ + -0.0387616865336895, + -0.9964804649353027, + 0.07432513684034348, + -19.70167350769043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2350, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_942267417", + "mask_path": "../../mask/hdr_front_02350.png" + }, + { + "file_path": "../../rgb/hdr_front_02351.png", + "transform_matrix": [ + [ + 0.9610118865966797, + -0.0555628165602684, + -0.27086713910102844, + -22.829782485961914 + ], + [ + 0.27407413721084595, + 0.06174410134553909, + 0.9597244262695312, + -46.86737060546875 + ], + [ + -0.036600541323423386, + -0.9965443015098572, + 0.07456514984369278, + -19.701396942138672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2351, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_42267322", + "mask_path": "../../mask/hdr_front_02351.png" + }, + { + "file_path": "../../rgb/hdr_front_02352.png", + "transform_matrix": [ + [ + 0.9644538164138794, + -0.05276090279221535, + -0.258930504322052, + -22.817686080932617 + ], + [ + 0.2618182301521301, + 0.05813223496079445, + 0.963364839553833, + -46.929569244384766 + ], + [ + -0.035775795578956604, + -0.996913731098175, + 0.06987962126731873, + -19.703418731689453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2352, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_142267227", + "mask_path": "../../mask/hdr_front_02352.png" + }, + { + "file_path": "../../rgb/hdr_front_02353.png", + "transform_matrix": [ + [ + 0.9659001231193542, + -0.05922665074467659, + -0.25204986333847046, + -22.790128707885742 + ], + [ + 0.2553349435329437, + 0.056570377200841904, + 0.9651963710784912, + -47.035316467285156 + ], + [ + -0.04290677607059479, + -0.9966403841972351, + 0.06976397335529327, + -19.71803855895996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2353, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_242268085", + "mask_path": "../../mask/hdr_front_02353.png" + }, + { + "file_path": "../../rgb/hdr_front_02354.png", + "transform_matrix": [ + [ + 0.9653695821762085, + -0.06790123879909515, + -0.2518947422504425, + -22.76129722595215 + ], + [ + 0.2557857632637024, + 0.05635957792401314, + 0.9650893211364746, + -47.130489349365234 + ], + [ + -0.05133407562971115, + -0.9960989356040955, + 0.07177599519491196, + -19.73188591003418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2354, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_342267990", + "mask_path": "../../mask/hdr_front_02354.png" + }, + { + "file_path": "../../rgb/hdr_front_02355.png", + "transform_matrix": [ + [ + 0.9646020531654358, + -0.07071877270936966, + -0.25405043363571167, + -22.73805046081543 + ], + [ + 0.2580473721027374, + 0.05455871671438217, + 0.9645904898643494, + -47.19868087768555 + ], + [ + -0.0543539859354496, + -0.9960031509399414, + 0.07087624818086624, + -19.742406845092773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2355, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_442268610", + "mask_path": "../../mask/hdr_front_02355.png" + }, + { + "file_path": "../../rgb/hdr_front_02356.png", + "transform_matrix": [ + [ + 0.9649459719657898, + -0.0662466287612915, + -0.2539500296115875, + -22.715106964111328 + ], + [ + 0.2576194405555725, + 0.05432039126753807, + 0.9647184014320374, + -47.2912712097168 + ], + [ + -0.050114672631025314, + -0.9963235855102539, + 0.06948266178369522, + -19.757173538208008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2356, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_542268037", + "mask_path": "../../mask/hdr_front_02356.png" + }, + { + "file_path": "../../rgb/hdr_front_02357.png", + "transform_matrix": [ + [ + 0.9671990275382996, + -0.06273342669010162, + -0.24615173041820526, + -22.69577407836914 + ], + [ + 0.24968592822551727, + 0.0565476194024086, + 0.9666744470596313, + -47.40027618408203 + ], + [ + -0.04672349989414215, + -0.996427059173584, + 0.07035645097494125, + -19.7559757232666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2357, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_642267227", + "mask_path": "../../mask/hdr_front_02357.png" + }, + { + "file_path": "../../rgb/hdr_front_02358.png", + "transform_matrix": [ + [ + 0.970337450504303, + -0.057611316442489624, + -0.23478999733924866, + -22.685026168823242 + ], + [ + 0.2379748821258545, + 0.05655164644122124, + 0.9696235656738281, + -47.47676467895508 + ], + [ + -0.04258352890610695, + -0.9967361688613892, + 0.06858422607183456, + -19.752729415893555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2358, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_742267131", + "mask_path": "../../mask/hdr_front_02358.png" + }, + { + "file_path": "../../rgb/hdr_front_02359.png", + "transform_matrix": [ + [ + 0.9732102751731873, + -0.05623861029744148, + -0.2229326069355011, + -22.674354553222656 + ], + [ + 0.2257966697216034, + 0.051045820116996765, + 0.9728361368179321, + -47.547821044921875 + ], + [ + -0.04333117604255676, + -0.9971116781234741, + 0.06237680837512016, + -19.761390686035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2359, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_842267513", + "mask_path": "../../mask/hdr_front_02359.png" + }, + { + "file_path": "../../rgb/hdr_front_02360.png", + "transform_matrix": [ + [ + 0.9742851257324219, + -0.06186174228787422, + -0.21665982902050018, + -22.64682960510254 + ], + [ + 0.2197849154472351, + 0.049129314720630646, + 0.974310576915741, + -47.654701232910156 + ], + [ + -0.04962819442152977, + -0.9968748688697815, + 0.061462242156267166, + -19.769859313964844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2360, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_942268133", + "mask_path": "../../mask/hdr_front_02360.png" + }, + { + "file_path": "../../rgb/hdr_front_02361.png", + "transform_matrix": [ + [ + 0.9739121198654175, + -0.06801418960094452, + -0.21649318933486938, + -22.61884117126465 + ], + [ + 0.22014540433883667, + 0.051714032888412476, + 0.9740952849388123, + -47.74519348144531 + ], + [ + -0.05505656078457832, + -0.996343195438385, + 0.06533792614936829, + -19.780975341796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2361, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_42268753", + "mask_path": "../../mask/hdr_front_02361.png" + }, + { + "file_path": "../../rgb/hdr_front_02362.png", + "transform_matrix": [ + [ + 0.9733335375785828, + -0.06710350513458252, + -0.21935991942882538, + -22.59375762939453 + ], + [ + 0.2229805737733841, + 0.05222601071000099, + 0.9734228849411011, + -47.82106399536133 + ], + [ + -0.05386378616094589, + -0.9963782429695129, + 0.06579611450433731, + -19.800655364990234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2362, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_142267942", + "mask_path": "../../mask/hdr_front_02362.png" + }, + { + "file_path": "../../rgb/hdr_front_02363.png", + "transform_matrix": [ + [ + 0.9737823009490967, + -0.06661785393953323, + -0.21750882267951965, + -22.57107925415039 + ], + [ + 0.22123204171657562, + 0.05474713817238808, + 0.9736833572387695, + -47.92241668701172 + ], + [ + -0.05295670032501221, + -0.9962754845619202, + 0.06804978847503662, + -19.80646514892578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2363, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_242267370", + "mask_path": "../../mask/hdr_front_02363.png" + }, + { + "file_path": "../../rgb/hdr_front_02364.png", + "transform_matrix": [ + [ + 0.9759551286697388, + -0.06328995525836945, + -0.2085803598165512, + -22.554641723632812 + ], + [ + 0.21216684579849243, + 0.056474942713975906, + 0.9756002426147461, + -48.03020477294922 + ], + [ + -0.04996613785624504, + -0.9963960647583008, + 0.06854504346847534, + -19.799779891967773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2364, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_342267274", + "mask_path": "../../mask/hdr_front_02364.png" + }, + { + "file_path": "../../rgb/hdr_front_02365.png", + "transform_matrix": [ + [ + 0.9786547422409058, + -0.05737156420946121, + -0.19734075665473938, + -22.542335510253906 + ], + [ + 0.20046192407608032, + 0.05494523048400879, + 0.978159487247467, + -48.1061897277832 + ], + [ + -0.04527560621500015, + -0.9968398213386536, + 0.065273217856884, + -19.804567337036133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2365, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_442266702", + "mask_path": "../../mask/hdr_front_02365.png" + }, + { + "file_path": "../../rgb/hdr_front_02366.png", + "transform_matrix": [ + [ + 0.9807741641998291, + -0.058492694050073624, + -0.18617349863052368, + -22.523061752319336 + ], + [ + 0.18910790979862213, + 0.04939733445644379, + 0.9807131290435791, + -48.199275970458984 + ], + [ + -0.04816807433962822, + -0.997065007686615, + 0.05950905382633209, + -19.807411193847656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2366, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_542267322", + "mask_path": "../../mask/hdr_front_02366.png" + }, + { + "file_path": "../../rgb/hdr_front_02367.png", + "transform_matrix": [ + [ + 0.9807180762290955, + -0.06646319478750229, + -0.1837787628173828, + -22.500751495361328 + ], + [ + 0.18731369078159332, + 0.051525332033634186, + 0.9809479117393494, + -48.315948486328125 + ], + [ + -0.05572765693068504, + -0.9964576363563538, + 0.06298130005598068, + -19.820955276489258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2367, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_642268180", + "mask_path": "../../mask/hdr_front_02367.png" + }, + { + "file_path": "../../rgb/hdr_front_02368.png", + "transform_matrix": [ + [ + 0.9799894690513611, + -0.07041212171316147, + -0.18617938458919525, + -22.479753494262695 + ], + [ + 0.1900400072336197, + 0.052757591009140015, + 0.9803578853607178, + -48.39525604248047 + ], + [ + -0.05920669436454773, + -0.9961219429969788, + 0.06508300453424454, + -19.834136962890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2368, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_742267131", + "mask_path": "../../mask/hdr_front_02368.png" + }, + { + "file_path": "../../rgb/hdr_front_02369.png", + "transform_matrix": [ + [ + 0.9797056317329407, + -0.0668107122182846, + -0.18897946178913116, + -22.45978355407715 + ], + [ + 0.19244058430194855, + 0.04979543387889862, + 0.980044424533844, + -48.46683883666992 + ], + [ + -0.05606713891029358, + -0.9965223670005798, + 0.061641957610845566, + -19.84486198425293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2369, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_842267751", + "mask_path": "../../mask/hdr_front_02369.png" + }, + { + "file_path": "../../rgb/hdr_front_02370.png", + "transform_matrix": [ + [ + 0.9806269407272339, + -0.06575513631105423, + -0.1845187097787857, + -22.435707092285156 + ], + [ + 0.18817171454429626, + 0.05448780581355095, + 0.9806236028671265, + -48.57597732543945 + ], + [ + -0.05442700535058975, + -0.9963470101356506, + 0.06580547243356705, + -19.84897232055664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2370, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_942267656", + "mask_path": "../../mask/hdr_front_02370.png" + }, + { + "file_path": "../../rgb/hdr_front_02371.png", + "transform_matrix": [ + [ + 0.9826481342315674, + -0.06258367747068405, + -0.17460206151008606, + -22.423355102539062 + ], + [ + 0.17813874781131744, + 0.05623019486665726, + 0.9823974967002869, + -48.67394256591797 + ], + [ + -0.05166413635015488, + -0.9964544773101807, + 0.06640306860208511, + -19.8436279296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2371, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_42267560", + "mask_path": "../../mask/hdr_front_02371.png" + }, + { + "file_path": "../../rgb/hdr_front_02372.png", + "transform_matrix": [ + [ + 0.9849323034286499, + -0.058523256331682205, + -0.16273713111877441, + -22.41943359375 + ], + [ + 0.16584090888500214, + 0.05277208983898163, + 0.9847395420074463, + -48.74226379394531 + ], + [ + -0.04904218763113022, + -0.9968902468681335, + 0.06168248504400253, + -19.84600830078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2372, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_142267227", + "mask_path": "../../mask/hdr_front_02372.png" + }, + { + "file_path": "../../rgb/hdr_front_02373.png", + "transform_matrix": [ + [ + 0.9862881302833557, + -0.06192365661263466, + -0.1529746800661087, + -22.403430938720703 + ], + [ + 0.15617635846138, + 0.05064479261636734, + 0.9864299297332764, + -48.84517288208008 + ], + [ + -0.05333597585558891, + -0.9967951774597168, + 0.05962136760354042, + -19.855623245239258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2373, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_242268323", + "mask_path": "../../mask/hdr_front_02373.png" + }, + { + "file_path": "../../rgb/hdr_front_02374.png", + "transform_matrix": [ + [ + 0.9862475395202637, + -0.06861509382724762, + -0.1503591686487198, + -22.384199142456055 + ], + [ + 0.15420623123645782, + 0.05469054356217384, + 0.9865238666534424, + -48.95425796508789 + ], + [ + -0.059467196464538574, + -0.9961429834365845, + 0.06451927870512009, + -19.8697509765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2374, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_342267036", + "mask_path": "../../mask/hdr_front_02374.png" + }, + { + "file_path": "../../rgb/hdr_front_02375.png", + "transform_matrix": [ + [ + 0.9858720302581787, + -0.0703037902712822, + -0.15203173458576202, + -22.369840621948242 + ], + [ + 0.15610921382904053, + 0.056656189262866974, + 0.9861136674880981, + -49.03105926513672 + ], + [ + -0.06071397662162781, + -0.995915412902832, + 0.0668308287858963, + -19.877151489257812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2375, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_442267894", + "mask_path": "../../mask/hdr_front_02375.png" + }, + { + "file_path": "../../rgb/hdr_front_02376.png", + "transform_matrix": [ + [ + 0.9861180186271667, + -0.06473153084516525, + -0.1529087871313095, + -22.352643966674805 + ], + [ + 0.15651339292526245, + 0.05483072251081467, + 0.986152708530426, + -49.125572204589844 + ], + [ + -0.055451080203056335, + -0.9963952302932739, + 0.06420091539621353, + -19.886749267578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2376, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_542267799", + "mask_path": "../../mask/hdr_front_02376.png" + }, + { + "file_path": "../../rgb/hdr_front_02377.png", + "transform_matrix": [ + [ + 0.9874841570854187, + -0.059561628848314285, + -0.14603909850120544, + -22.337583541870117 + ], + [ + 0.1494889110326767, + 0.05827244371175766, + 0.9870447516441345, + -49.247314453125 + ], + [ + -0.05027994140982628, + -0.9965224266052246, + 0.06644692271947861, + -19.891033172607422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2377, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_642267942", + "mask_path": "../../mask/hdr_front_02377.png" + }, + { + "file_path": "../../rgb/hdr_front_02378.png", + "transform_matrix": [ + [ + 0.9894981980323792, + -0.05169165879487991, + -0.13498654961585999, + -22.329795837402344 + ], + [ + 0.13801392912864685, + 0.06031845137476921, + 0.9885919094085693, + -49.337493896484375 + ], + [ + -0.04295977205038071, + -0.9968398809432983, + 0.06681916862726212, + -19.891145706176758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2378, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_742267847", + "mask_path": "../../mask/hdr_front_02378.png" + }, + { + "file_path": "../../rgb/hdr_front_02379.png", + "transform_matrix": [ + [ + 0.9912738800048828, + -0.04751357063651085, + -0.12295746803283691, + -22.322542190551758 + ], + [ + 0.12554840743541718, + 0.05605020374059677, + 0.9905029535293579, + -49.40418243408203 + ], + [ + -0.040170542895793915, + -0.9972968101501465, + 0.061526354402303696, + -19.897842407226562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2379, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_842267036", + "mask_path": "../../mask/hdr_front_02379.png" + }, + { + "file_path": "../../rgb/hdr_front_02380.png", + "transform_matrix": [ + [ + 0.9915429353713989, + -0.05540813133120537, + -0.11735596507787704, + -22.307592391967773 + ], + [ + 0.1204981729388237, + 0.05725092068314552, + 0.9910613894462585, + -49.51797866821289 + ], + [ + -0.04819411784410477, + -0.9968211650848389, + 0.06344333291053772, + -19.910463333129883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2380, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_942266941", + "mask_path": "../../mask/hdr_front_02380.png" + }, + { + "file_path": "../../rgb/hdr_front_02381.png", + "transform_matrix": [ + [ + 0.9910959601402283, + -0.06222580373287201, + -0.11771468818187714, + -22.28873062133789 + ], + [ + 0.12147268652915955, + 0.06051246449351311, + 0.9907485842704773, + -49.62106704711914 + ], + [ + -0.0545269176363945, + -0.9962260127067566, + 0.06753239035606384, + -19.925451278686523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2381, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_42266845", + "mask_path": "../../mask/hdr_front_02381.png" + }, + { + "file_path": "../../rgb/hdr_front_02382.png", + "transform_matrix": [ + [ + 0.9907901883125305, + -0.06203196942806244, + -0.12036089599132538, + -22.270048141479492 + ], + [ + 0.12403801828622818, + 0.05928578972816467, + 0.990504801273346, + -49.69587707519531 + ], + [ + -0.05430725961923599, + -0.9963117837905884, + 0.0664341077208519, + -19.93593406677246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2382, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_142267942", + "mask_path": "../../mask/hdr_front_02382.png" + }, + { + "file_path": "../../rgb/hdr_front_02383.png", + "transform_matrix": [ + [ + 0.9910349249839783, + -0.06182591989636421, + -0.11843667179346085, + -22.255874633789062 + ], + [ + 0.12217529863119125, + 0.06065969169139862, + 0.9906531572341919, + -49.80350112915039 + ], + [ + -0.05406370759010315, + -0.9962419867515564, + 0.06766948103904724, + -19.943992614746094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2383, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_242268085", + "mask_path": "../../mask/hdr_front_02383.png" + }, + { + "file_path": "../../rgb/hdr_front_02384.png", + "transform_matrix": [ + [ + 0.9921972155570984, + -0.05939161404967308, + -0.10962290316820145, + -22.251129150390625 + ], + [ + 0.1131848469376564, + 0.06035125255584717, + 0.9917393326759338, + -49.917152404785156 + ], + [ + -0.05228511244058609, + -0.9964087605476379, + 0.06660259515047073, + -19.937671661376953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2384, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_342268466", + "mask_path": "../../mask/hdr_front_02384.png" + }, + { + "file_path": "../../rgb/hdr_front_02385.png", + "transform_matrix": [ + [ + 0.9937833547592163, + -0.05322650447487831, + -0.09778355807065964, + -22.24365234375 + ], + [ + 0.10076677799224854, + 0.05658799037337303, + 0.9932994842529297, + -49.989768981933594 + ], + [ + -0.04733647406101227, + -0.9969779253005981, + 0.06159966439008713, + -19.93739891052246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2385, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_442268848", + "mask_path": "../../mask/hdr_front_02385.png" + }, + { + "file_path": "../../rgb/hdr_front_02386.png", + "transform_matrix": [ + [ + 0.9948152899742126, + -0.05435486510396004, + -0.08595415204763412, + -22.231693267822266 + ], + [ + 0.08875834941864014, + 0.05146979168057442, + 0.9947224855422974, + -50.07358169555664 + ], + [ + -0.04964395985007286, + -0.9971942901611328, + 0.056027382612228394, + -19.945903778076172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2386, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_542267560", + "mask_path": "../../mask/hdr_front_02386.png" + }, + { + "file_path": "../../rgb/hdr_front_02387.png", + "transform_matrix": [ + [ + 0.9946988224983215, + -0.062317121773958206, + -0.08179615437984467, + -22.222288131713867 + ], + [ + 0.08523836731910706, + 0.05473839491605759, + 0.9948558807373047, + -50.191444396972656 + ], + [ + -0.057519152760505676, + -0.9965542554855347, + 0.05976003035902977, + -19.957529067993164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2387, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_642267465", + "mask_path": "../../mask/hdr_front_02387.png" + }, + { + "file_path": "../../rgb/hdr_front_02388.png", + "transform_matrix": [ + [ + 0.9943447709083557, + -0.06607507169246674, + -0.08314114809036255, + -22.208444595336914 + ], + [ + 0.08695633709430695, + 0.05712667480111122, + 0.9945728778839111, + -50.28055191040039 + ], + [ + -0.060966894030570984, + -0.9961780905723572, + 0.06254925578832626, + -19.970802307128906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2388, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_742267370", + "mask_path": "../../mask/hdr_front_02388.png" + }, + { + "file_path": "../../rgb/hdr_front_02389.png", + "transform_matrix": [ + [ + 0.9943856000900269, + -0.06254909187555313, + -0.08535172790288925, + -22.194185256958008 + ], + [ + 0.08879438042640686, + 0.05449488386511803, + 0.9945580959320068, + -50.36124801635742 + ], + [ + -0.057557474821805954, + -0.9965530633926392, + 0.05974293127655983, + -19.984006881713867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2389, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_842266559", + "mask_path": "../../mask/hdr_front_02389.png" + }, + { + "file_path": "../../rgb/hdr_front_02390.png", + "transform_matrix": [ + [ + 0.9948251247406006, + -0.061429910361766815, + -0.0809275284409523, + -22.187658309936523 + ], + [ + 0.08446743339300156, + 0.0573972687125206, + 0.9947717189788818, + -50.46795654296875 + ], + [ + -0.05646371468901634, + -0.9964597225189209, + 0.06228906661272049, + -19.986839294433594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2390, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_942268133", + "mask_path": "../../mask/hdr_front_02390.png" + }, + { + "file_path": "../../rgb/hdr_front_02391.png", + "transform_matrix": [ + [ + 0.9957178235054016, + -0.058550167828798294, + -0.07153994590044022, + -22.18973731994629 + ], + [ + 0.07492469996213913, + 0.05781346932053566, + 0.9955118894577026, + -50.56175994873047 + ], + [ + -0.05415141582489014, + -0.9966090321540833, + 0.06195274740457535, + -19.979480743408203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2391, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_42267322", + "mask_path": "../../mask/hdr_front_02391.png" + }, + { + "file_path": "../../rgb/hdr_front_02392.png", + "transform_matrix": [ + [ + 0.9967315793037415, + -0.05361679196357727, + -0.06042614206671715, + -22.189699172973633 + ], + [ + 0.06333928555250168, + 0.05440731719136238, + 0.9965078234672546, + -50.62826919555664 + ], + [ + -0.05014193058013916, + -0.9970782995223999, + 0.05762554332613945, + -19.983642578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2392, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_142267704", + "mask_path": "../../mask/hdr_front_02392.png" + }, + { + "file_path": "../../rgb/hdr_front_02393.png", + "transform_matrix": [ + [ + 0.997273325920105, + -0.054446328431367874, + -0.049815259873867035, + -22.18439483642578 + ], + [ + 0.05264963582158089, + 0.05192658305168152, + 0.9972620606422424, + -50.7136116027832 + ], + [ + -0.051710523664951324, + -0.9971655607223511, + 0.054651569575071335, + -19.993244171142578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2393, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_242267608", + "mask_path": "../../mask/hdr_front_02393.png" + }, + { + "file_path": "../../rgb/hdr_front_02394.png", + "transform_matrix": [ + [ + 0.9970972537994385, + -0.0596238449215889, + -0.047352030873298645, + -22.178813934326172 + ], + [ + 0.05078451335430145, + 0.057434018701314926, + 0.997056782245636, + -50.816734313964844 + ], + [ + -0.05672873929142952, + -0.9965673089027405, + 0.060295265167951584, + -20.00200080871582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2394, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_342267036", + "mask_path": "../../mask/hdr_front_02394.png" + }, + { + "file_path": "../../rgb/hdr_front_02395.png", + "transform_matrix": [ + [ + 0.996791422367096, + -0.06277593970298767, + -0.049658533185720444, + -22.173126220703125 + ], + [ + 0.05352026969194412, + 0.06140964850783348, + 0.9966766834259033, + -50.89752960205078 + ], + [ + -0.05951779708266258, + -0.9961366057395935, + 0.06457240134477615, + -20.013267517089844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2395, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_442267894", + "mask_path": "../../mask/hdr_front_02395.png" + }, + { + "file_path": "../../rgb/hdr_front_02396.png", + "transform_matrix": [ + [ + 0.9968221783638, + -0.06039317324757576, + -0.051944829523563385, + -22.163421630859375 + ], + [ + 0.05560638755559921, + 0.060617733746767044, + 0.9966109991073608, + -50.978694915771484 + ], + [ + -0.057039715349674225, + -0.9963324069976807, + 0.06378334760665894, + -20.027156829833984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2396, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_542267560", + "mask_path": "../../mask/hdr_front_02396.png" + }, + { + "file_path": "../../rgb/hdr_front_02397.png", + "transform_matrix": [ + [ + 0.9970194697380066, + -0.05844613537192345, + -0.05036067217588425, + -22.160629272460938 + ], + [ + 0.054133523255586624, + 0.06487341225147247, + 0.9964240789413452, + -51.08447265625 + ], + [ + -0.054970063269138336, + -0.9961804747581482, + 0.0678439512848854, + -20.031173706054688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2397, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_642270803", + "mask_path": "../../mask/hdr_front_02397.png" + }, + { + "file_path": "../../rgb/hdr_front_02398.png", + "transform_matrix": [ + [ + 0.9975563883781433, + -0.05411483347415924, + -0.04419045150279999, + -22.165807723999023 + ], + [ + 0.04775331914424896, + 0.0664195641875267, + 0.9966484308242798, + -51.17708969116211 + ], + [ + -0.05099835246801376, + -0.9963233470916748, + 0.06884142756462097, + -20.025699615478516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2398, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_742267608", + "mask_path": "../../mask/hdr_front_02398.png" + }, + { + "file_path": "../../rgb/hdr_front_02399.png", + "transform_matrix": [ + [ + 0.997955322265625, + -0.050674933940172195, + -0.03895240277051926, + -22.168813705444336 + ], + [ + 0.04211870953440666, + 0.06299330294132233, + 0.9971247911453247, + -51.2393684387207 + ], + [ + -0.048075489699840546, + -0.9967266321182251, + 0.06499885767698288, + -20.026901245117188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2399, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_842267274", + "mask_path": "../../mask/hdr_front_02399.png" + }, + { + "file_path": "../../rgb/hdr_front_02400.png", + "transform_matrix": [ + [ + 0.9978998303413391, + -0.04853402078151703, + -0.04290006309747696, + -22.158815383911133 + ], + [ + 0.04577409848570824, + 0.0597432479262352, + 0.997163712978363, + -51.3131217956543 + ], + [ + -0.045833371579647064, + -0.9970332980155945, + 0.06183938682079315, + -20.03862762451172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2400, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_942267894", + "mask_path": "../../mask/hdr_front_02400.png" + }, + { + "file_path": "../../rgb/hdr_front_02401.png", + "transform_matrix": [ + [ + 0.9967673420906067, + -0.05204051733016968, + -0.06121043860912323, + -22.139741897583008 + ], + [ + 0.06448017060756683, + 0.06366389989852905, + 0.9958861470222473, + -51.405094146728516 + ], + [ + -0.04792953282594681, + -0.996613621711731, + 0.06681367754936218, + -20.047988891601562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2401, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_42268276", + "mask_path": "../../mask/hdr_front_02401.png" + }, + { + "file_path": "../../rgb/hdr_front_02402.png", + "transform_matrix": [ + [ + 0.9950078725814819, + -0.053882963955402374, + -0.08399980515241623, + -22.12116050720215 + ], + [ + 0.0874452143907547, + 0.0651358813047409, + 0.9940375089645386, + -51.46889877319336 + ], + [ + -0.04809028282761574, + -0.9964205622673035, + 0.06952252238988876, + -20.058034896850586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2402, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_142267227", + "mask_path": "../../mask/hdr_front_02402.png" + }, + { + "file_path": "../../rgb/hdr_front_02403.png", + "transform_matrix": [ + [ + 0.9930921792984009, + -0.047232452780008316, + -0.10741113126277924, + -22.101512908935547 + ], + [ + 0.11036448180675507, + 0.06513840705156326, + 0.991754412651062, + -51.524600982666016 + ], + [ + -0.03984639421105385, + -0.9967578053474426, + 0.06990122050046921, + -20.067890167236328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2403, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_242267847", + "mask_path": "../../mask/hdr_front_02403.png" + }, + { + "file_path": "../../rgb/hdr_front_02404.png", + "transform_matrix": [ + [ + 0.9909559488296509, + -0.040090810507535934, + -0.12805821001529694, + -22.079254150390625 + ], + [ + 0.1305229365825653, + 0.06648988276720047, + 0.989213228225708, + -51.61619567871094 + ], + [ + -0.031143784523010254, + -0.9969813227653503, + 0.07112131267786026, + -20.073654174804688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2404, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_342266798", + "mask_path": "../../mask/hdr_front_02404.png" + }, + { + "file_path": "../../rgb/hdr_front_02405.png", + "transform_matrix": [ + [ + 0.9898390173912048, + -0.03470964729785919, + -0.1378907859325409, + -22.063772201538086 + ], + [ + 0.13992807269096375, + 0.06540878862142563, + 0.987998902797699, + -51.7117919921875 + ], + [ + -0.025273822247982025, + -0.9972547292709351, + 0.06960102170705795, + -20.068679809570312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2405, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_442267417", + "mask_path": "../../mask/hdr_front_02405.png" + }, + { + "file_path": "../../rgb/hdr_front_02406.png", + "transform_matrix": [ + [ + 0.9906657338142395, + -0.0280133206397295, + -0.13340406119823456, + -22.05414581298828 + ], + [ + 0.13497807085514069, + 0.06493517011404037, + 0.988718569278717, + -51.77121353149414 + ], + [ + -0.019034672528505325, + -0.9974961876869202, + 0.06811023503541946, + -20.06900405883789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2406, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_542266607", + "mask_path": "../../mask/hdr_front_02406.png" + }, + { + "file_path": "../../rgb/hdr_front_02407.png", + "transform_matrix": [ + [ + 0.9920341372489929, + -0.03402242809534073, + -0.1212877705693245, + -22.04157257080078 + ], + [ + 0.12314077466726303, + 0.05902837961912155, + 0.9906321167945862, + -51.85028076171875 + ], + [ + -0.02654428407549858, + -0.9976763725280762, + 0.06274771690368652, + -20.076126098632812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2407, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_642267704", + "mask_path": "../../mask/hdr_front_02407.png" + }, + { + "file_path": "../../rgb/hdr_front_02408.png", + "transform_matrix": [ + [ + 0.9923207759857178, + -0.04158524051308632, + -0.11649087071418762, + -22.030750274658203 + ], + [ + 0.1188519150018692, + 0.05971935763955116, + 0.9911145567893982, + -51.95748519897461 + ], + [ + -0.034258972853422165, + -0.9973486661911011, + 0.06420323997735977, + -20.088237762451172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2408, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_742267131", + "mask_path": "../../mask/hdr_front_02408.png" + }, + { + "file_path": "../../rgb/hdr_front_02409.png", + "transform_matrix": [ + [ + 0.9919952750205994, + -0.04492678865790367, + -0.11801259219646454, + -22.014122009277344 + ], + [ + 0.12066368013620377, + 0.0617530420422554, + 0.9907708764076233, + -52.028099060058594 + ], + [ + -0.037224508821964264, + -0.9970798492431641, + 0.06667976081371307, + -20.097036361694336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2409, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_842263936", + "mask_path": "../../mask/hdr_front_02409.png" + }, + { + "file_path": "../../rgb/hdr_front_02410.png", + "transform_matrix": [ + [ + 0.991980791091919, + -0.0414218008518219, + -0.11940740793943405, + -21.99249267578125 + ], + [ + 0.12178365886211395, + 0.060581762343645096, + 0.990706205368042, + -52.10010528564453 + ], + [ + -0.03380291163921356, + -0.9973034858703613, + 0.06514044851064682, + -20.113508224487305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2410, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_942267179", + "mask_path": "../../mask/hdr_front_02410.png" + }, + { + "file_path": "../../rgb/hdr_front_02411.png", + "transform_matrix": [ + [ + 0.9923573136329651, + -0.04260149970650673, + -0.11580989509820938, + -21.974599838256836 + ], + [ + 0.11835268884897232, + 0.06300026923418045, + 0.9909710884094238, + -52.20302200317383 + ], + [ + -0.03492079675197601, + -0.9971038699150085, + 0.06756078451871872, + -20.116676330566406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2411, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_42268514", + "mask_path": "../../mask/hdr_front_02411.png" + }, + { + "file_path": "../../rgb/hdr_front_02412.png", + "transform_matrix": [ + [ + 0.9933543801307678, + -0.04261474683880806, + -0.1069161668419838, + -21.968448638916016 + ], + [ + 0.10940296947956085, + 0.061064500361680984, + 0.992120087146759, + -52.29588317871094 + ], + [ + -0.03575016185641289, + -0.9972236752510071, + 0.06532086431980133, + -20.10904884338379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2412, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_142267704", + "mask_path": "../../mask/hdr_front_02412.png" + }, + { + "file_path": "../../rgb/hdr_front_02413.png", + "transform_matrix": [ + [ + 0.9946570992469788, + -0.04019053652882576, + -0.09508907049894333, + -21.964841842651367 + ], + [ + 0.09726634621620178, + 0.056221816688776016, + 0.9936691522598267, + -52.36007308959961 + ], + [ + -0.034590013325214386, + -0.99760901927948, + 0.05983061343431473, + -20.110763549804688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2413, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_242268562", + "mask_path": "../../mask/hdr_front_02413.png" + }, + { + "file_path": "../../rgb/hdr_front_02414.png", + "transform_matrix": [ + [ + 0.995359480381012, + -0.04460353031754494, + -0.08526363223791122, + -21.95186996459961 + ], + [ + 0.08758582919836044, + 0.05299343168735504, + 0.9947464466094971, + -52.45304870605469 + ], + [ + -0.039850786328315735, + -0.9975983500480652, + 0.056654155254364014, + -20.117408752441406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2414, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_342267274", + "mask_path": "../../mask/hdr_front_02414.png" + }, + { + "file_path": "../../rgb/hdr_front_02415.png", + "transform_matrix": [ + [ + 0.9951049089431763, + -0.05287528410553932, + -0.08348968625068665, + -21.93659019470215 + ], + [ + 0.0864468365907669, + 0.056353531777858734, + 0.9946613907814026, + -52.54819869995117 + ], + [ + -0.04788807034492493, + -0.997009813785553, + 0.06064857542514801, + -20.128393173217773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2415, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_442271232", + "mask_path": "../../mask/hdr_front_02415.png" + }, + { + "file_path": "../../rgb/hdr_front_02416.png", + "transform_matrix": [ + [ + 0.9946921467781067, + -0.05677128955721855, + -0.0858164057135582, + -21.92560386657715 + ], + [ + 0.08910856395959854, + 0.05824906751513481, + 0.9943171739578247, + -52.61360168457031 + ], + [ + -0.051449939608573914, + -0.996686577796936, + 0.0629986897110939, + -20.135597229003906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2416, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_542267322", + "mask_path": "../../mask/hdr_front_02416.png" + }, + { + "file_path": "../../rgb/hdr_front_02417.png", + "transform_matrix": [ + [ + 0.9946730732917786, + -0.05366477742791176, + -0.08800971508026123, + -21.91301155090332 + ], + [ + 0.09103251248598099, + 0.05675489455461502, + 0.9942293763160706, + -52.68495559692383 + ], + [ + -0.04836010932922363, + -0.9969448447227478, + 0.061337798833847046, + -20.14550018310547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2417, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_642268657", + "mask_path": "../../mask/hdr_front_02417.png" + }, + { + "file_path": "../../rgb/hdr_front_02418.png", + "transform_matrix": [ + [ + 0.9951199889183044, + -0.05223223939538002, + -0.08371447026729584, + -21.904645919799805 + ], + [ + 0.08680181205272675, + 0.05994011089205742, + 0.9944207668304443, + -52.78402328491211 + ], + [ + -0.046922966837882996, + -0.9968345165252686, + 0.06418144702911377, + -20.148048400878906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2418, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_742268085", + "mask_path": "../../mask/hdr_front_02418.png" + }, + { + "file_path": "../../rgb/hdr_front_02419.png", + "transform_matrix": [ + [ + 0.9960933327674866, + -0.04801490157842636, + -0.07411167025566101, + -21.904787063598633 + ], + [ + 0.07692275941371918, + 0.05961412191390991, + 0.995253324508667, + -52.8753547668457 + ], + [ + -0.043368883430957794, + -0.997066080570221, + 0.06307467073202133, + -20.144420623779297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2419, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_842267513", + "mask_path": "../../mask/hdr_front_02419.png" + }, + { + "file_path": "../../rgb/hdr_front_02420.png", + "transform_matrix": [ + [ + 0.9971269369125366, + -0.04383550211787224, + -0.06177660450339317, + -21.903352737426758 + ], + [ + 0.06415881216526031, + 0.055195681750774384, + 0.9964120984077454, + -52.94389724731445 + ], + [ + -0.040268424898386, + -0.9975128769874573, + 0.05784953385591507, + -20.150474548339844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2420, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_942266941", + "mask_path": "../../mask/hdr_front_02420.png" + }, + { + "file_path": "../../rgb/hdr_front_02421.png", + "transform_matrix": [ + [ + 0.9974377155303955, + -0.04818989336490631, + -0.05287366360425949, + -21.896018981933594 + ], + [ + 0.05536813288927078, + 0.051988620311021805, + 0.9971115589141846, + -53.036014556884766 + ], + [ + -0.04530187323689461, + -0.9974843263626099, + 0.05452360212802887, + -20.153976440429688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2421, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_42267322", + "mask_path": "../../mask/hdr_front_02421.png" + }, + { + "file_path": "../../rgb/hdr_front_02422.png", + "transform_matrix": [ + [ + 0.9971968531608582, + -0.054512135684490204, + -0.051251932978630066, + -21.886621475219727 + ], + [ + 0.05427536368370056, + 0.05551028624176979, + 0.9969818592071533, + -53.12654495239258 + ], + [ + -0.05150260031223297, + -0.9969689249992371, + 0.05831335112452507, + -20.163450241088867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2422, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_142267704", + "mask_path": "../../mask/hdr_front_02422.png" + }, + { + "file_path": "../../rgb/hdr_front_02423.png", + "transform_matrix": [ + [ + 0.997069776058197, + -0.05571756884455681, + -0.052417073398828506, + -21.877470016479492 + ], + [ + 0.05563629791140556, + 0.057888951152563095, + 0.996771514415741, + -53.191200256347656 + ], + [ + -0.0525033138692379, + -0.9967670440673828, + 0.06081923842430115, + -20.1715145111084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2423, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_242269277", + "mask_path": "../../mask/hdr_front_02423.png" + }, + { + "file_path": "../../rgb/hdr_front_02424.png", + "transform_matrix": [ + [ + 0.9972395300865173, + -0.05229046940803528, + -0.05271761491894722, + -21.869291305541992 + ], + [ + 0.05576630309224129, + 0.05866705998778343, + 0.9967187643051147, + -53.259849548339844 + ], + [ + -0.04902610555291176, + -0.9969071745872498, + 0.06142115592956543, + -20.183799743652344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2424, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_342267513", + "mask_path": "../../mask/hdr_front_02424.png" + }, + { + "file_path": "../../rgb/hdr_front_02425.png", + "transform_matrix": [ + [ + 0.9975802302360535, + -0.04988085851073265, + -0.04842962697148323, + -21.866315841674805 + ], + [ + 0.0515485517680645, + 0.06326517462730408, + 0.9966645240783691, + -53.348304748535156 + ], + [ + -0.04665057361125946, + -0.9967494606971741, + 0.06568337976932526, + -20.188098907470703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2425, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_442267417", + "mask_path": "../../mask/hdr_front_02425.png" + }, + { + "file_path": "../../rgb/hdr_front_02426.png", + "transform_matrix": [ + [ + 0.9982073903083801, + -0.04493860527873039, + -0.03952902555465698, + -21.870058059692383 + ], + [ + 0.04238027334213257, + 0.06437333673238754, + 0.9970256090164185, + -53.42550277709961 + ], + [ + -0.042260318994522095, + -0.996913492679596, + 0.06616244465112686, + -20.1821346282959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2426, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_542267322", + "mask_path": "../../mask/hdr_front_02426.png" + }, + { + "file_path": "../../rgb/hdr_front_02427.png", + "transform_matrix": [ + [ + 0.9987761378288269, + -0.04043347015976906, + -0.028482211753726006, + -21.870222091674805 + ], + [ + 0.03099360130727291, + 0.06290783733129501, + 0.9975379705429077, + -53.47808074951172 + ], + [ + -0.038542162626981735, + -0.9972000122070312, + 0.06408403813838959, + -20.182931900024414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2427, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_642267942", + "mask_path": "../../mask/hdr_front_02427.png" + }, + { + "file_path": "../../rgb/hdr_front_02428.png", + "transform_matrix": [ + [ + 0.9989721775054932, + -0.0424685962498188, + -0.015847617760300636, + -21.868579864501953 + ], + [ + 0.018366510048508644, + 0.05959365889430046, + 0.9980538487434387, + -53.54673767089844 + ], + [ + -0.04144151881337166, + -0.9973189830780029, + 0.06031240150332451, + -20.18883514404297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2428, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_742268085", + "mask_path": "../../mask/hdr_front_02428.png" + }, + { + "file_path": "../../rgb/hdr_front_02429.png", + "transform_matrix": [ + [ + 0.9987695217132568, + -0.04812045022845268, + -0.012000144459307194, + -21.867555618286133 + ], + [ + 0.01497640274465084, + 0.06197461858391762, + 0.997965395450592, + -53.63908767700195 + ], + [ + -0.047278836369514465, + -0.9969170689582825, + 0.06261902302503586, + -20.19655418395996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2429, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_842267513", + "mask_path": "../../mask/hdr_front_02429.png" + }, + { + "file_path": "../../rgb/hdr_front_02430.png", + "transform_matrix": [ + [ + 0.998568058013916, + -0.05192844569683075, + -0.01285761408507824, + -21.861284255981445 + ], + [ + 0.016218502074480057, + 0.06482776999473572, + 0.9977646470069885, + -53.703468322753906 + ], + [ + -0.05097883567214012, + -0.9965445399284363, + 0.06557714194059372, + -20.21017074584961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2430, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_942268848", + "mask_path": "../../mask/hdr_front_02430.png" + }, + { + "file_path": "../../rgb/hdr_front_02431.png", + "transform_matrix": [ + [ + 0.9985504150390625, + -0.052021827548742294, + -0.013812447898089886, + -21.857332229614258 + ], + [ + 0.01721944659948349, + 0.06562373042106628, + 0.9976958632469177, + -53.7584114074707 + ], + [ + -0.05099553242325783, + -0.996487557888031, + 0.06642439216375351, + -20.215391159057617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2431, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_42267560", + "mask_path": "../../mask/hdr_front_02431.png" + }, + { + "file_path": "../../rgb/hdr_front_02432.png", + "transform_matrix": [ + [ + 0.9987798929214478, + -0.04777529463171959, + -0.01249800156801939, + -21.85845184326172 + ], + [ + 0.015758205205202103, + 0.06848463416099548, + 0.9975277781486511, + -53.8304557800293 + ], + [ + -0.046801257878541946, + -0.9965076446533203, + 0.06915392726659775, + -20.224456787109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2432, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_142268180", + "mask_path": "../../mask/hdr_front_02432.png" + }, + { + "file_path": "../../rgb/hdr_front_02433.png", + "transform_matrix": [ + [ + 0.9988857507705688, + -0.046905964612960815, + -0.005207980051636696, + -21.86499786376953 + ], + [ + 0.008410866372287273, + 0.06834690272808075, + 0.9976262450218201, + -53.9033203125 + ], + [ + -0.04643866419792175, + -0.9965583682060242, + 0.06866525858640671, + -20.220291137695312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2433, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_242268800", + "mask_path": "../../mask/hdr_front_02433.png" + }, + { + "file_path": "../../rgb/hdr_front_02434.png", + "transform_matrix": [ + [ + 0.9989570379257202, + -0.045432914048433304, + 0.0045487163588404655, + -21.87026596069336 + ], + [ + -0.001534932991489768, + 0.06615061312913895, + 0.9978085160255432, + -53.954345703125 + ], + [ + -0.04563424363732338, + -0.9967748522758484, + 0.06601188331842422, + -20.215673446655273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2434, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_342267513", + "mask_path": "../../mask/hdr_front_02434.png" + }, + { + "file_path": "../../rgb/hdr_front_02436.png", + "transform_matrix": [ + [ + 0.9988347887992859, + -0.040494874119758606, + 0.026251474395394325, + -21.876855850219727 + ], + [ + -0.023517699912190437, + 0.06656820327043533, + 0.997504711151123, + -54.061336517333984 + ], + [ + -0.04214133322238922, + -0.9969598650932312, + 0.06553830206394196, + -20.225553512573242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2436, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_542268753", + "mask_path": "../../mask/hdr_front_02436.png" + }, + { + "file_path": "../../rgb/hdr_front_02437.png", + "transform_matrix": [ + [ + 0.9984747171401978, + -0.0473480187356472, + 0.028399119153618813, + -21.8812198638916 + ], + [ + -0.024942876771092415, + 0.07205396890640259, + 0.9970888495445251, + -54.121543884277344 + ], + [ + -0.049256447702646255, + -0.996276319026947, + 0.07076305896043777, + -20.233243942260742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2437, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_642268180", + "mask_path": "../../mask/hdr_front_02437.png" + }, + { + "file_path": "../../rgb/hdr_front_02440.png", + "transform_matrix": [ + [ + 0.9982298016548157, + -0.05124616622924805, + 0.030184732750058174, + -21.886062622070312 + ], + [ + -0.02625703439116478, + 0.07565885037183762, + 0.9967880845069885, + -54.2872428894043 + ], + [ + -0.053365305066108704, + -0.9958160519599915, + 0.07417934387922287, + -20.250713348388672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2440, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_942267894", + "mask_path": "../../mask/hdr_front_02440.png" + }, + { + "file_path": "../../rgb/hdr_front_02441.png", + "transform_matrix": [ + [ + 0.998110294342041, + -0.04856812208890915, + 0.037641026079654694, + -21.894535064697266 + ], + [ + -0.03393490985035896, + 0.07499753683805466, + 0.9966062307357788, + -54.34843444824219 + ], + [ + -0.05122626945376396, + -0.9960002303123474, + 0.07320766150951385, + -20.24979591369629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2441, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_42267322", + "mask_path": "../../mask/hdr_front_02441.png" + }, + { + "file_path": "../../rgb/hdr_front_02443.png", + "transform_matrix": [ + [ + 0.9972330331802368, + -0.04238953813910484, + 0.061069030314683914, + -21.90834617614746 + ], + [ + -0.05805427208542824, + 0.06903703510761261, + 0.9959235191345215, + -54.43912124633789 + ], + [ + -0.04643275961279869, + -0.9967131018638611, + 0.06638511270284653, + -20.256330490112305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2443, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_242266893", + "mask_path": "../../mask/hdr_front_02443.png" + }, + { + "file_path": "../../rgb/hdr_front_02444.png", + "transform_matrix": [ + [ + 0.9966741800308228, + -0.04731762409210205, + 0.06634467840194702, + -21.916078567504883 + ], + [ + -0.06285867840051651, + 0.07170157134532928, + 0.9954434633255005, + -54.51322937011719 + ], + [ + -0.05185902863740921, + -0.996303141117096, + 0.06848878413438797, + -20.258127212524414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2444, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_342267036", + "mask_path": "../../mask/hdr_front_02444.png" + }, + { + "file_path": "../../rgb/hdr_front_02445.png", + "transform_matrix": [ + [ + 0.9964021444320679, + -0.05112501233816147, + 0.06759445369243622, + -21.91314125061035 + ], + [ + -0.06380441039800644, + 0.07244747132062912, + 0.9953292012214661, + -54.575008392333984 + ], + [ + -0.055783264338970184, + -0.9960610866546631, + 0.06892482191324234, + -20.267457962036133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2445, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_442267179", + "mask_path": "../../mask/hdr_front_02445.png" + }, + { + "file_path": "../../rgb/hdr_front_02446.png", + "transform_matrix": [ + [ + 0.9964290261268616, + -0.05008988082408905, + 0.06797231733798981, + -21.91166877746582 + ], + [ + -0.06436645984649658, + 0.07038957625627518, + 0.9954407215118408, + -54.6256103515625 + ], + [ + -0.054646044969558716, + -0.9962611794471741, + 0.06691411137580872, + -20.274747848510742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2446, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_542265653", + "mask_path": "../../mask/hdr_front_02446.png" + }, + { + "file_path": "../../rgb/hdr_front_02447.png", + "transform_matrix": [ + [ + 0.99667888879776, + -0.04515168443322182, + 0.0677681565284729, + -21.913604736328125 + ], + [ + -0.06449639052152634, + 0.07035373151302338, + 0.9954348206520081, + -54.682003021240234 + ], + [ + -0.04971329867839813, + -0.99649977684021, + 0.06720796227455139, + -20.28760528564453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2447, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_642266511", + "mask_path": "../../mask/hdr_front_02447.png" + }, + { + "file_path": "../../rgb/hdr_front_02448.png", + "transform_matrix": [ + [ + 0.9963498711585999, + -0.044630683958530426, + 0.0727664977312088, + -21.918811798095703 + ], + [ + -0.0694577693939209, + 0.07167506217956543, + 0.9950066804885864, + -54.74000549316406 + ], + [ + -0.04962337017059326, + -0.9964290261268616, + 0.06831350177526474, + -20.28386878967285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2448, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_742266893", + "mask_path": "../../mask/hdr_front_02448.png" + }, + { + "file_path": "../../rgb/hdr_front_02452.png", + "transform_matrix": [ + [ + 0.9940105676651001, + -0.03686779364943504, + 0.10287731140851974, + -21.950634002685547 + ], + [ + -0.10034406185150146, + 0.0649983212351799, + 0.9928274750709534, + -54.92304229736328 + ], + [ + -0.04329020529985428, + -0.997204065322876, + 0.06090955808758736, + -20.28289794921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2452, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639047_142269372", + "mask_path": "../../mask/hdr_front_02452.png" + }, + { + "file_path": "../../rgb/hdr_front_02454.png", + "transform_matrix": [ + [ + 0.9941325187683105, + -0.04072530195116997, + 0.10020949691534042, + -21.959178924560547 + ], + [ + -0.09728290885686874, + 0.06841360777616501, + 0.9929026365280151, + -55.00008010864258 + ], + [ + -0.04729194566607475, + -0.996825635433197, + 0.06405032426118851, + -20.303014755249023 + ], + [ + 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": "1730639047_342267274", + "mask_path": "../../mask/hdr_front_02454.png" + }, + { + "file_path": "../../rgb/hdr_front_02456.png", + "transform_matrix": [ + [ + 0.9935207962989807, + -0.036500073969364166, + 0.10762963443994522, + -21.971721649169922 + ], + [ + -0.10492260009050369, + 0.06937090307474136, + 0.9920579195022583, + -55.10032653808594 + ], + [ + -0.04367654770612717, + -0.9969229698181152, + 0.06509174406528473, + -20.29937171936035 + ], + [ + 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": "1730639047_542267084", + "mask_path": "../../mask/hdr_front_02456.png" + }, + { + "file_path": "../../rgb/hdr_front_02458.png", + "transform_matrix": [ + [ + 0.9915679097175598, + -0.028344087302684784, + 0.1264505386352539, + -21.98594093322754 + ], + [ + -0.1245853453874588, + 0.060006819665431976, + 0.9903927445411682, + -55.16866683959961 + ], + [ + -0.03565966710448265, + -0.9977955222129822, + 0.05596958473324776, + -20.298704147338867 + ], + [ + 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": "1730639047_742267131", + "mask_path": "../../mask/hdr_front_02458.png" + }, + { + "file_path": "../../rgb/hdr_front_02470.png", + "transform_matrix": [ + [ + 0.9771034121513367, + -0.04746014252305031, + 0.2074040025472641, + -22.12774658203125 + ], + [ + -0.20365895330905914, + 0.0734996348619461, + 0.9762791395187378, + -55.647117614746094 + ], + [ + -0.06157846003770828, + -0.99616539478302, + 0.06215106323361397, + -20.329940795898438 + ], + [ + 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": "1730639048_942269563", + "mask_path": "../../mask/hdr_front_02470.png" + }, + { + "file_path": "../../rgb/hdr_front_02473.png", + "transform_matrix": [ + [ + 0.9469215273857117, + -0.03581807017326355, + 0.31946298480033875, + -22.194477081298828 + ], + [ + -0.3166762888431549, + 0.06695067137479782, + 0.9461679458618164, + -55.76384353637695 + ], + [ + -0.05527816712856293, + -0.9971131682395935, + 0.05205430090427399, + -20.3251953125 + ], + [ + 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": "1730639049_242267370", + "mask_path": "../../mask/hdr_front_02473.png" + }, + { + "file_path": "../../rgb/hdr_front_02474.png", + "transform_matrix": [ + [ + 0.9347057938575745, + -0.03861630707979202, + 0.3533182144165039, + -22.212451934814453 + ], + [ + -0.350467711687088, + 0.06526528298854828, + 0.934298038482666, + -55.81193542480469 + ], + [ + -0.059138551354408264, + -0.9971204400062561, + 0.04747007042169571, + -20.338563919067383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2474, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639049_342268228", + "mask_path": "../../mask/hdr_front_02474.png" + }, + { + "file_path": "../../rgb/hdr_front_02476.png", + "transform_matrix": [ + [ + 0.8988208174705505, + -0.0429268442094326, + 0.43620914220809937, + -22.256366729736328 + ], + [ + -0.4331425726413727, + 0.06546686589717865, + 0.8989447355270386, + -55.86854553222656 + ], + [ + -0.06714610010385513, + -0.9969310164451599, + 0.0402495339512825, + -20.354984283447266 + ], + [ + 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": "1730639049_542268276", + "mask_path": "../../mask/hdr_front_02476.png" + }, + { + "file_path": "../../rgb/hdr_front_02478.png", + "transform_matrix": [ + [ + 0.8452182412147522, + -0.029137827455997467, + 0.53362637758255, + -22.324108123779297 + ], + [ + -0.5308154225349426, + 0.07002431154251099, + 0.8445896506309509, + -55.94266128540039 + ], + [ + -0.061976317316293716, + -0.997119665145874, + 0.04371901601552963, + -20.353771209716797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2478, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639049_742267370", + "mask_path": "../../mask/hdr_front_02478.png" + }, + { + "file_path": "../../rgb/hdr_front_02480.png", + "transform_matrix": [ + [ + 0.7775775194168091, + -0.020914588123559952, + 0.6284390687942505, + -22.429332733154297 + ], + [ + -0.6262287497520447, + 0.0643053650856018, + 0.7769829034805298, + -56.021766662597656 + ], + [ + -0.05666227638721466, + -0.9977111220359802, + 0.03690509498119354, + -20.354148864746094 + ], + [ + 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": "1730639049_942268371", + "mask_path": "../../mask/hdr_front_02480.png" + }, + { + "file_path": "../../rgb/hdr_front_02481.png", + "transform_matrix": [ + [ + 0.7448470592498779, + -0.024466564878821373, + 0.6667864918708801, + -22.489904403686523 + ], + [ + -0.6641493439674377, + 0.06881392002105713, + 0.7444261312484741, + -56.067012786865234 + ], + [ + -0.06409774720668793, + -0.9973295331001282, + 0.03500639647245407, + -20.359731674194336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2481, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639050_42267560", + "mask_path": "../../mask/hdr_front_02481.png" + }, + { + "file_path": "../../rgb/hdr_front_02482.png", + "transform_matrix": [ + [ + 0.7120231986045837, + -0.03013172373175621, + 0.7015091180801392, + -22.537633895874023 + ], + [ + -0.6984097361564636, + 0.07267250120639801, + 0.7119989991188049, + -56.097511291503906 + ], + [ + -0.07243417203426361, + -0.9969006180763245, + 0.03070021979510784, + -20.370750427246094 + ], + [ + 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": "1730639050_142267704", + "mask_path": "../../mask/hdr_front_02482.png" + }, + { + "file_path": "../../rgb/hdr_front_02483.png", + "transform_matrix": [ + [ + 0.6753813028335571, + -0.02407880686223507, + 0.7370755076408386, + -22.606740951538086 + ], + [ + -0.7339887619018555, + 0.07503211498260498, + 0.6750041842460632, + -56.13417434692383 + ], + [ + -0.07155762612819672, + -0.9968903660774231, + 0.03300171345472336, + -20.376005172729492 + ], + [ + 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": "1730639050_242267370", + "mask_path": "../../mask/hdr_front_02483.png" + }, + { + "file_path": "../../rgb/hdr_front_02484.png", + "transform_matrix": [ + [ + 0.6312655806541443, + -0.018978940322995186, + 0.7753344774246216, + -22.683391571044922 + ], + [ + -0.7722299695014954, + 0.0772513672709465, + 0.6306291222572327, + -56.16727828979492 + ], + [ + -0.0718642994761467, + -0.9968310594558716, + 0.03411002457141876, + -20.37455177307129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2484, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639050_342267036", + "mask_path": "../../mask/hdr_front_02484.png" + }, + { + "file_path": "../../rgb/hdr_front_02485.png", + "transform_matrix": [ + [ + 0.5808854103088379, + -0.016833065077662468, + 0.8138112425804138, + -22.748022079467773 + ], + [ + -0.8109490275382996, + 0.0743064358830452, + 0.5803794860839844, + -56.181583404541016 + ], + [ + -0.07024097442626953, + -0.9970934391021729, + 0.02951277419924736, + -20.373441696166992 + ], + [ + 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": "1730639050_442267894", + "mask_path": "../../mask/hdr_front_02485.png" + }, + { + "file_path": "../../rgb/hdr_front_02486.png", + "transform_matrix": [ + [ + 0.5226943492889404, + -0.017213352024555206, + 0.8523463606834412, + -22.82670783996582 + ], + [ + -0.8493836522102356, + 0.07516780495643616, + 0.5223955512046814, + -56.20045471191406 + ], + [ + -0.07306119054555893, + -0.9970223307609558, + 0.024669047445058823, + -20.374855041503906 + ], + [ + 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": "1730639050_542268276", + "mask_path": "../../mask/hdr_front_02486.png" + }, + { + "file_path": "../../rgb/hdr_front_02487.png", + "transform_matrix": [ + [ + 0.46570491790771484, + -0.014172005467116833, + 0.8848265409469604, + -22.91802215576172 + ], + [ + -0.8817508816719055, + 0.07737802714109421, + 0.4653254747390747, + -56.22815704345703 + ], + [ + -0.07506073266267776, + -0.9969010949134827, + 0.023539148271083832, + -20.3818416595459 + ], + [ + 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": "1730639050_642267465", + "mask_path": "../../mask/hdr_front_02487.png" + }, + { + "file_path": "../../rgb/hdr_front_02488.png", + "transform_matrix": [ + [ + 0.40785378217697144, + -0.014986095018684864, + 0.9129242897033691, + -22.984216690063477 + ], + [ + -0.9095721244812012, + 0.08048398792743683, + 0.40767741203308105, + -56.24081039428711 + ], + [ + -0.07958526909351349, + -0.9966432452201843, + 0.019194763153791428, + -20.39109230041504 + ], + [ + 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": "1730639050_742268085", + "mask_path": "../../mask/hdr_front_02488.png" + }, + { + "file_path": "../../rgb/hdr_front_02489.png", + "transform_matrix": [ + [ + 0.3455897569656372, + -0.017845606431365013, + 0.9382160305976868, + -23.05251121520996 + ], + [ + -0.9347497820854187, + 0.08138173073530197, + 0.34586089849472046, + -56.23735046386719 + ], + [ + -0.08252574503421783, + -0.9965232610702515, + 0.011443514376878738, + -20.398344039916992 + ], + [ + 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": "1730639050_842268466", + "mask_path": "../../mask/hdr_front_02489.png" + }, + { + "file_path": "../../rgb/hdr_front_02490.png", + "transform_matrix": [ + [ + 0.27646782994270325, + -0.009952251799404621, + 0.9609716534614563, + -23.141271591186523 + ], + [ + -0.9575064778327942, + 0.08261286467313766, + 0.2763264775276184, + -56.23843002319336 + ], + [ + -0.08213868737220764, + -0.9965320229530334, + 0.013310453854501247, + -20.398033142089844 + ], + [ + 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": "1730639050_942268133", + "mask_path": "../../mask/hdr_front_02490.png" + }, + { + "file_path": "../../rgb/hdr_front_02491.png", + "transform_matrix": [ + [ + 0.20288541913032532, + -0.0034270179457962513, + 0.9791964888572693, + -23.213024139404297 + ], + [ + -0.9760795831680298, + 0.07909375429153442, + 0.20251643657684326, + -56.23038864135742 + ], + [ + -0.07814235985279083, + -0.9968613386154175, + 0.012701929546892643, + -20.3939151763916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2491, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639051_42268037", + "mask_path": "../../mask/hdr_front_02491.png" + }, + { + "file_path": "../../rgb/hdr_front_02492.png", + "transform_matrix": [ + [ + 0.12617020308971405, + -0.002394756767898798, + 0.9920057654380798, + -23.27164077758789 + ], + [ + -0.989101231098175, + 0.0761999562382698, + 0.12598474323749542, + -56.20995330810547 + ], + [ + -0.07589248567819595, + -0.9970897436141968, + 0.007245507091283798, + -20.388187408447266 + ], + [ + 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": "1730639051_142268419", + "mask_path": "../../mask/hdr_front_02492.png" + }, + { + "file_path": "../../rgb/hdr_front_02493.png", + "transform_matrix": [ + [ + 0.05691644549369812, + 0.0030080212745815516, + 0.9983745217323303, + -23.360504150390625 + ], + [ + -0.9955523014068604, + 0.07536628842353821, + 0.0565284863114357, + -56.195220947265625 + ], + [ + -0.0750737339258194, + -0.9971513748168945, + 0.007284223567694426, + -20.39775848388672 + ], + [ + 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": "1730639051_242268085", + "mask_path": "../../mask/hdr_front_02493.png" + }, + { + "file_path": "../../rgb/hdr_front_02494.png", + "transform_matrix": [ + [ + -0.0025791991502046585, + 0.0017516199732199311, + 0.9999951720237732, + -23.441577911376953 + ], + [ + -0.9972130656242371, + 0.07455812394618988, + -0.002702621743083, + -56.18406295776367 + ], + [ + -0.07456248998641968, + -0.997215211391449, + 0.0015544380294159055, + -20.40123176574707 + ], + [ + 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": "1730639051_342267990", + "mask_path": "../../mask/hdr_front_02494.png" + }, + { + "file_path": "../../rgb/hdr_front_02495.png", + "transform_matrix": [ + [ + -0.06161784753203392, + 0.002129858825355768, + 0.9980975985527039, + -23.502918243408203 + ], + [ + -0.995166003704071, + 0.07648566365242004, + -0.06160008907318115, + -56.15687942504883 + ], + [ + -0.07647135108709335, + -0.997068464756012, + -0.0025933184660971165, + -20.39684295654297 + ], + [ + 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": "1730639051_442268371", + "mask_path": "../../mask/hdr_front_02495.png" + }, + { + "file_path": "../../rgb/hdr_front_02496.png", + "transform_matrix": [ + [ + -0.12754403054714203, + 0.012336567975580692, + 0.9917562007904053, + -23.56769561767578 + ], + [ + -0.9891367554664612, + 0.07209598273038864, + -0.12810397148132324, + -56.125770568847656 + ], + [ + -0.07308199256658554, + -0.9973214864730835, + 0.0030071428045630455, + -20.402267456054688 + ], + [ + 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": "1730639051_542268037", + "mask_path": "../../mask/hdr_front_02496.png" + }, + { + "file_path": "../../rgb/hdr_front_02497.png", + "transform_matrix": [ + [ + -0.19944027066230774, + 0.018749667331576347, + 0.9797307252883911, + -23.623870849609375 + ], + [ + -0.9774554371833801, + 0.06691594421863556, + -0.20025774836540222, + -56.092567443847656 + ], + [ + -0.06931436061859131, + -0.9975824952125549, + 0.004981229081749916, + -20.40304183959961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2497, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639051_642267942", + "mask_path": "../../mask/hdr_front_02497.png" + }, + { + "file_path": "../../rgb/hdr_front_02498.png", + "transform_matrix": [ + [ + -0.27131468057632446, + 0.02089378982782364, + 0.9622639417648315, + -23.677288055419922 + ], + [ + -0.9601054787635803, + 0.0644657239317894, + -0.2721058428287506, + -56.05248260498047 + ], + [ + -0.06771835684776306, + -0.9977011680603027, + 0.002569745294749737, + -20.401281356811523 + ], + [ + 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": "1730639051_742268323", + "mask_path": "../../mask/hdr_front_02498.png" + }, + { + "file_path": "../../rgb/hdr_front_02499.png", + "transform_matrix": [ + [ + -0.3305032551288605, + 0.023601995781064034, + 0.9435096979141235, + -23.748191833496094 + ], + [ + -0.9416021704673767, + 0.060013674199581146, + -0.33133628964424133, + -56.00974655151367 + ], + [ + -0.0644436776638031, + -0.9979184865951538, + 0.0023889741860330105, + -20.400386810302734 + ], + [ + 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": "1730639051_842267990", + "mask_path": "../../mask/hdr_front_02499.png" + }, + { + "file_path": "../../rgb/hdr_front_02500.png", + "transform_matrix": [ + [ + -0.38290485739707947, + 0.024067852646112442, + 0.9234741926193237, + -23.809385299682617 + ], + [ + -0.9214540719985962, + 0.06106143817305565, + -0.38365861773490906, + -55.96979904174805 + ], + [ + -0.06562250107526779, + -0.997843861579895, + -0.0012033010134473443, + -20.4060001373291 + ], + [ + 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": "1730639051_942267656", + "mask_path": "../../mask/hdr_front_02500.png" + }, + { + "file_path": "../../rgb/hdr_front_02501.png", + "transform_matrix": [ + [ + -0.44006043672561646, + 0.02348467893898487, + 0.8976609706878662, + -23.864381790161133 + ], + [ + -0.8948536515235901, + 0.07171750068664551, + -0.440560519695282, + -55.91389083862305 + ], + [ + -0.07472442090511322, + -0.9971485137939453, + -0.010544686578214169, + -20.394962310791016 + ], + [ + 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": "1730639052_42268037", + "mask_path": "../../mask/hdr_front_02501.png" + }, + { + "file_path": "../../rgb/hdr_front_02502.png", + "transform_matrix": [ + [ + -0.49844199419021606, + 0.01683175563812256, + 0.866759717464447, + -23.917160034179688 + ], + [ + -0.8638926148414612, + 0.07388170063495636, + -0.4982280731201172, + -55.84694290161133 + ], + [ + -0.07242372632026672, + -0.997124969959259, + -0.022284915670752525, + -20.37846565246582 + ], + [ + 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": "1730639052_142267704", + "mask_path": "../../mask/hdr_front_02502.png" + }, + { + "file_path": "../../rgb/hdr_front_02503.png", + "transform_matrix": [ + [ + -0.5482165217399597, + 0.008457396179437637, + 0.836293637752533, + -23.96046257019043 + ], + [ + -0.8338025808334351, + 0.07225022464990616, + -0.5473144054412842, + -55.78652572631836 + ], + [ + -0.06505125761032104, + -0.9973506927490234, + -0.03255697712302208, + -20.374088287353516 + ], + [ + 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": "1730639052_242268085", + "mask_path": "../../mask/hdr_front_02503.png" + }, + { + "file_path": "../../rgb/hdr_front_02504.png", + "transform_matrix": [ + [ + -0.5668290257453918, + -0.04043760523200035, + 0.8228424787521362, + -24.026819229125977 + ], + [ + -0.8233527541160583, + 0.06199267506599426, + -0.5641339421272278, + -55.74768829345703 + ], + [ + -0.02819797582924366, + -0.9972571134567261, + -0.06843365728855133, + -20.35236930847168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2504, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639052_342267274", + "mask_path": "../../mask/hdr_front_02504.png" + }, + { + "file_path": "../../rgb/hdr_front_02505.png", + "transform_matrix": [ + [ + -0.5629763007164001, + -0.0711769163608551, + 0.8234024047851562, + -24.11075210571289 + ], + [ + -0.8262382745742798, + 0.0722128227353096, + -0.558673083782196, + -55.713653564453125 + ], + [ + -0.019695591181516647, + -0.9948462843894958, + -0.09946320205926895, + -20.280885696411133 + ], + [ + 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": "1730639052_442267179", + "mask_path": "../../mask/hdr_front_02505.png" + }, + { + "file_path": "../../rgb/hdr_front_02506.png", + "transform_matrix": [ + [ + -0.5633553266525269, + -0.0801846906542778, + 0.8223145604133606, + -24.172733306884766 + ], + [ + -0.8259736895561218, + 0.07869729399681091, + -0.5581884384155273, + -55.65538787841797 + ], + [ + -0.01995575614273548, + -0.9936685562133789, + -0.11056498438119888, + -20.26560401916504 + ], + [ + 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": "1730639052_542267799", + "mask_path": "../../mask/hdr_front_02506.png" + }, + { + "file_path": "../../rgb/hdr_front_02507.png", + "transform_matrix": [ + [ + -0.5679901838302612, + -0.11637932807207108, + 0.8147656321525574, + -24.217201232910156 + ], + [ + -0.8230071663856506, + 0.07212255895137787, + -0.5634337663650513, + -55.605873107910156 + ], + [ + 0.006809068378061056, + -0.9905827641487122, + -0.13674591481685638, + -20.246767044067383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2507, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639052_642268419", + "mask_path": "../../mask/hdr_front_02507.png" + }, + { + "file_path": "../../rgb/hdr_front_02508.png", + "transform_matrix": [ + [ + -0.5647393465042114, + -0.16235212981700897, + 0.8091422915458679, + -24.28226661682129 + ], + [ + -0.8242141604423523, + 0.06139197573065758, + -0.5629405379295349, + -55.58307647705078 + ], + [ + 0.04171975702047348, + -0.9848212003707886, + -0.16848337650299072, + -20.189769744873047 + ], + [ + 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": "1730639052_742267370", + "mask_path": "../../mask/hdr_front_02508.png" + }, + { + "file_path": "../../rgb/hdr_front_02509.png", + "transform_matrix": [ + [ + -0.5390447378158569, + -0.19325393438339233, + 0.8198071122169495, + -24.35146141052246 + ], + [ + -0.8408499360084534, + 0.06683486700057983, + -0.5371260046958923, + -55.582054138183594 + ], + [ + 0.0490100234746933, + -0.9788698554039001, + -0.1985245645046234, + -20.170995712280273 + ], + [ + 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": "1730639052_842267751", + "mask_path": "../../mask/hdr_front_02509.png" + }, + { + "file_path": "../../rgb/hdr_front_02511.png", + "transform_matrix": [ + [ + -0.4668521583080292, + -0.224884033203125, + 0.855263888835907, + -24.366941452026367 + ], + [ + -0.8823702931404114, + 0.05401784926652908, + -0.46744492650032043, + -55.534339904785156 + ], + [ + 0.05892138183116913, + -0.9728870987892151, + -0.22364933788776398, + -20.180917739868164 + ], + [ + 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": "1730639053_42267799", + "mask_path": "../../mask/hdr_front_02511.png" + }, + { + "file_path": "../../rgb/hdr_front_02513.png", + "transform_matrix": [ + [ + -0.45992305874824524, + -0.17116501927375793, + 0.871305525302887, + -24.319873809814453 + ], + [ + -0.8874479532241821, + 0.055328335613012314, + -0.45757490396499634, + -55.48536682128906 + ], + [ + 0.030112935230135918, + -0.9836875796318054, + -0.1773468255996704, + -20.215959548950195 + ], + [ + 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": "1730639053_242267847", + "mask_path": "../../mask/hdr_front_02513.png" + }, + { + "file_path": "../../rgb/hdr_front_02519.png", + "transform_matrix": [ + [ + -0.4800453186035156, + -0.07067854702472687, + 0.8743917942047119, + -24.316844940185547 + ], + [ + -0.8763911128044128, + 0.08257374912500381, + -0.4744684100151062, + -55.41807174682617 + ], + [ + -0.03866707161068916, + -0.9940755367279053, + -0.10158119350671768, + -20.261138916015625 + ], + [ + 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": "1730639053_842267990", + "mask_path": "../../mask/hdr_front_02519.png" + }, + { + "file_path": "../../rgb/hdr_front_02521.png", + "transform_matrix": [ + [ + -0.4772402048110962, + -0.05150119960308075, + 0.8772624731063843, + -24.375619888305664 + ], + [ + -0.8765268325805664, + 0.0992250069975853, + -0.47101491689682007, + -55.36383056640625 + ], + [ + -0.06278853118419647, + -0.9937314391136169, + -0.0924963504076004, + -20.2722110748291 + ], + [ + 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": "1730639054_42268276", + "mask_path": "../../mask/hdr_front_02521.png" + }, + { + "file_path": "../../rgb/hdr_front_02522.png", + "transform_matrix": [ + [ + -0.47295644879341125, + -0.05243110656738281, + 0.8795244693756104, + -24.43456268310547 + ], + [ + -0.8786090016365051, + 0.10286115854978561, + -0.466332346200943, + -55.31447982788086 + ], + [ + -0.06601858884096146, + -0.9933129549026489, + -0.09471528977155685, + -20.271400451660156 + ], + [ + 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": "1730639054_142268657", + "mask_path": "../../mask/hdr_front_02522.png" + }, + { + "file_path": "../../rgb/hdr_front_02523.png", + "transform_matrix": [ + [ + -0.47198331356048584, + -0.05881822109222412, + 0.8796432614326477, + -24.498046875 + ], + [ + -0.8795890808105469, + 0.09889642894268036, + -0.4653414487838745, + -55.26470947265625 + ], + [ + -0.059623006731271744, + -0.9933580160140991, + -0.09841331839561462, + -20.262746810913086 + ], + [ + 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": "1730639054_242267608", + "mask_path": "../../mask/hdr_front_02523.png" + }, + { + "file_path": "../../rgb/hdr_front_02524.png", + "transform_matrix": [ + [ + -0.4764590561389923, + -0.06795834749937057, + 0.8765662312507629, + -24.544143676757812 + ], + [ + -0.8776140213012695, + 0.09655766934156418, + -0.4695426821708679, + -55.232513427734375 + ], + [ + -0.05272984504699707, + -0.9930046796798706, + -0.10564696788787842, + -20.254600524902344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2524, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639054_342267990", + "mask_path": "../../mask/hdr_front_02524.png" + }, + { + "file_path": "../../rgb/hdr_front_02526.png", + "transform_matrix": [ + [ + -0.4785366654396057, + -0.06788039952516556, + 0.8754398822784424, + -24.67636489868164 + ], + [ + -0.8764771223068237, + 0.09690703451633453, + -0.47158968448638916, + -55.16260528564453 + ], + [ + -0.052824586629867554, + -0.9929760098457336, + -0.10586918890476227, + -20.253705978393555 + ], + [ + 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": "1730639054_542267560", + "mask_path": "../../mask/hdr_front_02526.png" + }, + { + "file_path": "../../rgb/hdr_front_02527.png", + "transform_matrix": [ + [ + -0.47219130396842957, + -0.06063237413764, + 0.8794084191322327, + -24.750200271606445 + ], + [ + -0.8795344233512878, + 0.09892579913139343, + -0.4654383659362793, + -55.132286071777344 + ], + [ + -0.058775532990694046, + -0.9932458996772766, + -0.10004016011953354, + -20.260372161865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2527, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639054_642267465", + "mask_path": "../../mask/hdr_front_02527.png" + }, + { + "file_path": "../../rgb/hdr_front_02528.png", + "transform_matrix": [ + [ + -0.46773064136505127, + -0.05865111202001572, + 0.8819229602813721, + -24.81879234313965 + ], + [ + -0.8818252682685852, + 0.09881312400102615, + -0.4611074924468994, + -55.10542678833008 + ], + [ + -0.06010110303759575, + -0.9933761358261108, + -0.09793795645236969, + -20.257469177246094 + ], + [ + 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": "1730639054_742267370", + "mask_path": "../../mask/hdr_front_02528.png" + }, + { + "file_path": "../../rgb/hdr_front_02529.png", + "transform_matrix": [ + [ + -0.46736228466033936, + -0.054926469922065735, + 0.8823580145835876, + -24.90201187133789 + ], + [ + -0.8828135132789612, + 0.08210168778896332, + -0.46249282360076904, + -55.06511306762695 + ], + [ + -0.04703998565673828, + -0.9951093196868896, + -0.08686107397079468, + -20.253129959106445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2529, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639054_842267751", + "mask_path": "../../mask/hdr_front_02529.png" + }, + { + "file_path": "../../rgb/hdr_front_02530.png", + "transform_matrix": [ + [ + -0.4739684462547302, + -0.059833139181137085, + 0.878506600856781, + -24.975662231445312 + ], + [ + -0.879777729511261, + 0.07373397052288055, + -0.4696323573589325, + -55.016456604003906 + ], + [ + -0.036676205694675446, + -0.9954814910888672, + -0.08758743852376938, + -20.239572525024414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2530, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639054_942267417", + "mask_path": "../../mask/hdr_front_02530.png" + }, + { + "file_path": "../../rgb/hdr_front_02531.png", + "transform_matrix": [ + [ + -0.48077163100242615, + -0.06668190658092499, + 0.8743066787719727, + -25.033958435058594 + ], + [ + -0.8764389753341675, + 0.06691959500312805, + -0.4768402576446533, + -54.98223114013672 + ], + [ + -0.026711637154221535, + -0.9955276250839233, + -0.0906156599521637, + -20.234392166137695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2531, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639055_42267799", + "mask_path": "../../mask/hdr_front_02531.png" + }, + { + "file_path": "../../rgb/hdr_front_02532.png", + "transform_matrix": [ + [ + -0.4860025644302368, + -0.06553944945335388, + 0.8714964985847473, + -25.120014190673828 + ], + [ + -0.8736013174057007, + 0.06489164382219315, + -0.48229628801345825, + -54.94646072387695 + ], + [ + -0.024943402037024498, + -0.9957377910614014, + -0.08879285305738449, + -20.227773666381836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2532, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639055_142268180", + "mask_path": "../../mask/hdr_front_02532.png" + }, + { + "file_path": "../../rgb/hdr_front_02533.png", + "transform_matrix": [ + [ + -0.4839484989643097, + -0.055282238870859146, + 0.873348593711853, + -25.2183895111084 + ], + [ + -0.8746048808097839, + 0.06400273740291595, + -0.48059341311454773, + -54.9024543762207 + ], + [ + -0.029328424483537674, + -0.9964173436164856, + -0.0793241485953331, + -20.230634689331055 + ], + [ + 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": "1730639055_242266893", + "mask_path": "../../mask/hdr_front_02533.png" + }, + { + "file_path": "../../rgb/hdr_front_02534.png", + "transform_matrix": [ + [ + -0.4780553877353668, + -0.04511088505387306, + 0.8771704435348511, + -25.29224395751953 + ], + [ + -0.8776596188545227, + 0.06353702396154404, + -0.4750543534755707, + -54.8692512512207 + ], + [ + -0.03430268540978432, + -0.9969594478607178, + -0.06996621936559677, + -20.23580551147461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2534, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639055_342267513", + "mask_path": "../../mask/hdr_front_02534.png" + }, + { + "file_path": "../../rgb/hdr_front_02535.png", + "transform_matrix": [ + [ + -0.4755057692527771, + -0.04180542007088661, + 0.8787186741828918, + -25.36779022216797 + ], + [ + -0.8789998292922974, + 0.06278037279844284, + -0.47267112135887146, + -54.82974624633789 + ], + [ + -0.035406071692705154, + -0.9971514344215393, + -0.06659937649965286, + -20.236188888549805 + ], + [ + 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": "1730639055_442267656", + "mask_path": "../../mask/hdr_front_02535.png" + }, + { + "file_path": "../../rgb/hdr_left_02357.png", + "transform_matrix": [ + [ + 0.08852243423461914, + -0.04305196553468704, + 0.9951433539390564, + -23.473669052124023 + ], + [ + -0.9942737221717834, + 0.05622175335884094, + 0.09087736904621124, + -45.393836975097656 + ], + [ + -0.05986114963889122, + -0.9974896907806396, + -0.03782854601740837, + -19.548458099365234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2357, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_142267942", + "mask_path": "../../mask/hdr_left_02357.png" + }, + { + "file_path": "../../rgb/hdr_left_02358.png", + "transform_matrix": [ + [ + 0.09722675383090973, + -0.050848785787820816, + 0.9939624071121216, + -23.450815200805664 + ], + [ + -0.9932863116264343, + 0.057941220700740814, + 0.10012475401163101, + -45.456878662109375 + ], + [ + -0.0626826211810112, + -0.9970242381095886, + -0.04487396031618118, + -19.557695388793945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2358, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_242267608", + "mask_path": "../../mask/hdr_left_02358.png" + }, + { + "file_path": "../../rgb/hdr_left_02359.png", + "transform_matrix": [ + [ + 0.10804840922355652, + -0.05329259857535362, + 0.9927161335945129, + -23.427406311035156 + ], + [ + -0.9921383857727051, + 0.0576416440308094, + 0.11107993870973587, + -45.50801467895508 + ], + [ + -0.06314152479171753, + -0.9969139099121094, + -0.046645548194646835, + -19.56867218017578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2359, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_342268466", + "mask_path": "../../mask/hdr_left_02359.png" + }, + { + "file_path": "../../rgb/hdr_left_02360.png", + "transform_matrix": [ + [ + 0.11843244731426239, + -0.05107768997550011, + 0.9916475415229797, + -23.403799057006836 + ], + [ + -0.9909547567367554, + 0.05738949775695801, + 0.12130573391914368, + -45.565486907958984 + ], + [ + -0.06310616433620453, + -0.9970444440841675, + -0.04381889849901199, + -19.577926635742188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2360, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_442267656", + "mask_path": "../../mask/hdr_left_02360.png" + }, + { + "file_path": "../../rgb/hdr_left_02361.png", + "transform_matrix": [ + [ + 0.12574681639671326, + -0.04821746423840523, + 0.9908899068832397, + -23.379215240478516 + ], + [ + -0.9898265600204468, + 0.06092291325330734, + 0.12857644259929657, + -45.64270782470703 + ], + [ + -0.06656752526760101, + -0.9969772696495056, + -0.040066059678792953, + -19.581087112426758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2361, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_542267560", + "mask_path": "../../mask/hdr_left_02361.png" + }, + { + "file_path": "../../rgb/hdr_left_02362.png", + "transform_matrix": [ + [ + 0.1278970092535019, + -0.04207852855324745, + 0.9908943772315979, + -23.355031967163086 + ], + [ + -0.9893959164619446, + 0.06392671912908554, + 0.1304183304309845, + -45.70711135864258 + ], + [ + -0.06883242726325989, + -0.9970670938491821, + -0.03345628082752228, + -19.579547882080078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2362, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_642267704", + "mask_path": "../../mask/hdr_left_02362.png" + }, + { + "file_path": "../../rgb/hdr_left_02363.png", + "transform_matrix": [ + [ + 0.12404380738735199, + -0.03583497181534767, + 0.991629421710968, + -23.33502960205078 + ], + [ + -0.9899859428405762, + 0.06339703500270844, + 0.12612923979759216, + -45.7541618347168 + ], + [ + -0.0673862025141716, + -0.9973448514938354, + -0.027612103149294853, + -19.588415145874023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2363, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_742267847", + "mask_path": "../../mask/hdr_left_02363.png" + }, + { + "file_path": "../../rgb/hdr_left_02364.png", + "transform_matrix": [ + [ + 0.11828295141458511, + -0.03315551578998566, + 0.9924262762069702, + -23.309139251708984 + ], + [ + -0.9910978674888611, + 0.05756431072950363, + 0.12004778534173965, + -45.82878112792969 + ], + [ + -0.061108577996492386, + -0.9977911114692688, + -0.026051480323076248, + -19.592525482177734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2364, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_842266559", + "mask_path": "../../mask/hdr_left_02364.png" + }, + { + "file_path": "../../rgb/hdr_left_02365.png", + "transform_matrix": [ + [ + 0.1218748390674591, + -0.038567908108234406, + 0.9917958378791809, + -23.272043228149414 + ], + [ + -0.9906469583511353, + 0.0570489801466465, + 0.12395209819078445, + -45.91946792602539 + ], + [ + -0.061361510306596756, + -0.9976261854171753, + -0.03125433996319771, + -19.60181999206543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2365, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_942266941", + "mask_path": "../../mask/hdr_left_02365.png" + }, + { + "file_path": "../../rgb/hdr_left_02366.png", + "transform_matrix": [ + [ + 0.1307077258825302, + -0.041623909026384354, + 0.9905467629432678, + -23.244203567504883 + ], + [ + -0.9894349575042725, + 0.057732343673706055, + 0.13298700749874115, + -45.9794807434082 + ], + [ + -0.06272201985120773, + -0.9974640607833862, + -0.03363807871937752, + -19.61532211303711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2366, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_42267084", + "mask_path": "../../mask/hdr_left_02366.png" + }, + { + "file_path": "../../rgb/hdr_left_02367.png", + "transform_matrix": [ + [ + 0.13823087513446808, + -0.03860761970281601, + 0.9896472692489624, + -23.21120262145996 + ], + [ + -0.9884377121925354, + 0.05749337375164032, + 0.1403047889471054, + -46.04175567626953 + ], + [ + -0.062314994633197784, + -0.9975991249084473, + -0.030213866382837296, + -19.621719360351562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2367, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_142266988", + "mask_path": "../../mask/hdr_left_02367.png" + }, + { + "file_path": "../../rgb/hdr_left_02368.png", + "transform_matrix": [ + [ + 0.1374502182006836, + -0.03587690368294716, + 0.9898587465286255, + -23.176685333251953 + ], + [ + -0.98820561170578, + 0.0631418451666832, + 0.13950921595096588, + -46.13175964355469 + ], + [ + -0.06750667095184326, + -0.9973595142364502, + -0.026774892583489418, + -19.630577087402344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2368, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_242267131", + "mask_path": "../../mask/hdr_left_02368.png" + }, + { + "file_path": "../../rgb/hdr_left_02369.png", + "transform_matrix": [ + [ + 0.12982003390789032, + -0.03284906595945358, + 0.9909932017326355, + -23.148229598999023 + ], + [ + -0.9891366958618164, + 0.06521828472614288, + 0.13173866271972656, + -46.21488952636719 + ], + [ + -0.0689583569765091, + -0.9973302483558655, + -0.0240255668759346, + -19.633819580078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2369, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_342268943", + "mask_path": "../../mask/hdr_left_02369.png" + }, + { + "file_path": "../../rgb/hdr_left_02370.png", + "transform_matrix": [ + [ + 0.11850417405366898, + -0.028488220646977425, + 0.9925447702407837, + -23.12497901916504 + ], + [ + -0.9907512068748474, + 0.06314645707607269, + 0.12010248005390167, + -46.27581024169922 + ], + [ + -0.0660971850156784, + -0.9975975751876831, + -0.02074161358177662, + -19.638151168823242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2370, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_442268133", + "mask_path": "../../mask/hdr_left_02370.png" + }, + { + "file_path": "../../rgb/hdr_left_02371.png", + "transform_matrix": [ + [ + 0.1070619598031044, + -0.0299187321215868, + 0.9938020706176758, + -23.09255599975586 + ], + [ + -0.9923262596130371, + 0.05896999314427376, + 0.10867829620838165, + -46.37578201293945 + ], + [ + -0.06185601279139519, + -0.9978113770484924, + -0.023375699296593666, + -19.650115966796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2371, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_542267560", + "mask_path": "../../mask/hdr_left_02371.png" + }, + { + "file_path": "../../rgb/hdr_left_02372.png", + "transform_matrix": [ + [ + 0.10435468703508377, + -0.04124794155359268, + 0.9936844706535339, + -23.050823211669922 + ], + [ + -0.9924833178520203, + 0.05990536883473396, + 0.10671523213386536, + -46.48368835449219 + ], + [ + -0.06392881274223328, + -0.9973514676094055, + -0.03468649089336395, + -19.666397094726562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2372, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_642268657", + "mask_path": "../../mask/hdr_left_02372.png" + }, + { + "file_path": "../../rgb/hdr_left_02373.png", + "transform_matrix": [ + [ + 0.10705883055925369, + -0.04739769175648689, + 0.9931222200393677, + -23.022459030151367 + ], + [ + -0.9920392036437988, + 0.0615212582051754, + 0.10987822711467743, + -46.55351638793945 + ], + [ + -0.06630610674619675, + -0.9969797730445862, + -0.04043396934866905, + -19.67621612548828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2373, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_742267131", + "mask_path": "../../mask/hdr_left_02373.png" + }, + { + "file_path": "../../rgb/hdr_left_02374.png", + "transform_matrix": [ + [ + 0.1080438420176506, + -0.0450347401201725, + 0.9931255578994751, + -22.995420455932617 + ], + [ + -0.9919115900993347, + 0.06205827742815018, + 0.11072592437267303, + -46.63427734375 + ], + [ + -0.0666181668639183, + -0.9970560073852539, + -0.03796546906232834, + -19.688636779785156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2374, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_842267036", + "mask_path": "../../mask/hdr_left_02374.png" + }, + { + "file_path": "../../rgb/hdr_left_02375.png", + "transform_matrix": [ + [ + 0.10203433781862259, + -0.04591614380478859, + 0.9937206506729126, + -22.966781616210938 + ], + [ + -0.9923296570777893, + 0.06538467854261398, + 0.10491274297237396, + -46.74089813232422 + ], + [ + -0.0697912871837616, + -0.9968031644821167, + -0.038892462849617004, + -19.692947387695312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2375, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_942267417", + "mask_path": "../../mask/hdr_left_02375.png" + }, + { + "file_path": "../../rgb/hdr_left_02376.png", + "transform_matrix": [ + [ + 0.09219807386398315, + -0.04324772581458092, + 0.9948011040687561, + -22.949848175048828 + ], + [ + -0.9932475090026855, + 0.06665892153978348, + 0.0949520468711853, + -46.819576263427734 + ], + [ + -0.0704188272356987, + -0.9968381524085999, + -0.03680986911058426, + -19.692873001098633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2376, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_42267322", + "mask_path": "../../mask/hdr_left_02376.png" + }, + { + "file_path": "../../rgb/hdr_left_02377.png", + "transform_matrix": [ + [ + 0.07984603941440582, + -0.040384430438280106, + 0.9959887266159058, + -22.937158584594727 + ], + [ + -0.9946223497390747, + 0.06289064139127731, + 0.082286536693573, + -46.8802375793457 + ], + [ + -0.06596145778894424, + -0.9972030520439148, + -0.03514568507671356, + -19.695350646972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2377, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_142267227", + "mask_path": "../../mask/hdr_left_02377.png" + }, + { + "file_path": "../../rgb/hdr_left_02378.png", + "transform_matrix": [ + [ + 0.07279326766729355, + -0.04682117700576782, + 0.996247410774231, + -22.909212112426758 + ], + [ + -0.9952555894851685, + 0.0612458735704422, + 0.07559920847415924, + -46.98517608642578 + ], + [ + -0.06455568969249725, + -0.9970239400863647, + -0.04214073717594147, + -19.709245681762695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2378, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_242268085", + "mask_path": "../../mask/hdr_left_02378.png" + }, + { + "file_path": "../../rgb/hdr_left_02379.png", + "transform_matrix": [ + [ + 0.07270441949367523, + -0.055501788854599, + 0.9958080053329468, + -22.88032341003418 + ], + [ + -0.9952327013015747, + 0.06104089692234993, + 0.07606460154056549, + -47.08040237426758 + ], + [ + -0.06500672549009323, + -0.9965909719467163, + -0.05079924687743187, + -19.722068786621094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2379, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_342267990", + "mask_path": "../../mask/hdr_left_02379.png" + }, + { + "file_path": "../../rgb/hdr_left_02380.png", + "transform_matrix": [ + [ + 0.07495296746492386, + -0.05833213031291962, + 0.9954794049263, + -22.8571720123291 + ], + [ + -0.9951584339141846, + 0.05926935002207756, + 0.0784018486738205, + -47.14886474609375 + ], + [ + -0.06357476115226746, + -0.9965363144874573, + -0.053607285022735596, + -19.732351303100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2380, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_442268610", + "mask_path": "../../mask/hdr_left_02380.png" + }, + { + "file_path": "../../rgb/hdr_left_02381.png", + "transform_matrix": [ + [ + 0.07480861991643906, + -0.05385570600628853, + 0.9957425594329834, + -22.834251403808594 + ], + [ + -0.9952075481414795, + 0.05902557447552681, + 0.07796090841293335, + -47.24140548706055 + ], + [ + -0.06297291070222855, + -0.9968026876449585, + -0.0491819866001606, + -19.747665405273438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2381, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_542268037", + "mask_path": "../../mask/hdr_left_02381.png" + }, + { + "file_path": "../../rgb/hdr_left_02382.png", + "transform_matrix": [ + [ + 0.06674441695213318, + -0.05030249431729317, + 0.9965013265609741, + -22.814529418945312 + ], + [ + -0.9956865906715393, + 0.061150599271059036, + 0.06977668404579163, + -47.34943771362305 + ], + [ + -0.0644465908408165, + -0.9968602061271667, + -0.046004053205251694, + -19.746746063232422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2382, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_642267227", + "mask_path": "../../mask/hdr_left_02382.png" + }, + { + "file_path": "../../rgb/hdr_left_02383.png", + "transform_matrix": [ + [ + 0.055021416395902634, + -0.045123983174562454, + 0.9974650740623474, + -22.803197860717773 + ], + [ + -0.9964667558670044, + 0.06100413575768471, + 0.05772612616419792, + -47.42449188232422 + ], + [ + -0.06345432251691818, + -0.9971171021461487, + -0.041608016937971115, + -19.744064331054688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2383, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_742267131", + "mask_path": "../../mask/hdr_left_02383.png" + }, + { + "file_path": "../../rgb/hdr_left_02384.png", + "transform_matrix": [ + [ + 0.04284503683447838, + -0.043697383254766464, + 0.9981256723403931, + -22.79188346862793 + ], + [ + -0.9974420070648193, + 0.05534249544143677, + 0.04523858428001404, + -47.49405288696289 + ], + [ + -0.05721557140350342, + -0.9975108504295349, + -0.04121445491909981, + -19.75313949584961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2384, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_842267513", + "mask_path": "../../mask/hdr_left_02384.png" + }, + { + "file_path": "../../rgb/hdr_left_02385.png", + "transform_matrix": [ + [ + 0.036460429430007935, + -0.04929731413722038, + 0.9981184005737305, + -22.763978958129883 + ], + [ + -0.9978107810020447, + 0.053348854184150696, + 0.039084117859601974, + -47.60020065307617 + ], + [ + -0.05517520755529404, + -0.9973583817481995, + -0.04724426567554474, + -19.76103401184082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2385, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_942268133", + "mask_path": "../../mask/hdr_left_02385.png" + }, + { + "file_path": "../../rgb/hdr_left_02386.png", + "transform_matrix": [ + [ + 0.03634115681052208, + -0.055453911423683167, + 0.9977996945381165, + -22.735946655273438 + ], + [ + -0.9976547956466675, + 0.05593780800700188, + 0.0394447036087513, + -47.69074249267578 + ], + [ + -0.058002080768346786, + -0.9968931674957275, + -0.05329100415110588, + -19.771286010742188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2386, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_42268753", + "mask_path": "../../mask/hdr_left_02386.png" + }, + { + "file_path": "../../rgb/hdr_left_02387.png", + "transform_matrix": [ + [ + 0.039268609136343, + -0.054554834961891174, + 0.997738242149353, + -22.711029052734375 + ], + [ + -0.9975048303604126, + 0.056486230343580246, + 0.0423479899764061, + -47.76696014404297 + ], + [ + -0.05866875872015953, + -0.9969117641448975, + -0.0522005632519722, + -19.791051864624023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2387, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_142267942", + "mask_path": "../../mask/hdr_left_02387.png" + }, + { + "file_path": "../../rgb/hdr_left_02388.png", + "transform_matrix": [ + [ + 0.03736869990825653, + -0.054060790687799454, + 0.9978381395339966, + -22.688251495361328 + ], + [ + -0.9974350333213806, + 0.0589844211935997, + 0.04054926708340645, + -47.868106842041016 + ], + [ + -0.06104901805520058, + -0.9967940449714661, + -0.05171794444322586, + -19.796775817871094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2388, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_242267370", + "mask_path": "../../mask/hdr_left_02388.png" + }, + { + "file_path": "../../rgb/hdr_left_02389.png", + "transform_matrix": [ + [ + 0.028206845745444298, + -0.05069238692522049, + 0.9983158707618713, + -22.671327590942383 + ], + [ + -0.9976725578308105, + 0.060595083981752396, + 0.03126557543873787, + -47.97481155395508 + ], + [ + -0.062077950686216354, + -0.9968744516372681, + -0.04886520653963089, + -19.790359497070312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2389, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_342267274", + "mask_path": "../../mask/hdr_left_02389.png" + }, + { + "file_path": "../../rgb/hdr_left_02390.png", + "transform_matrix": [ + [ + 0.01668637990951538, + -0.044723622500896454, + 0.9988600015640259, + -22.658401489257812 + ], + [ + -0.9980761408805847, + 0.05891456454992294, + 0.01931115984916687, + -48.04939270019531 + ], + [ + -0.05971106141805649, + -0.9972607493400574, + -0.043654508888721466, + -19.795888900756836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2390, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_442266702", + "mask_path": "../../mask/hdr_left_02390.png" + }, + { + "file_path": "../../rgb/hdr_left_02391.png", + "transform_matrix": [ + [ + 0.0053158351220190525, + -0.04580151289701462, + 0.9989364147186279, + -22.638463973999023 + ], + [ + -0.9985526204109192, + 0.05322083458304405, + 0.007753985933959484, + -48.14112091064453 + ], + [ + -0.053519364446401596, + -0.9975318908691406, + -0.0454523004591465, + -19.798891067504883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2391, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_542267322", + "mask_path": "../../mask/hdr_left_02391.png" + }, + { + "file_path": "../../rgb/hdr_left_02392.png", + "transform_matrix": [ + [ + 0.0029411606956273317, + -0.05376879498362541, + 0.9985490441322327, + -22.615968704223633 + ], + [ + -0.9984508156776428, + 0.05532529577612877, + 0.0059199705719947815, + -48.25758743286133 + ], + [ + -0.05556333437561989, + -0.9970195889472961, + -0.05352276936173439, + -19.811384201049805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2392, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_642268180", + "mask_path": "../../mask/hdr_left_02392.png" + }, + { + "file_path": "../../rgb/hdr_left_02393.png", + "transform_matrix": [ + [ + 0.0054192915558815, + -0.05773025006055832, + 0.9983174800872803, + -22.595090866088867 + ], + [ + -0.9983595013618469, + 0.05659261345863342, + 0.00869216863065958, + -48.337223052978516 + ], + [ + -0.056999191641807556, + -0.9967269897460938, + -0.05732885003089905, + -19.82404136657715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2393, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_742267131", + "mask_path": "../../mask/hdr_left_02393.png" + }, + { + "file_path": "../../rgb/hdr_left_02394.png", + "transform_matrix": [ + [ + 0.00823787972331047, + -0.05413670837879181, + 0.9984996318817139, + -22.575307846069336 + ], + [ + -0.9984968900680542, + 0.05366195738315582, + 0.011147304438054562, + -48.40907669067383 + ], + [ + -0.054184913635253906, + -0.9970906376838684, + -0.05361326411366463, + -19.83536148071289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2394, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_842267751", + "mask_path": "../../mask/hdr_left_02394.png" + }, + { + "file_path": "../../rgb/hdr_left_02395.png", + "transform_matrix": [ + [ + 0.003688024589791894, + -0.05306301265954971, + 0.9985843300819397, + -22.55097198486328 + ], + [ + -0.9982761740684509, + 0.05829838663339615, + 0.006784763652831316, + -48.51772689819336 + ], + [ + -0.05857587978243828, + -0.9968879818916321, + -0.052756525576114655, + -19.839311599731445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2395, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_942267656", + "mask_path": "../../mask/hdr_left_02395.png" + }, + { + "file_path": "../../rgb/hdr_left_02396.png", + "transform_matrix": [ + [ + -0.006418772041797638, + -0.049851689487695694, + 0.9987359046936035, + -22.538040161132812 + ], + [ + -0.9981978535652161, + 0.05991067364811897, + -0.0034249122254550457, + -48.61452102661133 + ], + [ + -0.05966420844197273, + -0.9969581961631775, + -0.050146400928497314, + -19.834203720092773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2396, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_42267560", + "mask_path": "../../mask/hdr_left_02396.png" + }, + { + "file_path": "../../rgb/hdr_left_02397.png", + "transform_matrix": [ + [ + -0.018485985696315765, + -0.0457453615963459, + 0.9987820386886597, + -22.533411026000977 + ], + [ + -0.9982876181602478, + 0.05629381164908409, + -0.01589852012693882, + -48.681400299072266 + ], + [ + -0.05549795925617218, + -0.9973657727241516, + -0.046707671135663986, + -19.83722686767578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2397, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_142267227", + "mask_path": "../../mask/hdr_left_02397.png" + }, + { + "file_path": "../../rgb/hdr_left_02398.png", + "transform_matrix": [ + [ + -0.028345191851258278, + -0.04911430552601814, + 0.9983909130096436, + -22.516780853271484 + ], + [ + -0.9982084035873413, + 0.05404149740934372, + -0.0256815068423748, + -48.78318405151367 + ], + [ + -0.0526932068169117, + -0.9973301291465759, + -0.050558120012283325, + -19.8465633392334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2398, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_242268323", + "mask_path": "../../mask/hdr_left_02398.png" + }, + { + "file_path": "../../rgb/hdr_left_02399.png", + "transform_matrix": [ + [ + -0.030935022979974747, + -0.055802132934331894, + 0.9979625344276428, + -22.497344970703125 + ], + [ + -0.9979289770126343, + 0.05806102976202965, + -0.02768743224442005, + -48.89205551147461 + ], + [ + -0.0563976988196373, + -0.9967522621154785, + -0.057482678443193436, + -19.85967445373535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2399, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_342267036", + "mask_path": "../../mask/hdr_left_02399.png" + }, + { + "file_path": "../../rgb/hdr_left_02400.png", + "transform_matrix": [ + [ + -0.029228420928120613, + -0.057497911155223846, + 0.997917652130127, + -22.483081817626953 + ], + [ + -0.997862696647644, + 0.060051050037145615, + -0.025766775012016296, + -48.969085693359375 + ], + [ + -0.058444470167160034, + -0.996537983417511, + -0.05913020670413971, + -19.866764068603516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2400, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_442267894", + "mask_path": "../../mask/hdr_left_02400.png" + }, + { + "file_path": "../../rgb/hdr_left_02401.png", + "transform_matrix": [ + [ + -0.028389640152454376, + -0.05192409083247185, + 0.9982474446296692, + -22.465972900390625 + ], + [ + -0.997981071472168, + 0.05823113024234772, + -0.025353161618113518, + -49.063636779785156 + ], + [ + -0.05681263655424118, + -0.9969519376754761, + -0.05347242206335068, + -19.87710952758789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2401, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_542267799", + "mask_path": "../../mask/hdr_left_02401.png" + }, + { + "file_path": "../../rgb/hdr_left_02402.png", + "transform_matrix": [ + [ + -0.035373836755752563, + -0.04672728106379509, + 0.9982811212539673, + -22.45050621032715 + ], + [ + -0.9975738525390625, + 0.061581090092659, + -0.032466284930706024, + -49.18458557128906 + ], + [ + -0.05995817482471466, + -0.9970077872276306, + -0.0487922728061676, + -19.881746292114258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2402, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_642267942", + "mask_path": "../../mask/hdr_left_02402.png" + }, + { + "file_path": "../../rgb/hdr_left_02403.png", + "transform_matrix": [ + [ + -0.04657898098230362, + -0.038816411048173904, + 0.998160183429718, + -22.442039489746094 + ], + [ + -0.9970102310180664, + 0.06347763538360596, + -0.04405680671334267, + -49.273460388183594 + ], + [ + -0.06165070831775665, + -0.9972281455993652, + -0.04165708273649216, + -19.88258171081543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2403, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_742267847", + "mask_path": "../../mask/hdr_left_02403.png" + }, + { + "file_path": "../../rgb/hdr_left_02404.png", + "transform_matrix": [ + [ + -0.0587151013314724, + -0.03459891304373741, + 0.9976750016212463, + -22.43401336669922 + ], + [ + -0.9966488480567932, + 0.05904790386557579, + -0.0566069632768631, + -49.338722229003906 + ], + [ + -0.05695207417011261, + -0.99765545129776, + -0.03794997185468674, + -19.889982223510742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2404, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_842267036", + "mask_path": "../../mask/hdr_left_02404.png" + }, + { + "file_path": "../../rgb/hdr_left_02405.png", + "transform_matrix": [ + [ + -0.06430211663246155, + -0.042481616139411926, + 0.9970257878303528, + -22.418659210205078 + ], + [ + -0.9962792992591858, + 0.06018264964222908, + -0.06168969348073006, + -49.45195770263672 + ], + [ + -0.0573829747736454, + -0.9972830414772034, + -0.04619342461228371, + -19.901628494262695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2405, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_942266941", + "mask_path": "../../mask/hdr_left_02405.png" + }, + { + "file_path": "../../rgb/hdr_left_02406.png", + "transform_matrix": [ + [ + -0.06389380246400833, + -0.04930507391691208, + 0.9967380166053772, + -22.3997859954834 + ], + [ + -0.9961358904838562, + 0.06345633417367935, + -0.06071624532341957, + -49.55516815185547 + ], + [ + -0.06025571748614311, + -0.9967659711837769, + -0.053169019520282745, + -19.9156436920166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2406, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_42266845", + "mask_path": "../../mask/hdr_left_02406.png" + }, + { + "file_path": "../../rgb/hdr_left_02407.png", + "transform_matrix": [ + [ + -0.06123526394367218, + -0.04911888763308525, + 0.9969139695167542, + -22.381282806396484 + ], + [ + -0.9963652491569519, + 0.062263280153274536, + -0.05813378840684891, + -49.6302604675293 + ], + [ + -0.05921567976474762, + -0.9968503713607788, + -0.05275304988026619, + -19.92623519897461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2407, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_142267942", + "mask_path": "../../mask/hdr_left_02407.png" + }, + { + "file_path": "../../rgb/hdr_left_02408.png", + "transform_matrix": [ + [ + -0.06317121535539627, + -0.04890701174736023, + 0.9968035817146301, + -22.366981506347656 + ], + [ + -0.9961687326431274, + 0.0636126920580864, + -0.06000991538167, + -49.73767852783203 + ], + [ + -0.0604744553565979, + -0.9967756271362305, + -0.052738118916749954, + -19.934221267700195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2408, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_242268085", + "mask_path": "../../mask/hdr_left_02408.png" + }, + { + "file_path": "../../rgb/hdr_left_02409.png", + "transform_matrix": [ + [ + -0.07204063981771469, + -0.04644560441374779, + 0.9963196516036987, + -22.361656188964844 + ], + [ + -0.9956104159355164, + 0.0631871446967125, + -0.06904375553131104, + -49.85032653808594 + ], + [ + -0.05974782630801201, + -0.9969204068183899, + -0.050793763250112534, + -19.92816734313965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2409, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_342268466", + "mask_path": "../../mask/hdr_left_02409.png" + }, + { + "file_path": "../../rgb/hdr_left_02410.png", + "transform_matrix": [ + [ + -0.08394843339920044, + -0.04024402052164078, + 0.9956570863723755, + -22.3533992767334 + ], + [ + -0.9949105978012085, + 0.059262506663799286, + -0.08149012178182602, + -49.921546936035156 + ], + [ + -0.055725641548633575, + -0.9974310398101807, + -0.045014187693595886, + -19.928796768188477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2410, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_442268848", + "mask_path": "../../mask/hdr_left_02410.png" + }, + { + "file_path": "../../rgb/hdr_left_02411.png", + "transform_matrix": [ + [ + -0.09577330946922302, + -0.041342590004205704, + 0.9945442080497742, + -22.340612411499023 + ], + [ + -0.99415522813797, + 0.053988270461559296, + -0.0934915691614151, + -50.00402069091797 + ], + [ + -0.049828529357910156, + -0.9976853728294373, + -0.04627157747745514, + -19.9375057220459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2411, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_542267560", + "mask_path": "../../mask/hdr_left_02411.png" + }, + { + "file_path": "../../rgb/hdr_left_02412.png", + "transform_matrix": [ + [ + -0.09987115859985352, + -0.04930002614855766, + 0.9937782287597656, + -22.330875396728516 + ], + [ + -0.9936368465423584, + 0.057210326194763184, + -0.09701883047819138, + -50.12150573730469 + ], + [ + -0.05207134783267975, + -0.9971442222595215, + -0.05469997972249985, + -19.948028564453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2412, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_642267465", + "mask_path": "../../mask/hdr_left_02412.png" + }, + { + "file_path": "../../rgb/hdr_left_02413.png", + "transform_matrix": [ + [ + -0.09849830716848373, + -0.053064148873090744, + 0.9937214255332947, + -22.317106246948242 + ], + [ + -0.9936606884002686, + 0.059620678424835205, + -0.09530854970216751, + -50.2108154296875 + ], + [ + -0.05418887361884117, + -0.9968097805976868, + -0.0586002916097641, + -19.96072769165039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2413, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_742267370", + "mask_path": "../../mask/hdr_left_02413.png" + }, + { + "file_path": "../../rgb/hdr_left_02414.png", + "transform_matrix": [ + [ + -0.09631850570440292, + -0.04954094439744949, + 0.9941169023513794, + -22.303022384643555 + ], + [ + -0.9939887523651123, + 0.05701334774494171, + -0.09346488118171692, + -50.29170227050781 + ], + [ + -0.05204759165644646, + -0.997143566608429, + -0.05473458021879196, + -19.974502563476562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2414, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_842266559", + "mask_path": "../../mask/hdr_left_02414.png" + }, + { + "file_path": "../../rgb/hdr_left_02415.png", + "transform_matrix": [ + [ + -0.10074497759342194, + -0.048410046845674515, + 0.993733823299408, + -22.29619026184082 + ], + [ + -0.9934046268463135, + 0.05985868349671364, + -0.09779557585716248, + -50.397945404052734 + ], + [ + -0.054749298840761185, + -0.9970322847366333, + -0.0541212297976017, + -19.97724723815918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2415, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_942268133", + "mask_path": "../../mask/hdr_left_02415.png" + }, + { + "file_path": "../../rgb/hdr_left_02416.png", + "transform_matrix": [ + [ + -0.1101282387971878, + -0.04550602287054062, + 0.9928750991821289, + -22.2976131439209 + ], + [ + -0.9924034476280212, + 0.06014995649456978, + -0.10731907933950424, + -50.4907112121582 + ], + [ + -0.05483772233128548, + -0.9971516132354736, + -0.05178454518318176, + -19.970151901245117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2416, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_42267322", + "mask_path": "../../mask/hdr_left_02416.png" + }, + { + "file_path": "../../rgb/hdr_left_02417.png", + "transform_matrix": [ + [ + -0.12122347950935364, + -0.040544603019952774, + 0.9917967915534973, + -22.296796798706055 + ], + [ + -0.9912981986999512, + 0.05659261718392372, + -0.118849016726017, + -50.55595779418945 + ], + [ + -0.05130968987941742, + -0.9975737929344177, + -0.04705214127898216, + -19.975067138671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2417, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_142267704", + "mask_path": "../../mask/hdr_left_02417.png" + }, + { + "file_path": "../../rgb/hdr_left_02418.png", + "transform_matrix": [ + [ + -0.1317601054906845, + -0.041352495551109314, + 0.9904187321662903, + -22.29071044921875 + ], + [ + -0.9901138544082642, + 0.05397209897637367, + -0.12946607172489166, + -50.64014434814453 + ], + [ + -0.04810122400522232, + -0.9976857900619507, + -0.04805504530668259, + -19.984745025634766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2418, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_242267608", + "mask_path": "../../mask/hdr_left_02418.png" + }, + { + "file_path": "../../rgb/hdr_left_02419.png", + "transform_matrix": [ + [ + -0.1341700255870819, + -0.04652853310108185, + 0.9898654222488403, + -22.284921646118164 + ], + [ + -0.9895538091659546, + 0.05945416912436485, + -0.1313331425189972, + -50.74308395385742 + ], + [ + -0.052740879356861115, + -0.9971461296081543, + -0.054019443690776825, + -19.992538452148438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2419, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_342267036", + "mask_path": "../../mask/hdr_left_02419.png" + }, + { + "file_path": "../../rgb/hdr_left_02420.png", + "transform_matrix": [ + [ + -0.13185803592205048, + -0.049687519669532776, + 0.9900224804878235, + -22.279390335083008 + ], + [ + -0.9896604418754578, + 0.06346502155065536, + -0.12862461805343628, + -50.824188232421875 + ], + [ + -0.05644075572490692, + -0.9967464208602905, + -0.057542137801647186, + -20.0031795501709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2420, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_442267894", + "mask_path": "../../mask/hdr_left_02420.png" + }, + { + "file_path": "../../rgb/hdr_left_02421.png", + "transform_matrix": [ + [ + -0.129606232047081, + -0.047307662665843964, + 0.9904364347457886, + -22.269865036010742 + ], + [ + -0.9899765253067017, + 0.06270060688257217, + -0.12655116617679596, + -50.905574798583984 + ], + [ + -0.056114114820957184, + -0.996910572052002, + -0.05495985597372055, + -20.01738739013672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2421, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_542267560", + "mask_path": "../../mask/hdr_left_02421.png" + }, + { + "file_path": "../../rgb/hdr_left_02422.png", + "transform_matrix": [ + [ + -0.1311926543712616, + -0.04535604268312454, + 0.990318775177002, + -22.266965866088867 + ], + [ + -0.989510178565979, + 0.06693623214960098, + -0.12801988422870636, + -51.01121139526367 + ], + [ + -0.060481730848550797, + -0.996725857257843, + -0.05366179347038269, + -20.02129554748535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2422, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_642270803", + "mask_path": "../../mask/hdr_left_02422.png" + }, + { + "file_path": "../../rgb/hdr_left_02423.png", + "transform_matrix": [ + [ + -0.1373419314622879, + -0.04100964963436127, + 0.9896743297576904, + -22.27170753479004 + ], + [ + -0.9885699152946472, + 0.0683983787894249, + -0.1343543976545334, + -51.103153228759766 + ], + [ + -0.062182288616895676, + -0.9968149662017822, + -0.04993486404418945, + -20.016149520874023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2423, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_742267608", + "mask_path": "../../mask/hdr_left_02423.png" + }, + { + "file_path": "../../rgb/hdr_left_02424.png", + "transform_matrix": [ + [ + -0.14255280792713165, + -0.03755766898393631, + 0.9890744090080261, + -22.274335861206055 + ], + [ + -0.9880310893058777, + 0.06489872187376022, + -0.13993804156780243, + -51.16482162475586 + ], + [ + -0.05893391743302345, + -0.9971848726272583, + -0.04635963588953018, + -20.017955780029297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2424, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_842267274", + "mask_path": "../../mask/hdr_left_02424.png" + }, + { + "file_path": "../../rgb/hdr_left_02425.png", + "transform_matrix": [ + [ + -0.13865238428115845, + -0.03542304039001465, + 0.9897074103355408, + -22.26464080810547 + ], + [ + -0.988743245601654, + 0.06169723719358444, + -0.13630907237529755, + -51.238948822021484 + ], + [ + -0.056233733892440796, + -0.9974662065505981, + -0.04357875883579254, + -20.030162811279297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2425, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_942267894", + "mask_path": "../../mask/hdr_left_02425.png" + }, + { + "file_path": "../../rgb/hdr_left_02426.png", + "transform_matrix": [ + [ + -0.12045274674892426, + -0.03896905854344368, + 0.9919539093971252, + -22.246902465820312 + ], + [ + -0.990858793258667, + 0.06586259603500366, + -0.11773234605789185, + -51.33293533325195 + ], + [ + -0.06074473261833191, + -0.9970675110816956, + -0.04654616862535477, + -20.03891372680664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2426, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_42268276", + "mask_path": "../../mask/hdr_left_02426.png" + }, + { + "file_path": "../../rgb/hdr_left_02427.png", + "transform_matrix": [ + [ + -0.09772845357656479, + -0.04086553305387497, + 0.9943737387657166, + -22.229944229125977 + ], + [ + -0.9931929111480713, + 0.06763490289449692, + -0.09483282268047333, + -51.39924240112305 + ], + [ + -0.06337897479534149, + -0.9968729019165039, + -0.04719720408320427, + -20.048730850219727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2427, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_142267227", + "mask_path": "../../mask/hdr_left_02427.png" + }, + { + "file_path": "../../rgb/hdr_left_02428.png", + "transform_matrix": [ + [ + -0.0743325725197792, + -0.0342726968228817, + 0.9966444969177246, + -22.211942672729492 + ], + [ + -0.9950968623161316, + 0.06793668866157532, + -0.07188092917203903, + -51.45747756958008 + ], + [ + -0.06524515897035599, + -0.997100830078125, + -0.03915455564856529, + -20.059402465820312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2428, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_242267847", + "mask_path": "../../mask/hdr_left_02428.png" + }, + { + "file_path": "../../rgb/hdr_left_02429.png", + "transform_matrix": [ + [ + -0.05361347272992134, + -0.027187932282686234, + 0.9981915354728699, + -22.191089630126953 + ], + [ + -0.9962421655654907, + 0.0695505440235138, + -0.0516144223511219, + -51.55133819580078 + ], + [ + -0.06802146136760712, + -0.9972078800201416, + -0.030814610421657562, + -20.065963745117188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2429, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_342266798", + "mask_path": "../../mask/hdr_left_02429.png" + }, + { + "file_path": "../../rgb/hdr_left_02430.png", + "transform_matrix": [ + [ + -0.04372117295861244, + -0.021835342049598694, + 0.9988051056861877, + -22.1762638092041 + ], + [ + -0.9967546463012695, + 0.06859196722507477, + -0.04213189706206322, + -51.64799499511719 + ], + [ + -0.06759004294872284, + -0.9974058866500854, + -0.024763397872447968, + -20.061710357666016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2430, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_442267417", + "mask_path": "../../mask/hdr_left_02430.png" + }, + { + "file_path": "../../rgb/hdr_left_02431.png", + "transform_matrix": [ + [ + -0.048258453607559204, + -0.015122598968446255, + 0.9987204074859619, + -22.166358947753906 + ], + [ + -0.9965680837631226, + 0.06805406510829926, + -0.047123949974775314, + -51.70685577392578 + ], + [ + -0.06725434213876724, + -0.9975669980049133, + -0.018354879692196846, + -20.06279182434082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2431, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_542266607", + "mask_path": "../../mask/hdr_left_02431.png" + }, + { + "file_path": "../../rgb/hdr_left_02432.png", + "transform_matrix": [ + [ + -0.06044456735253334, + -0.02109665609896183, + 0.9979485869407654, + -22.152976989746094 + ], + [ + -0.9963288903236389, + 0.06199422851204872, + -0.059035904705524445, + -51.78456115722656 + ], + [ + -0.06062158942222595, + -0.9978535175323486, + -0.02476641908288002, + -20.069568634033203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2432, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_642267704", + "mask_path": "../../mask/hdr_left_02432.png" + }, + { + "file_path": "../../rgb/hdr_left_02433.png", + "transform_matrix": [ + [ + -0.065242238342762, + -0.02864850126206875, + 0.9974581003189087, + -22.14181137084961 + ], + [ + -0.9960243105888367, + 0.06262922286987305, + -0.0633496567606926, + -51.89128875732422 + ], + [ + -0.0606551431119442, + -0.9976256489753723, + -0.03262066841125488, + -20.080774307250977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2433, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_742267131", + "mask_path": "../../mask/hdr_left_02433.png" + }, + { + "file_path": "../../rgb/hdr_left_02434.png", + "transform_matrix": [ + [ + -0.06369917839765549, + -0.031996119767427444, + 0.9974561333656311, + -22.125274658203125 + ], + [ + -0.9960067272186279, + 0.06468616425991058, + -0.061531636863946915, + -51.96211242675781 + ], + [ + -0.06255283206701279, + -0.9973925948143005, + -0.03598880022764206, + -20.08907127380371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2434, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_842263936", + "mask_path": "../../mask/hdr_left_02434.png" + }, + { + "file_path": "../../rgb/hdr_left_02435.png", + "transform_matrix": [ + [ + -0.062311746180057526, + -0.028493525460362434, + 0.9976498484611511, + -22.103750228881836 + ], + [ + -0.9961503148078918, + 0.06352967768907547, + -0.06040364131331444, + -52.03424072265625 + ], + [ + -0.061659250408411026, + -0.99757319688797, + -0.032342467457056046, + -20.106016159057617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2435, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_942267179", + "mask_path": "../../mask/hdr_left_02435.png" + }, + { + "file_path": "../../rgb/hdr_left_02436.png", + "transform_matrix": [ + [ + -0.06592235714197159, + -0.029663262888789177, + 0.997383713722229, + -22.08561134338379 + ], + [ + -0.9957805871963501, + 0.06590306013822556, + -0.06385637074708939, + -52.13677978515625 + ], + [ + -0.06383644044399261, + -0.9973850250244141, + -0.03388258069753647, + -20.108877182006836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2436, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_42268514", + "mask_path": "../../mask/hdr_left_02436.png" + }, + { + "file_path": "../../rgb/hdr_left_02437.png", + "transform_matrix": [ + [ + -0.07484961301088333, + -0.02965126931667328, + 0.9967539310455322, + -22.078861236572266 + ], + [ + -0.9952976107597351, + 0.06385095417499542, + -0.07284082472324371, + -52.228633880615234 + ], + [ + -0.06148385629057884, + -0.9975188374519348, + -0.03429105132818222, + -20.101343154907227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2437, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_142267704", + "mask_path": "../../mask/hdr_left_02437.png" + }, + { + "file_path": "../../rgb/hdr_left_02438.png", + "transform_matrix": [ + [ + -0.08670800924301147, + -0.027194010093808174, + 0.9958625435829163, + -22.074451446533203 + ], + [ + -0.9946418404579163, + 0.05885068699717522, + -0.08499467372894287, + -52.291465759277344 + ], + [ + -0.05629584193229675, + -0.9978963136672974, + -0.03215112164616585, + -20.10361099243164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2438, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_242268562", + "mask_path": "../../mask/hdr_left_02438.png" + }, + { + "file_path": "../../rgb/hdr_left_02439.png", + "transform_matrix": [ + [ + -0.09651461988687515, + -0.0315839946269989, + 0.994830310344696, + -22.06077766418457 + ], + [ + -0.9939607977867126, + 0.05549633875489235, + -0.09466835111379623, + -52.38336181640625 + ], + [ + -0.052219439297914505, + -0.997959315776825, + -0.036749452352523804, + -20.109968185424805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2439, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_342267274", + "mask_path": "../../mask/hdr_left_02439.png" + }, + { + "file_path": "../../rgb/hdr_left_02440.png", + "transform_matrix": [ + [ + -0.09824395924806595, + -0.039855968207120895, + 0.9943639636039734, + -22.04534149169922 + ], + [ + -0.9936584830284119, + 0.058841001242399216, + -0.09581578522920609, + -52.478397369384766 + ], + [ + -0.054690536111593246, + -0.9974715113639832, + -0.045383989810943604, + -20.119810104370117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2440, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_442271232", + "mask_path": "../../mask/hdr_left_02440.png" + }, + { + "file_path": "../../rgb/hdr_left_02441.png", + "transform_matrix": [ + [ + -0.09589549154043198, + -0.043760236352682114, + 0.9944289326667786, + -22.034502029418945 + ], + [ + -0.9937947392463684, + 0.060771018266677856, + -0.09316008538007736, + -52.54410171508789 + ], + [ + -0.05635574832558632, + -0.9971920251846313, + -0.04931635037064552, + -20.126462936401367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2441, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_542267322", + "mask_path": "../../mask/hdr_left_02441.png" + }, + { + "file_path": "../../rgb/hdr_left_02442.png", + "transform_matrix": [ + [ + -0.09372341632843018, + -0.04065722972154617, + 0.9947678446769714, + -22.022077560424805 + ], + [ + -0.9940622448921204, + 0.05930224061012268, + -0.09123316407203674, + -52.61566162109375 + ], + [ + -0.05528266355395317, + -0.9974117875099182, + -0.045973826199769974, + -20.13681411743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2442, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_642268657", + "mask_path": "../../mask/hdr_left_02442.png" + }, + { + "file_path": "../../rgb/hdr_left_02443.png", + "transform_matrix": [ + [ + -0.09802322089672089, + -0.039213087409734726, + 0.9944113492965698, + -22.013416290283203 + ], + [ + -0.993472695350647, + 0.06243162229657173, + -0.09546878933906555, + -52.71427917480469 + ], + [ + -0.05833907052874565, + -0.99727863073349, + -0.0450768768787384, + -20.139286041259766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2443, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_742268085", + "mask_path": "../../mask/hdr_left_02443.png" + }, + { + "file_path": "../../rgb/hdr_left_02444.png", + "transform_matrix": [ + [ + -0.10762777179479599, + -0.034970223903656006, + 0.9935759902000427, + -22.012895584106445 + ], + [ + -0.9925041198730469, + 0.061976462602615356, + -0.10533032566308975, + -52.80453109741211 + ], + [ + -0.05789489671587944, + -0.9974647760391235, + -0.04137847572565079, + -20.136110305786133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2444, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_842267513", + "mask_path": "../../mask/hdr_left_02444.png" + }, + { + "file_path": "../../rgb/hdr_left_02445.png", + "transform_matrix": [ + [ + -0.11993047595024109, + -0.03076079487800598, + 0.9923055768013, + -22.01058578491211 + ], + [ + -0.991349458694458, + 0.05739159509539604, + -0.11803580820560455, + -52.87167739868164 + ], + [ + -0.05331912264227867, + -0.9978777766227722, + -0.037377696484327316, + -20.14289665222168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2445, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_942266941", + "mask_path": "../../mask/hdr_left_02445.png" + }, + { + "file_path": "../../rgb/hdr_left_02446.png", + "transform_matrix": [ + [ + -0.12875871360301971, + -0.0350986011326313, + 0.9910545945167542, + -22.00258445739746 + ], + [ + -0.9904577732086182, + 0.05406979098916054, + -0.12676629424095154, + -52.96284103393555 + ], + [ + -0.04913679137825966, + -0.9979201555252075, + -0.04172563925385475, + -20.14614486694336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2446, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_42267322", + "mask_path": "../../mask/hdr_left_02446.png" + }, + { + "file_path": "../../rgb/hdr_left_02447.png", + "transform_matrix": [ + [ + -0.13033360242843628, + -0.04142126068472862, + 0.9906045198440552, + -21.9930419921875 + ], + [ + -0.990119218826294, + 0.05757655203342438, + -0.12786222994327545, + -53.053260803222656 + ], + [ + -0.05173937976360321, + -0.9974814653396606, + -0.04851613938808441, + -20.154682159423828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2447, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_142267704", + "mask_path": "../../mask/hdr_left_02447.png" + }, + { + "file_path": "../../rgb/hdr_left_02448.png", + "transform_matrix": [ + [ + -0.12916919589042664, + -0.042629849165678024, + 0.9907057881355286, + -21.983970642089844 + ], + [ + -0.9901499152183533, + 0.05997267737984657, + -0.12651610374450684, + -53.118072509765625 + ], + [ + -0.054021917283535004, + -0.9972893595695496, + -0.0499565526843071, + -20.162445068359375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2448, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_242269277", + "mask_path": "../../mask/hdr_left_02448.png" + }, + { + "file_path": "../../rgb/hdr_left_02449.png", + "transform_matrix": [ + [ + -0.12889158725738525, + -0.03920121490955353, + 0.9908835887908936, + -21.975830078125 + ], + [ + -0.990118682384491, + 0.06075236201286316, + -0.12638860940933228, + -53.18674087524414 + ], + [ + -0.055243924260139465, + -0.9973828196525574, + -0.04664433002471924, + -20.175039291381836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2449, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_342267513", + "mask_path": "../../mask/hdr_left_02449.png" + }, + { + "file_path": "../../rgb/hdr_left_02450.png", + "transform_matrix": [ + [ + -0.13316138088703156, + -0.036781493574380875, + 0.9904115200042725, + -21.972549438476562 + ], + [ + -0.9892846941947937, + 0.06529435515403748, + -0.13058499991893768, + -53.27476119995117 + ], + [ + -0.05986517295241356, + -0.9971879720687866, + -0.04508205130696297, + -20.179244995117188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2450, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_442267417", + "mask_path": "../../mask/hdr_left_02450.png" + }, + { + "file_path": "../../rgb/hdr_left_02451.png", + "transform_matrix": [ + [ + -0.14200997352600098, + -0.03181930631399155, + 0.9893537163734436, + -21.975645065307617 + ], + [ + -0.9879757761955261, + 0.06628195941448212, + -0.13968044519424438, + -53.35098648071289 + ], + [ + -0.061131756752729416, + -0.9972934722900391, + -0.04084939509630203, + -20.173694610595703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2451, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_542267322", + "mask_path": "../../mask/hdr_left_02451.png" + }, + { + "file_path": "../../rgb/hdr_left_02452.png", + "transform_matrix": [ + [ + -0.15296034514904022, + -0.027292048558592796, + 0.9878553152084351, + -21.97498893737793 + ], + [ + -0.986423671245575, + 0.06466706097126007, + -0.1509520709514618, + -53.40235900878906 + ], + [ + -0.05976191908121109, + -0.9975336790084839, + -0.03681301325559616, + -20.175037384033203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2452, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_642267942", + "mask_path": "../../mask/hdr_left_02452.png" + }, + { + "file_path": "../../rgb/hdr_left_02453.png", + "transform_matrix": [ + [ + -0.16542913019657135, + -0.029307235032320023, + 0.9857861399650574, + -21.97237205505371 + ], + [ + -0.9846572279930115, + 0.06118728965520859, + -0.16342061758041382, + -53.46968460083008 + ], + [ + -0.055528175085783005, + -0.997696042060852, + -0.03897973150014877, + -20.18094253540039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2453, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_742268085", + "mask_path": "../../mask/hdr_left_02453.png" + }, + { + "file_path": "../../rgb/hdr_left_02454.png", + "transform_matrix": [ + [ + -0.16919736564159393, + -0.03495603799819946, + 0.9849621653556824, + -21.97102928161621 + ], + [ + -0.9839475750923157, + 0.06352319568395615, + -0.16676867008209229, + -53.56168746948242 + ], + [ + -0.05673835799098015, + -0.9973680377006531, + -0.04514286667108536, + -20.187877655029297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2454, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_842267513", + "mask_path": "../../mask/hdr_left_02454.png" + }, + { + "file_path": "../../rgb/hdr_left_02455.png", + "transform_matrix": [ + [ + -0.1683318018913269, + -0.03876752033829689, + 0.9849677681922913, + -21.96480941772461 + ], + [ + -0.9839645028114319, + 0.0663922056555748, + -0.1655471920967102, + -53.6262092590332 + ], + [ + -0.05897633358836174, + -0.997040331363678, + -0.04932178184390068, + -20.20088005065918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2455, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_942268848", + "mask_path": "../../mask/hdr_left_02455.png" + }, + { + "file_path": "../../rgb/hdr_left_02456.png", + "transform_matrix": [ + [ + -0.1673898994922638, + -0.03886242210865021, + 0.9851245284080505, + -21.9609317779541 + ], + [ + -0.9840750694274902, + 0.06720121204853058, + -0.16456054151058197, + -53.68125915527344 + ], + [ + -0.05980634316802025, + -0.9969824552536011, + -0.04949234053492546, + -20.20603370666504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2456, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_42267560", + "mask_path": "../../mask/hdr_left_02456.png" + }, + { + "file_path": "../../rgb/hdr_left_02457.png", + "transform_matrix": [ + [ + -0.16870835423469543, + -0.034611448645591736, + 0.9850581288337708, + -21.961963653564453 + ], + [ + -0.9836345314979553, + 0.07004235684871674, + -0.1660034954547882, + -53.75316619873047 + ], + [ + -0.06325016170740128, + -0.9969434142112732, + -0.04586173966526985, + -20.215312957763672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2457, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_142268180", + "mask_path": "../../mask/hdr_left_02457.png" + }, + { + "file_path": "../../rgb/hdr_left_02458.png", + "transform_matrix": [ + [ + -0.17589376866817474, + -0.0337308906018734, + 0.9838311076164246, + -21.96794319152832 + ], + [ + -0.9824017286300659, + 0.06980784237384796, + -0.17324483394622803, + -53.82526779174805 + ], + [ + -0.06283541768789291, + -0.9969900846481323, + -0.04541604220867157, + -20.211223602294922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2458, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_242268800", + "mask_path": "../../mask/hdr_left_02458.png" + }, + { + "file_path": "../../rgb/hdr_left_02459.png", + "transform_matrix": [ + [ + -0.18549659848213196, + -0.032243769615888596, + 0.9821156859397888, + -21.97244644165039 + ], + [ + -0.98078852891922, + 0.06748078018426895, + -0.18303045630455017, + -53.87525939941406 + ], + [ + -0.06037233769893646, + -0.9971994757652283, + -0.04414176940917969, + -20.206897735595703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2459, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_342267513", + "mask_path": "../../mask/hdr_left_02459.png" + }, + { + "file_path": "../../rgb/hdr_left_02461.png", + "transform_matrix": [ + [ + -0.20680004358291626, + -0.027278276160359383, + 0.9780028462409973, + -21.977304458618164 + ], + [ + -0.9765084385871887, + 0.06760790944099426, + -0.2045983225107193, + -53.98002243041992 + ], + [ + -0.06053965166211128, + -0.9973390698432922, + -0.04061877727508545, + -20.217174530029297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2461, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_542268753", + "mask_path": "../../mask/hdr_left_02461.png" + }, + { + "file_path": "../../rgb/hdr_left_02462.png", + "transform_matrix": [ + [ + -0.20887251198291779, + -0.03413265198469162, + 0.9773470759391785, + -21.981468200683594 + ], + [ + -0.9758209586143494, + 0.07307382673025131, + -0.2059943526983261, + -54.04010772705078 + ], + [ + -0.06438733637332916, + -0.996742308139801, + -0.04857046902179718, + -20.22372055053711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2462, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_642268180", + "mask_path": "../../mask/hdr_left_02462.png" + }, + { + "file_path": "../../rgb/hdr_left_02465.png", + "transform_matrix": [ + [ + -0.21059879660606384, + -0.038031261414289474, + 0.9768325090408325, + -21.98615074157715 + ], + [ + -0.9752737879753113, + 0.0766606405377388, + -0.20727810263633728, + -54.205692291259766 + ], + [ + -0.06700155138969421, + -0.9963316917419434, + -0.05323552340269089, + -20.240497589111328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2465, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_942267894", + "mask_path": "../../mask/hdr_left_02465.png" + }, + { + "file_path": "../../rgb/hdr_left_02466.png", + "transform_matrix": [ + [ + -0.21790021657943726, + -0.03534489497542381, + 0.9753307700157166, + -21.9940185546875 + ], + [ + -0.9737073183059692, + 0.07589785009622574, + -0.2147870808839798, + -54.26611328125 + ], + [ + -0.0664338767528534, + -0.9964889883995056, + -0.050953734666109085, + -20.239877700805664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2466, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_42267322", + "mask_path": "../../mask/hdr_left_02466.png" + }, + { + "file_path": "../../rgb/hdr_left_02468.png", + "transform_matrix": [ + [ + -0.24075905978679657, + -0.029146581888198853, + 0.9701471328735352, + -22.005882263183594 + ], + [ + -0.9686915278434753, + 0.06961873918771744, + -0.23830623924732208, + -54.3543815612793 + ], + [ + -0.06059461086988449, + -0.997147798538208, + -0.04499538615345955, + -20.24744415283203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2468, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_242266893", + "mask_path": "../../mask/hdr_left_02468.png" + }, + { + "file_path": "../../rgb/hdr_left_02469.png", + "transform_matrix": [ + [ + -0.24586467444896698, + -0.034074436873197556, + 0.9687050580978394, + -22.01314353942871 + ], + [ + -0.9673396944999695, + 0.07221900671720505, + -0.2429778277873993, + -54.428035736083984 + ], + [ + -0.06167957931756973, + -0.9968066215515137, + -0.05071764811873436, + -20.248517990112305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2469, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_342267036", + "mask_path": "../../mask/hdr_left_02469.png" + }, + { + "file_path": "../../rgb/hdr_left_02470.png", + "transform_matrix": [ + [ + -0.2470587193965912, + -0.03788338229060173, + 0.9682596921920776, + -22.01008415222168 + ], + [ + -0.9670533537864685, + 0.07295220345258713, + -0.24389666318893433, + -54.489723205566406 + ], + [ + -0.06139704957604408, + -0.9966157674789429, + -0.05465872213244438, + -20.257410049438477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2470, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_442267179", + "mask_path": "../../mask/hdr_left_02470.png" + }, + { + "file_path": "../../rgb/hdr_left_02471.png", + "transform_matrix": [ + [ + -0.24743133783340454, + -0.036847468465566635, + 0.9682044982910156, + -22.00858497619629 + ], + [ + -0.9670689702033997, + 0.0708872377872467, + -0.2444433718919754, + -54.54026412963867 + ], + [ + -0.05962621793150902, + -0.9968035221099854, + -0.05317376181483269, + -20.264976501464844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2471, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_542265653", + "mask_path": "../../mask/hdr_left_02471.png" + }, + { + "file_path": "../../rgb/hdr_left_02472.png", + "transform_matrix": [ + [ + -0.24725741147994995, + -0.03190669044852257, + 0.968424379825592, + -22.010557174682617 + ], + [ + -0.9670397639274597, + 0.07084967195987701, + -0.24456961452960968, + -54.596641540527344 + ], + [ + -0.06080913916230202, + -0.9969766139984131, + -0.04837314039468765, + -20.278316497802734 + ], + [ + 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": "1730639046_642266511", + "mask_path": "../../mask/hdr_left_02472.png" + }, + { + "file_path": "../../rgb/hdr_left_02473.png", + "transform_matrix": [ + [ + -0.25211161375045776, + -0.03138328343629837, + 0.9671891331672668, + -22.01533317565918 + ], + [ + -0.9657155275344849, + 0.07210484892129898, + -0.24938786029815674, + -54.65416717529297 + ], + [ + -0.0619124136865139, + -0.9969031810760498, + -0.04848579317331314, + -20.27450180053711 + ], + [ + 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": "1730639046_742266893", + "mask_path": "../../mask/hdr_left_02473.png" + }, + { + "file_path": "../../rgb/hdr_left_02477.png", + "transform_matrix": [ + [ + -0.28127220273017883, + -0.023611009120941162, + 0.9593375325202942, + -22.04452896118164 + ], + [ + -0.958005428314209, + 0.06501825898885727, + -0.2792814075946808, + -54.8342170715332 + ], + [ + -0.05578033998608589, + -0.9976047277450562, + -0.040907301008701324, + -20.27476692199707 + ], + [ + 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": "1730639047_142269372", + "mask_path": "../../mask/hdr_left_02477.png" + }, + { + "file_path": "../../rgb/hdr_left_02479.png", + "transform_matrix": [ + [ + -0.27868494391441345, + -0.027470195665955544, + 0.959989607334137, + -22.053300857543945 + ], + [ + -0.9586209058761597, + 0.06847372651100159, + -0.2763282358646393, + -54.91156005859375 + ], + [ + -0.05814327672123909, + -0.9972748160362244, + -0.04541609063744545, + -20.294225692749023 + ], + [ + 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": "1730639047_342267274", + "mask_path": "../../mask/hdr_left_02479.png" + }, + { + "file_path": "../../rgb/hdr_left_02481.png", + "transform_matrix": [ + [ + -0.2858559191226959, + -0.02324332296848297, + 0.9579906463623047, + -22.065189361572266 + ], + [ + -0.9564034938812256, + 0.06932900846004486, + -0.28370022773742676, + -55.011085510253906 + ], + [ + -0.05982239171862602, + -0.9973230361938477, + -0.042048096656799316, + -20.290870666503906 + ], + [ + 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": "1730639047_542267084", + "mask_path": "../../mask/hdr_left_02481.png" + }, + { + "file_path": "../../rgb/hdr_left_02483.png", + "transform_matrix": [ + [ + -0.3039817214012146, + -0.015088236890733242, + 0.9525583982467651, + -22.07771110534668 + ], + [ + -0.9512408375740051, + 0.05970407649874687, + -0.30261558294296265, + -55.07754898071289 + ], + [ + -0.052305687218904495, + -0.9981021285057068, + -0.03250149264931679, + -20.291746139526367 + ], + [ + 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": "1730639047_742267131", + "mask_path": "../../mask/hdr_left_02483.png" + }, + { + "file_path": "../../rgb/hdr_left_02495.png", + "transform_matrix": [ + [ + -0.38104939460754395, + -0.03428340703248978, + 0.9239187836647034, + -22.21165657043457 + ], + [ + -0.9229946732521057, + 0.07213332504034042, + -0.377991646528244, + -55.548988342285156 + ], + [ + -0.05368649587035179, + -0.9968056678771973, + -0.05912976339459419, + -20.319833755493164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2495, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639048_942269563", + "mask_path": "../../mask/hdr_left_02495.png" + }, + { + "file_path": "../../rgb/hdr_left_02498.png", + "transform_matrix": [ + [ + -0.485748291015625, + -0.022888226434588432, + 0.8737989664077759, + -22.266422271728516 + ], + [ + -0.872944712638855, + 0.0640529990196228, + -0.4835955798625946, + -55.6565055847168 + ], + [ + -0.0449007973074913, + -0.9976840019226074, + -0.05109379068017006, + -20.3165340423584 + ], + [ + 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": "1730639049_242267370", + "mask_path": "../../mask/hdr_left_02498.png" + }, + { + "file_path": "../../rgb/hdr_left_02499.png", + "transform_matrix": [ + [ + -0.5168426632881165, + -0.025801358744502068, + 0.8556914925575256, + -22.280473709106445 + ], + [ + -0.8551596403121948, + 0.06190582737326622, + -0.5146548748016357, + -55.70207214355469 + ], + [ + -0.03969349339604378, + -0.9977484345436096, + -0.05405985191464424, + -20.329870223999023 + ], + [ + 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": "1730639049_342268228", + "mask_path": "../../mask/hdr_left_02499.png" + }, + { + "file_path": "../../rgb/hdr_left_02501.png", + "transform_matrix": [ + [ + -0.591882586479187, + -0.030472271144390106, + 0.8054479360580444, + -22.314159393310547 + ], + [ + -0.8054223656654358, + 0.06096863001585007, + -0.5895571112632751, + -55.75299072265625 + ], + [ + -0.031141910701990128, + -0.9976744651794434, + -0.06062932312488556, + -20.346038818359375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2501, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639049_542268276", + "mask_path": "../../mask/hdr_left_02501.png" + }, + { + "file_path": "../../rgb/hdr_left_02503.png", + "transform_matrix": [ + [ + -0.6779336333274841, + -0.01725921966135502, + 0.7349204421043396, + -22.36868667602539 + ], + [ + -0.7342658638954163, + 0.0641632229089737, + -0.675822913646698, + -55.82137680053711 + ], + [ + -0.03549068793654442, + -0.9977902173995972, + -0.05617126077413559, + -20.345081329345703 + ], + [ + 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": "1730639049_742267370", + "mask_path": "../../mask/hdr_left_02503.png" + }, + { + "file_path": "../../rgb/hdr_left_02505.png", + "transform_matrix": [ + [ + -0.758902370929718, + -0.00980019848793745, + 0.6511304974555969, + -22.459470748901367 + ], + [ + -0.6505241990089417, + 0.05709412693977356, + -0.7573363780975342, + -55.89604187011719 + ], + [ + -0.02975369058549404, + -0.9983206987380981, + -0.049704138189554214, + -20.346542358398438 + ], + [ + 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": "1730639049_942268371", + "mask_path": "../../mask/hdr_left_02505.png" + }, + { + "file_path": "../../rgb/hdr_left_02506.png", + "transform_matrix": [ + [ + -0.790703535079956, + -0.013731546700000763, + 0.612045168876648, + -22.513656616210938 + ], + [ + -0.6116237044334412, + 0.06105776131153107, + -0.7887891530990601, + -55.93996810913086 + ], + [ + -0.026538817211985588, + -0.9980398416519165, + -0.05667712166905403, + -20.351512908935547 + ], + [ + 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": "1730639050_42267560", + "mask_path": "../../mask/hdr_left_02506.png" + }, + { + "file_path": "../../rgb/hdr_left_02507.png", + "transform_matrix": [ + [ + -0.8189306855201721, + -0.019782045856118202, + 0.57355135679245, + -22.555282592773438 + ], + [ + -0.5735156536102295, + 0.0644199401140213, + -0.8166577816009521, + -55.96950912475586 + ], + [ + -0.02079298347234726, + -0.9977268576622009, + -0.06410077214241028, + -20.362016677856445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2507, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639050_142267704", + "mask_path": "../../mask/hdr_left_02507.png" + }, + { + "file_path": "../../rgb/hdr_left_02508.png", + "transform_matrix": [ + [ + -0.8472527861595154, + -0.014164727181196213, + 0.5310009121894836, + -22.617813110351562 + ], + [ + -0.530682384967804, + 0.06625967472791672, + -0.8449768424034119, + -56.00544357299805 + ], + [ + -0.02321508526802063, + -0.99770188331604, + -0.06365566700696945, + -20.367177963256836 + ], + [ + 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": "1730639050_242267370", + "mask_path": "../../mask/hdr_left_02508.png" + }, + { + "file_path": "../../rgb/hdr_left_02509.png", + "transform_matrix": [ + [ + -0.8768734931945801, + -0.009595311246812344, + 0.4806254804134369, + -22.686908721923828 + ], + [ + -0.48010924458503723, + 0.06791391223669052, + -0.8745757341384888, + -56.03812789916992 + ], + [ + -0.024249328300356865, + -0.9976450800895691, + -0.06415869295597076, + -20.3656063079834 + ], + [ + 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": "1730639050_342267036", + "mask_path": "../../mask/hdr_left_02509.png" + }, + { + "file_path": "../../rgb/hdr_left_02510.png", + "transform_matrix": [ + [ + -0.9055851101875305, + -0.00806197989732027, + 0.4240877330303192, + -22.74332618713379 + ], + [ + -0.4236915111541748, + 0.0643901377916336, + -0.9035149812698364, + -56.052433013916016 + ], + [ + -0.02002294920384884, + -0.9978923201560974, + -0.061726540327072144, + -20.365026473999023 + ], + [ + 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": "1730639050_442267894", + "mask_path": "../../mask/hdr_left_02510.png" + }, + { + "file_path": "../../rgb/hdr_left_02511.png", + "transform_matrix": [ + [ + -0.9329495429992676, + -0.009157556109130383, + 0.35989049077033997, + -22.812997817993164 + ], + [ + -0.3597047030925751, + 0.06466555595397949, + -0.9308226704597473, + -56.07194137573242 + ], + [ + -0.01474845502525568, + -0.9978650212287903, + -0.06362372636795044, + -20.366533279418945 + ], + [ + 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": "1730639050_542268276", + "mask_path": "../../mask/hdr_left_02511.png" + }, + { + "file_path": "../../rgb/hdr_left_02512.png", + "transform_matrix": [ + [ + -0.9545639753341675, + -0.006824174430221319, + 0.29792770743370056, + -22.89589500427246 + ], + [ + -0.2977100610733032, + 0.06637100130319595, + -0.9523462653160095, + -56.100830078125 + ], + [ + -0.013274782337248325, + -0.9977717399597168, + -0.06538698822259903, + -20.37340545654297 + ], + [ + 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": "1730639050_642267465", + "mask_path": "../../mask/hdr_left_02512.png" + }, + { + "file_path": "../../rgb/hdr_left_02513.png", + "transform_matrix": [ + [ + -0.9717267155647278, + -0.008363216184079647, + 0.2359602004289627, + -22.953933715820312 + ], + [ + -0.23596656322479248, + 0.06903129816055298, + -0.9693061709403992, + -56.11518478393555 + ], + [ + -0.008182122372090816, + -0.9975794553756714, + -0.06905298680067062, + -20.38253402709961 + ], + [ + 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": "1730639050_742268085", + "mask_path": "../../mask/hdr_left_02513.png" + }, + { + "file_path": "../../rgb/hdr_left_02514.png", + "transform_matrix": [ + [ + -0.9853385090827942, + -0.012009530328214169, + 0.17018724977970123, + -23.013845443725586 + ], + [ + -0.1706104278564453, + 0.06951277703046799, + -0.9828835129737854, + -56.11402130126953 + ], + [ + -2.6217052436550148e-05, + -0.9975088238716125, + -0.07054256647825241, + -20.390094757080078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2514, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639050_842268466", + "mask_path": "../../mask/hdr_left_02514.png" + }, + { + "file_path": "../../rgb/hdr_left_02515.png", + "transform_matrix": [ + [ + -0.9951745867729187, + -0.004997848067432642, + 0.09799271076917648, + -23.093706130981445 + ], + [ + -0.09810104221105576, + 0.0703490674495697, + -0.9926868081092834, + -56.118263244628906 + ], + [ + -0.001932398765347898, + -0.9975099563598633, + -0.07049988955259323, + -20.389678955078125 + ], + [ + 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": "1730639050_942268133", + "mask_path": "../../mask/hdr_left_02515.png" + }, + { + "file_path": "../../rgb/hdr_left_02516.png", + "transform_matrix": [ + [ + -0.9997522234916687, + 0.0005808313726447523, + 0.022249620407819748, + -23.156461715698242 + ], + [ + -0.022161763161420822, + 0.06648491322994232, + -0.9975413084030151, + -56.11415481567383 + ], + [ + -0.002058665733784437, + -0.9977872967720032, + -0.06645557284355164, + -20.386018753051758 + ], + [ + 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": "1730639051_42268037", + "mask_path": "../../mask/hdr_left_02516.png" + }, + { + "file_path": "../../rgb/hdr_left_02517.png", + "transform_matrix": [ + [ + -0.9984571933746338, + 0.0006183292716741562, + -0.05552371218800545, + -23.206193923950195 + ], + [ + 0.055451393127441406, + 0.06331554800271988, + -0.9964517951011658, + -56.09843444824219 + ], + [ + 0.0028993776068091393, + -0.9979934096336365, + -0.06325214356184006, + -20.380950927734375 + ], + [ + 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": "1730639051_142268419", + "mask_path": "../../mask/hdr_left_02517.png" + }, + { + "file_path": "../../rgb/hdr_left_02518.png", + "transform_matrix": [ + [ + -0.9921625852584839, + 0.005115642677992582, + -0.12484890967607498, + -23.287443161010742 + ], + [ + 0.12492423504590988, + 0.062302444130182266, + -0.9902082085609436, + -56.088531494140625 + ], + [ + 0.002712840912863612, + -0.9980442523956299, + -0.06245321407914162, + -20.390605926513672 + ], + [ + 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": "1730639051_242268085", + "mask_path": "../../mask/hdr_left_02518.png" + }, + { + "file_path": "../../rgb/hdr_left_02519.png", + "transform_matrix": [ + [ + -0.9829899668693542, + 0.003076645080000162, + -0.18363362550735474, + -23.362285614013672 + ], + [ + 0.18347379565238953, + 0.061391934752464294, + -0.9811058044433594, + -56.08188247680664 + ], + [ + 0.008255108259618282, + -0.9981090426445007, + -0.060912128537893295, + -20.394582748413086 + ], + [ + 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": "1730639051_342267990", + "mask_path": "../../mask/hdr_left_02519.png" + }, + { + "file_path": "../../rgb/hdr_left_02520.png", + "transform_matrix": [ + [ + -0.97043377161026, + 0.0026733907870948315, + -0.2413526475429535, + -23.4177188873291 + ], + [ + 0.241034135222435, + 0.06326625496149063, + -0.9684523344039917, + -56.0595588684082 + ], + [ + 0.012680425308644772, + -0.9979931712150574, + -0.06204008683562279, + -20.39032745361328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2520, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639051_442268371", + "mask_path": "../../mask/hdr_left_02520.png" + }, + { + "file_path": "../../rgb/hdr_left_02521.png", + "transform_matrix": [ + [ + -0.9522237181663513, + 0.012000836431980133, + -0.30516523122787476, + -23.47622299194336 + ], + [ + 0.30533069372177124, + 0.05886610969901085, + -0.9504251480102539, + -56.034332275390625 + ], + [ + 0.006557989865541458, + -0.9981938600540161, + -0.05971793085336685, + -20.395654678344727 + ], + [ + 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": "1730639051_542268037", + "mask_path": "../../mask/hdr_left_02521.png" + }, + { + "file_path": "../../rgb/hdr_left_02522.png", + "transform_matrix": [ + [ + -0.9273568391799927, + 0.01744851842522621, + -0.37377113103866577, + -23.525962829589844 + ], + [ + 0.37415751814842224, + 0.05374256521463394, + -0.9258065819740295, + -56.008033752441406 + ], + [ + 0.003933465573936701, + -0.99840247631073, + -0.05636702850461006, + -20.39666175842285 + ], + [ + 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": "1730639051_642267942", + "mask_path": "../../mask/hdr_left_02522.png" + }, + { + "file_path": "../../rgb/hdr_left_02523.png", + "transform_matrix": [ + [ + -0.8971585035324097, + 0.01862049289047718, + -0.4413159489631653, + -23.573383331298828 + ], + [ + 0.4416676163673401, + 0.05142379552125931, + -0.8957037925720215, + -55.97541046142578 + ], + [ + 0.0060156965628266335, + -0.9985033273696899, + -0.05435936525464058, + -20.395254135131836 + ], + [ + 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": "1730639051_742268323", + "mask_path": "../../mask/hdr_left_02523.png" + }, + { + "file_path": "../../rgb/hdr_left_02524.png", + "transform_matrix": [ + [ + -0.8679885864257812, + 0.020522110164165497, + -0.49615976214408875, + -23.639694213867188 + ], + [ + 0.49655240774154663, + 0.04713573679327965, + -0.8667260408401489, + -55.93925857543945 + ], + [ + 0.00559981120750308, + -0.998677670955658, + -0.05110358074307442, + -20.394710540771484 + ], + [ + 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": "1730639051_842267990", + "mask_path": "../../mask/hdr_left_02524.png" + }, + { + "file_path": "../../rgb/hdr_left_02525.png", + "transform_matrix": [ + [ + -0.8387957215309143, + 0.020269375294446945, + -0.5440688133239746, + -23.697093963623047 + ], + [ + 0.5443660020828247, + 0.0483781062066555, + -0.8374516367912292, + -55.905513763427734 + ], + [ + 0.009346394799649715, + -0.9986234903335571, + -0.051613301038742065, + -20.40048599243164 + ], + [ + 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": "1730639051_942267656", + "mask_path": "../../mask/hdr_left_02525.png" + }, + { + "file_path": "../../rgb/hdr_left_02526.png", + "transform_matrix": [ + [ + -0.8030637502670288, + 0.018897129222750664, + -0.5955932140350342, + -23.748268127441406 + ], + [ + 0.595551073551178, + 0.05930681899189949, + -0.8011252284049988, + -55.856815338134766 + ], + [ + 0.020183775573968887, + -0.998060941696167, + -0.058881357312202454, + -20.389253616333008 + ], + [ + 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": "1730639052_42268037", + "mask_path": "../../mask/hdr_left_02526.png" + }, + { + "file_path": "../../rgb/hdr_left_02527.png", + "transform_matrix": [ + [ + -0.7621285319328308, + 0.011432576924562454, + -0.6473247408866882, + -23.79750633239746 + ], + [ + 0.6466680765151978, + 0.06180090457201004, + -0.7602639198303223, + -55.79759979248047 + ], + [ + 0.03131348267197609, + -0.9980230331420898, + -0.054493311792612076, + -20.373918533325195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2527, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639052_142267704", + "mask_path": "../../mask/hdr_left_02527.png" + }, + { + "file_path": "../../rgb/hdr_left_02528.png", + "transform_matrix": [ + [ + -0.7231860756874084, + 0.0023608815390616655, + -0.6906490921974182, + -23.838117599487305 + ], + [ + 0.6894892454147339, + 0.06049982085824013, + -0.7217646837234497, + -55.7441520690918 + ], + [ + 0.04008015617728233, + -0.9981654286384583, + -0.045380428433418274, + -20.371110916137695 + ], + [ + 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": "1730639052_242268085", + "mask_path": "../../mask/hdr_left_02528.png" + }, + { + "file_path": "../../rgb/hdr_left_02529.png", + "transform_matrix": [ + [ + -0.7067698240280151, + -0.04679365083575249, + -0.7058942914009094, + -23.903682708740234 + ], + [ + 0.7041006684303284, + 0.05035817623138428, + -0.7083122730255127, + -55.707725524902344 + ], + [ + 0.06869205832481384, + -0.9976344108581543, + -0.002644195919856429, + -20.356008529663086 + ], + [ + 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": "1730639052_342267274", + "mask_path": "../../mask/hdr_left_02529.png" + }, + { + "file_path": "../../rgb/hdr_left_02530.png", + "transform_matrix": [ + [ + -0.7081325650215149, + -0.07747866958379745, + -0.7018157243728638, + -23.98800277709961 + ], + [ + 0.6992905139923096, + 0.06054678186774254, + -0.7122687697410583, + -55.672950744628906 + ], + [ + 0.09767831116914749, + -0.9951538443565369, + 0.011304951272904873, + -20.287845611572266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2530, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639052_442267179", + "mask_path": "../../mask/hdr_left_02530.png" + }, + { + "file_path": "../../rgb/hdr_left_02531.png", + "transform_matrix": [ + [ + -0.7070275545120239, + -0.0864921361207962, + -0.7018768787384033, + -24.05004119873047 + ], + [ + 0.6987901926040649, + 0.06703483313322067, + -0.7121788859367371, + -55.61466598510742 + ], + [ + 0.10864805430173874, + -0.9939947128295898, + 0.013044384308159351, + -20.273414611816406 + ], + [ + 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": "1730639052_542267799", + "mask_path": "../../mask/hdr_left_02531.png" + }, + { + "file_path": "../../rgb/hdr_left_02532.png", + "transform_matrix": [ + [ + -0.6988991498947144, + -0.12275499850511551, + -0.7046071290969849, + -24.094669342041016 + ], + [ + 0.7033872604370117, + 0.060492683202028275, + -0.7082280516624451, + -55.565879821777344 + ], + [ + 0.12956209480762482, + -0.9905917048454285, + 0.044066015630960464, + -20.259387969970703 + ], + [ + 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": "1730639052_642268419", + "mask_path": "../../mask/hdr_left_02532.png" + }, + { + "file_path": "../../rgb/hdr_left_02533.png", + "transform_matrix": [ + [ + -0.6941286325454712, + -0.16868852078914642, + -0.699806809425354, + -24.160566329956055 + ], + [ + 0.7030807137489319, + 0.04974778741598129, + -0.7093678116798401, + -55.542930603027344 + ], + [ + 0.15447601675987244, + -0.984413206577301, + 0.08407028019428253, + -20.20847511291504 + ], + [ + 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": "1730639052_742267370", + "mask_path": "../../mask/hdr_left_02533.png" + }, + { + "file_path": "../../rgb/hdr_left_02534.png", + "transform_matrix": [ + [ + -0.709384024143219, + -0.19923411309719086, + -0.6760768890380859, + -24.231590270996094 + ], + [ + 0.6807250380516052, + 0.055005818605422974, + -0.7304708361625671, + -55.53815841674805 + ], + [ + 0.18272286653518677, + -0.9784070253372192, + 0.09660341590642929, + -20.19281578063965 + ], + [ + 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": "1730639052_842267751", + "mask_path": "../../mask/hdr_left_02534.png" + }, + { + "file_path": "../../rgb/hdr_left_02536.png", + "transform_matrix": [ + [ + -0.7574424147605896, + -0.2298608124256134, + -0.6111014485359192, + -24.251708984375 + ], + [ + 0.6196650862693787, + 0.04173687472939491, + -0.7837558388710022, + -55.480690002441406 + ], + [ + 0.20566019415855408, + -0.9723281860351562, + 0.11082343757152557, + -20.205734252929688 + ], + [ + 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": "1730639053_42267799", + "mask_path": "../../mask/hdr_left_02536.png" + }, + { + "file_path": "../../rgb/hdr_left_02538.png", + "transform_matrix": [ + [ + -0.7742732763290405, + -0.17603331804275513, + -0.6078760027885437, + -24.204025268554688 + ], + [ + 0.6108824014663696, + 0.04299366846680641, + -0.790553092956543, + -55.430416107177734 + ], + [ + 0.1652984768152237, + -0.98344486951828, + 0.07424680888652802, + -20.234172821044922 + ], + [ + 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": "1730639053_242267847", + "mask_path": "../../mask/hdr_left_02538.png" + }, + { + "file_path": "../../rgb/hdr_left_02544.png", + "transform_matrix": [ + [ + -0.7732911109924316, + -0.07581695169210434, + -0.6295017600059509, + -24.19857406616211 + ], + [ + 0.6255963444709778, + 0.07035959511995316, + -0.7769676446914673, + -55.36555862426758 + ], + [ + 0.1031988188624382, + -0.9946362972259521, + -0.006977642886340618, + -20.266319274902344 + ], + [ + 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": "1730639053_842267990", + "mask_path": "../../mask/hdr_left_02544.png" + }, + { + "file_path": "../../rgb/hdr_left_02546.png", + "transform_matrix": [ + [ + -0.7765507102012634, + -0.056600384414196014, + -0.6275072693824768, + -24.257389068603516 + ], + [ + 0.6222866177558899, + 0.08701229095458984, + -0.7779384255409241, + -55.31100845336914 + ], + [ + 0.09863245487213135, + -0.9945980906486511, + -0.032347794622182846, + -20.274198532104492 + ], + [ + 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": "1730639054_42268276", + "mask_path": "../../mask/hdr_left_02546.png" + }, + { + "file_path": "../../rgb/hdr_left_02547.png", + "transform_matrix": [ + [ + -0.7795543074607849, + -0.057470619678497314, + -0.6236923336982727, + -24.316593170166016 + ], + [ + 0.6180719137191772, + 0.090627022087574, + -0.7808802127838135, + -55.26107406616211 + ], + [ + 0.10140104591846466, + -0.9942253232002258, + -0.03512771427631378, + -20.273231506347656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2547, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639054_142268657", + "mask_path": "../../mask/hdr_left_02547.png" + }, + { + "file_path": "../../rgb/hdr_left_02548.png", + "transform_matrix": [ + [ + -0.7798711657524109, + -0.06384417414665222, + -0.6226755976676941, + -24.38017463684082 + ], + [ + 0.6172600984573364, + 0.08665105700492859, + -0.7819729447364807, + -55.21112823486328 + ], + [ + 0.1038798987865448, + -0.99419105052948, + -0.028168192133307457, + -20.265525817871094 + ], + [ + 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": "1730639054_242267608", + "mask_path": "../../mask/hdr_left_02548.png" + }, + { + "file_path": "../../rgb/hdr_left_02549.png", + "transform_matrix": [ + [ + -0.7760686874389648, + -0.0730467289686203, + -0.6264035105705261, + -24.42606544494629 + ], + [ + 0.621025562286377, + 0.08433284610509872, + -0.7792401909828186, + -55.17947006225586 + ], + [ + 0.10974732041358948, + -0.9937565922737122, + -0.0200842022895813, + -20.25865936279297 + ], + [ + 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": "1730639054_342267990", + "mask_path": "../../mask/hdr_left_02549.png" + }, + { + "file_path": "../../rgb/hdr_left_02551.png", + "transform_matrix": [ + [ + -0.7745845913887024, + -0.07299771904945374, + -0.628243625164032, + -24.558162689208984 + ], + [ + 0.6228341460227966, + 0.08469440042972565, + -0.7777559757232666, + -55.109840393066406 + ], + [ + 0.10998312383890152, + -0.9937294721603394, + -0.020137496292591095, + -20.25777244567871 + ], + [ + 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": "1730639054_542267560", + "mask_path": "../../mask/hdr_left_02551.png" + }, + { + "file_path": "../../rgb/hdr_left_02552.png", + "transform_matrix": [ + [ + -0.7796092629432678, + -0.0656612291932106, + -0.6228145360946655, + -24.632326126098633 + ], + [ + 0.6173455715179443, + 0.08668101578950882, + -0.781902015209198, + -55.07872009277344 + ], + [ + 0.1053268313407898, + -0.9940699338912964, + -0.027041643857955933, + -20.263368606567383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2552, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639054_642267465", + "mask_path": "../../mask/hdr_left_02552.png" + }, + { + "file_path": "../../rgb/hdr_left_02553.png", + "transform_matrix": [ + [ + -0.7828824520111084, + -0.06361787766218185, + -0.6189085245132446, + -24.7011775970459 + ], + [ + 0.6135006546974182, + 0.08654401451349258, + -0.7849376201629639, + -55.05128479003906 + ], + [ + 0.10349888354539871, + -0.9942147731781006, + -0.02872418612241745, + -20.260162353515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2553, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639054_742267370", + "mask_path": "../../mask/hdr_left_02553.png" + }, + { + "file_path": "../../rgb/hdr_left_02554.png", + "transform_matrix": [ + [ + -0.7833630442619324, + -0.05988811329007149, + -0.6186724305152893, + -24.784393310546875 + ], + [ + 0.6149797439575195, + 0.0698191225528717, + -0.7854458689689636, + -55.0109977722168 + ], + [ + 0.09023403376340866, + -0.995760440826416, + -0.01786375790834427, + -20.256290435791016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2554, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639054_842267751", + "mask_path": "../../mask/hdr_left_02554.png" + }, + { + "file_path": "../../rgb/hdr_left_02555.png", + "transform_matrix": [ + [ + -0.7783976793289185, + -0.06488673388957977, + -0.624409019947052, + -24.857677459716797 + ], + [ + 0.6214204430580139, + 0.06148248538374901, + -0.7810612320899963, + -54.96322250366211 + ], + [ + 0.08907072991132736, + -0.99599689245224, + -0.00753588555380702, + -20.243852615356445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2555, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639054_942267417", + "mask_path": "../../mask/hdr_left_02555.png" + }, + { + "file_path": "../../rgb/hdr_left_02556.png", + "transform_matrix": [ + [ + -0.7730610370635986, + -0.07183036208152771, + -0.6302515268325806, + -24.91561508178711 + ], + [ + 0.6278793215751648, + 0.054702963680028915, + -0.7763859629631042, + -54.92991638183594 + ], + [ + 0.09024470299482346, + -0.9959156513214111, + 0.0028120630886405706, + -20.23993492126465 + ], + [ + 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": "1730639055_42267799", + "mask_path": "../../mask/hdr_left_02556.png" + }, + { + "file_path": "../../rgb/hdr_left_02557.png", + "transform_matrix": [ + [ + -0.7693460583686829, + -0.07076083868741989, + -0.634901225566864, + -25.00135612487793 + ], + [ + 0.6327239274978638, + 0.05270521342754364, + -0.7725817561149597, + -54.894874572753906 + ], + [ + 0.0881311297416687, + -0.9960999488830566, + 0.004223532509058714, + -20.233354568481445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2557, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639055_142268180", + "mask_path": "../../mask/hdr_left_02557.png" + }, + { + "file_path": "../../rgb/hdr_left_02558.png", + "transform_matrix": [ + [ + -0.7715011835098267, + -0.06047490984201431, + -0.63334721326828, + -25.099782943725586 + ], + [ + 0.6312274932861328, + 0.05180545896291733, + -0.7738656997680664, + -54.85063171386719 + ], + [ + 0.07961029559373856, + -0.9968244433403015, + -0.001794545678421855, + -20.235015869140625 + ], + [ + 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": "1730639055_242266893", + "mask_path": "../../mask/hdr_left_02558.png" + }, + { + "file_path": "../../rgb/hdr_left_02559.png", + "transform_matrix": [ + [ + -0.7762888669967651, + -0.050221510231494904, + -0.6283735036849976, + -25.17392921447754 + ], + [ + 0.6263313293457031, + 0.051307015120983124, + -0.7778667211532593, + -54.81667709350586 + ], + [ + 0.07130560278892517, + -0.9974194169044495, + -0.008373763412237167, + -20.23893928527832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2559, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639055_342267513", + "mask_path": "../../mask/hdr_left_02559.png" + }, + { + "file_path": "../../rgb/hdr_left_02560.png", + "transform_matrix": [ + [ + -0.7782607078552246, + -0.04688059538602829, + -0.6261886954307556, + -25.249610900878906 + ], + [ + 0.6242272853851318, + 0.050535984337329865, + -0.7796065211296082, + -54.7768440246582 + ], + [ + 0.0681934729218483, + -0.9976213574409485, + -0.01006602868437767, + -20.23894500732422 + ], + [ + 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": "1730639055_442267656", + "mask_path": "../../mask/hdr_left_02560.png" + }, + { + "file_path": "../../rgb/hdr_right_02344.png", + "transform_matrix": [ + [ + -0.4228682518005371, + -0.05102517455816269, + -0.904753565788269, + -23.273645401000977 + ], + [ + 0.9037796258926392, + 0.04904286935925484, + -0.4251789152622223, + -45.3404541015625 + ], + [ + 0.06606654077768326, + -0.9974924325942993, + 0.02537683956325054, + -19.55512237548828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2344, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_142267942", + "mask_path": "../../mask/hdr_right_02344.png" + }, + { + "file_path": "../../rgb/hdr_right_02345.png", + "transform_matrix": [ + [ + -0.4306716322898865, + -0.05875541642308235, + -0.9005941152572632, + -23.251346588134766 + ], + [ + 0.8997017741203308, + 0.05068918690085411, + -0.4335518777370453, + -45.40163803100586 + ], + [ + 0.07112391293048859, + -0.9969846606254578, + 0.031031960621476173, + -19.565698623657227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2345, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_242267608", + "mask_path": "../../mask/hdr_right_02345.png" + }, + { + "file_path": "../../rgb/hdr_right_02346.png", + "transform_matrix": [ + [ + -0.4404262900352478, + -0.06111878529191017, + -0.8957059383392334, + -23.228572845458984 + ], + [ + 0.8948841094970703, + 0.05030294135212898, + -0.4434546232223511, + -45.45058059692383 + ], + [ + 0.07216005027294159, + -0.9968621134757996, + 0.0325394943356514, + -19.577022552490234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2346, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_342268466", + "mask_path": "../../mask/hdr_right_02346.png" + }, + { + "file_path": "../../rgb/hdr_right_02347.png", + "transform_matrix": [ + [ + -0.4498157501220703, + -0.05882803723216057, + -0.8911818861961365, + -23.205543518066406 + ], + [ + 0.8902818560600281, + 0.04997061565518379, + -0.45266008377075195, + -45.506004333496094 + ], + [ + 0.07116201519966125, + -0.9970166683197021, + 0.02989596500992775, + -19.58570098876953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2347, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_442267656", + "mask_path": "../../mask/hdr_right_02347.png" + }, + { + "file_path": "../../rgb/hdr_right_02348.png", + "transform_matrix": [ + [ + -0.4564237892627716, + -0.05591442063450813, + -0.888003945350647, + -23.181367874145508 + ], + [ + 0.8867517113685608, + 0.05344865098595619, + -0.4591456353664398, + -45.58177947998047 + ], + [ + 0.07313547283411026, + -0.997003972530365, + 0.025186976417899132, + -19.587974548339844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2348, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_542267560", + "mask_path": "../../mask/hdr_right_02348.png" + }, + { + "file_path": "../../rgb/hdr_right_02349.png", + "transform_matrix": [ + [ + -0.458427369594574, + -0.049762044101953506, + -0.8873376846313477, + -23.15725326538086 + ], + [ + 0.8857279419898987, + 0.05643923580646515, + -0.4607609212398529, + -45.645816802978516 + ], + [ + 0.07300905883312225, + -0.9971651434898376, + 0.018202340230345726, + -19.585004806518555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2349, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_642267704", + "mask_path": "../../mask/hdr_right_02349.png" + }, + { + "file_path": "../../rgb/hdr_right_02350.png", + "transform_matrix": [ + [ + -0.4550366997718811, + -0.04354994371533394, + -0.8894070982933044, + -23.136960983276367 + ], + [ + 0.8877441883087158, + 0.05594262108206749, + -0.4569251835346222, + -45.6937255859375 + ], + [ + 0.06965483725070953, + -0.9974837899208069, + 0.013205265626311302, + -19.592729568481445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2350, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_742267847", + "mask_path": "../../mask/hdr_right_02350.png" + }, + { + "file_path": "../../rgb/hdr_right_02351.png", + "transform_matrix": [ + [ + -0.4498850107192993, + -0.040914539247751236, + -0.8921488523483276, + -23.110700607299805 + ], + [ + 0.8908460736274719, + 0.05015530064702034, + -0.45152828097343445, + -45.769554138183594 + ], + [ + 0.0632200688123703, + -0.997903048992157, + 0.013884438201785088, + -19.596742630004883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2351, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_842266559", + "mask_path": "../../mask/hdr_right_02351.png" + }, + { + "file_path": "../../rgb/hdr_right_02352.png", + "transform_matrix": [ + [ + -0.4530631899833679, + -0.046298105269670486, + -0.8902753591537476, + -23.07386589050293 + ], + [ + 0.88908851146698, + 0.04960937425494194, + -0.45503905415534973, + -45.859458923339844 + ], + [ + 0.06523345410823822, + -0.9976950287818909, + 0.018686935305595398, + -19.60708999633789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2352, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639035_942266941", + "mask_path": "../../mask/hdr_right_02352.png" + }, + { + "file_path": "../../rgb/hdr_right_02353.png", + "transform_matrix": [ + [ + -0.4609493613243103, + -0.049286387860774994, + -0.8860567212104797, + -23.046594619750977 + ], + [ + 0.8848689198493958, + 0.050222910940647125, + -0.4631250500679016, + -45.91767120361328 + ], + [ + 0.06732610613107681, + -0.997521162033081, + 0.02046176791191101, + -19.621030807495117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2353, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_42267084", + "mask_path": "../../mask/hdr_right_02353.png" + }, + { + "file_path": "../../rgb/hdr_right_02354.png", + "transform_matrix": [ + [ + -0.46770480275154114, + -0.046214159578084946, + -0.88267582654953, + -23.014036178588867 + ], + [ + 0.8814340829849243, + 0.04992753267288208, + -0.46966081857681274, + -45.97848129272461 + ], + [ + 0.06577480584383011, + -0.997683048248291, + 0.017383387312293053, + -19.626745223999023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2354, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_142266988", + "mask_path": "../../mask/hdr_right_02354.png" + }, + { + "file_path": "../../rgb/hdr_right_02355.png", + "transform_matrix": [ + [ + -0.46703460812568665, + -0.043490439653396606, + -0.8831688761711121, + -22.979446411132812 + ], + [ + 0.8815048933029175, + 0.05558400601148605, + -0.46889182925224304, + -46.06865310668945 + ], + [ + 0.06948237866163254, + -0.9975063800811768, + 0.012377381324768066, + -19.63471794128418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2355, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_242267131", + "mask_path": "../../mask/hdr_right_02355.png" + }, + { + "file_path": "../../rgb/hdr_right_02356.png", + "transform_matrix": [ + [ + -0.4602399468421936, + -0.04052159562706947, + -0.8868693113327026, + -22.95048713684082 + ], + [ + 0.8850378394126892, + 0.05772106349468231, + -0.46192681789398193, + -46.15333557128906 + ], + [ + 0.06990904361009598, + -0.9975100755691528, + 0.009297606535255909, + -19.637348175048828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2356, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_342268943", + "mask_path": "../../mask/hdr_right_02356.png" + }, + { + "file_path": "../../rgb/hdr_right_02357.png", + "transform_matrix": [ + [ + -0.45011886954307556, + -0.03624710813164711, + -0.8922327160835266, + -22.92652130126953 + ], + [ + 0.8905190229415894, + 0.05573888495564461, + -0.4515187442302704, + -46.21657943725586 + ], + [ + 0.06609830260276794, + -0.9977871775627136, + 0.007189615163952112, + -19.641109466552734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2357, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_442268133", + "mask_path": "../../mask/hdr_right_02357.png" + }, + { + "file_path": "../../rgb/hdr_right_02358.png", + "transform_matrix": [ + [ + -0.43979671597480774, + -0.037761930376291275, + -0.8973031640052795, + -22.893442153930664 + ], + [ + 0.8958842754364014, + 0.051650624722242355, + -0.4412749409675598, + -46.31882858276367 + ], + [ + 0.06300965696573257, + -0.997951090335846, + 0.01111454889178276, + -19.65376091003418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2358, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_542267560", + "mask_path": "../../mask/hdr_right_02358.png" + }, + { + "file_path": "../../rgb/hdr_right_02359.png", + "transform_matrix": [ + [ + -0.43724706768989563, + -0.049106892198324203, + -0.8979998230934143, + -22.85165023803711 + ], + [ + 0.8967045545578003, + 0.05260179564356804, + -0.4394928812980652, + -46.427127838134766 + ], + [ + 0.06881853938102722, + -0.9974073767662048, + 0.021034399047493935, + -19.672279357910156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2359, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_642268657", + "mask_path": "../../mask/hdr_right_02359.png" + }, + { + "file_path": "../../rgb/hdr_right_02360.png", + "transform_matrix": [ + [ + -0.439616322517395, + -0.055234067142009735, + -0.8964857459068298, + -22.823503494262695 + ], + [ + 0.8952130079269409, + 0.05419328808784485, + -0.44233110547065735, + -46.4963264465332 + ], + [ + 0.07301526516675949, + -0.9970016479492188, + 0.02562200091779232, + -19.683185577392578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2360, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_742267131", + "mask_path": "../../mask/hdr_right_02360.png" + }, + { + "file_path": "../../rgb/hdr_right_02361.png", + "transform_matrix": [ + [ + -0.4405359625816345, + -0.05286494642496109, + -0.8961771130561829, + -22.79649543762207 + ], + [ + 0.8948054313659668, + 0.054723817855119705, + -0.44308987259864807, + -46.57691955566406 + ], + [ + 0.07246614992618561, + -0.9971010684967041, + 0.023196034133434296, + -19.695093154907227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2361, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_842267036", + "mask_path": "../../mask/hdr_right_02361.png" + }, + { + "file_path": "../../rgb/hdr_right_02362.png", + "transform_matrix": [ + [ + -0.43509286642074585, + -0.05379006266593933, + -0.898777425289154, + -22.76752471923828 + ], + [ + 0.8971921801567078, + 0.05809725075960159, + -0.4378024637699127, + -46.68470764160156 + ], + [ + 0.07576592266559601, + -0.996860682964325, + 0.022982319816946983, + -19.699480056762695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2362, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639036_942267417", + "mask_path": "../../mask/hdr_right_02362.png" + }, + { + "file_path": "../../rgb/hdr_right_02363.png", + "transform_matrix": [ + [ + -0.42620715498924255, + -0.05119434371590614, + -0.903175950050354, + -22.750024795532227 + ], + [ + 0.9014573097229004, + 0.05945105478167534, + -0.42876604199409485, + -46.765384674072266 + ], + [ + 0.07564515620470047, + -0.9969176054000854, + 0.0208110511302948, + -19.698959350585938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2363, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_42267322", + "mask_path": "../../mask/hdr_right_02363.png" + }, + { + "file_path": "../../rgb/hdr_right_02364.png", + "transform_matrix": [ + [ + -0.41499263048171997, + -0.04842086136341095, + -0.908535361289978, + -22.736658096313477 + ], + [ + 0.9070591926574707, + 0.05578289553523064, + -0.4172913134098053, + -46.82858657836914 + ], + [ + 0.07088633626699448, + -0.9972681403160095, + 0.020771093666553497, + -19.70125389099121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2364, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_142267227", + "mask_path": "../../mask/hdr_right_02364.png" + }, + { + "file_path": "../../rgb/hdr_right_02365.png", + "transform_matrix": [ + [ + -0.40847140550613403, + -0.05490482226014137, + -0.9111183285713196, + -22.708417892456055 + ], + [ + 0.9099307656288147, + 0.054191578179597855, + -0.41120460629463196, + -46.934871673583984 + ], + [ + 0.07195205986499786, + -0.99701988697052, + 0.02782387100160122, + -19.71662712097168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2365, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_242268085", + "mask_path": "../../mask/hdr_right_02365.png" + }, + { + "file_path": "../../rgb/hdr_right_02366.png", + "transform_matrix": [ + [ + -0.40826499462127686, + -0.06358173489570618, + -0.9106465578079224, + -22.679624557495117 + ], + [ + 0.9097499251365662, + 0.05398276075720787, + -0.41163215041160583, + -47.03000259399414 + ], + [ + 0.07533150166273117, + -0.9965155124664307, + 0.035804204642772675, + -19.731201171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2366, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_342267990", + "mask_path": "../../mask/hdr_right_02366.png" + }, + { + "file_path": "../../rgb/hdr_right_02367.png", + "transform_matrix": [ + [ + -0.41027531027793884, + -0.0663946270942688, + -0.9095416069030762, + -22.6566219329834 + ], + [ + 0.9088770151138306, + 0.05219172686338425, + -0.41378551721572876, + -47.09799575805664 + ], + [ + 0.07494368404150009, + -0.9964275360107422, + 0.038931574672460556, + -19.742107391357422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2367, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_442268610", + "mask_path": "../../mask/hdr_right_02367.png" + }, + { + "file_path": "../../rgb/hdr_right_02368.png", + "transform_matrix": [ + [ + -0.41021546721458435, + -0.06192164495587349, + -0.9098840951919556, + -22.633638381958008 + ], + [ + 0.909072995185852, + 0.05195143446326256, + -0.4133853316307068, + -47.19062423706055 + ], + [ + 0.07286728918552399, + -0.9967280030250549, + 0.03498002141714096, + -19.75653839111328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2368, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_542268037", + "mask_path": "../../mask/hdr_right_02368.png" + }, + { + "file_path": "../../rgb/hdr_right_02369.png", + "transform_matrix": [ + [ + -0.40288296341896057, + -0.05842702463269234, + -0.9133847951889038, + -22.613475799560547 + ], + [ + 0.9123222827911377, + 0.05414353311061859, + -0.4058777391910553, + -47.30030822753906 + ], + [ + 0.07316810637712479, + -0.9968222975730896, + 0.031490765511989594, + -19.75491714477539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2369, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_642267227", + "mask_path": "../../mask/hdr_right_02369.png" + }, + { + "file_path": "../../rgb/hdr_right_02370.png", + "transform_matrix": [ + [ + -0.3921761214733124, + -0.05333249270915985, + -0.9183429479598999, + -22.601533889770508 + ], + [ + 0.917166531085968, + 0.05409553647041321, + -0.3948153555393219, + -47.3777961730957 + ], + [ + 0.07073473185300827, + -0.9971104860305786, + 0.027699805796146393, + -19.751375198364258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2370, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_742267131", + "mask_path": "../../mask/hdr_right_02370.png" + }, + { + "file_path": "../../rgb/hdr_right_02371.png", + "transform_matrix": [ + [ + -0.3809513449668884, + -0.05198996514081955, + -0.9231322407722473, + -22.589656829833984 + ], + [ + 0.9223260879516602, + 0.04853517562150955, + -0.383352130651474, + -47.44987487792969 + ], + [ + 0.06473485380411148, + -0.9974675178527832, + 0.029462166130542755, + -19.760587692260742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2371, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_842267513", + "mask_path": "../../mask/hdr_right_02371.png" + }, + { + "file_path": "../../rgb/hdr_right_02372.png", + "transform_matrix": [ + [ + -0.3749648332595825, + -0.05763057619333267, + -0.925246000289917, + -22.561534881591797 + ], + [ + 0.9247663021087646, + 0.04659212380647659, + -0.3776725232601166, + -47.55727005004883 + ], + [ + 0.06487466394901276, + -0.9972501397132874, + 0.03582441061735153, + -19.769784927368164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2372, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639037_942268133", + "mask_path": "../../mask/hdr_right_02372.png" + }, + { + "file_path": "../../rgb/hdr_right_02373.png", + "transform_matrix": [ + [ + -0.374763160943985, + -0.06378485262393951, + -0.924923837184906, + -22.5335693359375 + ], + [ + 0.9245046973228455, + 0.0491788350045681, + -0.37798482179641724, + -47.64773941040039 + ], + [ + 0.06959637999534607, + -0.9967511892318726, + 0.0405389778316021, + -19.781171798706055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2373, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_42268753", + "mask_path": "../../mask/hdr_right_02373.png" + }, + { + "file_path": "../../rgb/hdr_right_02374.png", + "transform_matrix": [ + [ + -0.37749120593070984, + -0.06286647170782089, + -0.9238767027854919, + -22.50876808166504 + ], + [ + 0.9233749508857727, + 0.04970325902104378, + -0.3806682825088501, + -47.72336959838867 + ], + [ + 0.06985095143318176, + -0.9967834949493408, + 0.0392867773771286, + -19.800691604614258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2374, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_142267942", + "mask_path": "../../mask/hdr_right_02374.png" + }, + { + "file_path": "../../rgb/hdr_right_02375.png", + "transform_matrix": [ + [ + -0.37573784589767456, + -0.06238553300499916, + -0.9246238470077515, + -22.48590087890625 + ], + [ + 0.9239307641983032, + 0.05221720039844513, + -0.3789793848991394, + -47.824886322021484 + ], + [ + 0.07192408293485641, + -0.9966852068901062, + 0.03801993280649185, + -19.80623435974121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2375, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_242267370", + "mask_path": "../../mask/hdr_right_02375.png" + }, + { + "file_path": "../../rgb/hdr_right_02376.png", + "transform_matrix": [ + [ + -0.36727821826934814, + -0.05908035486936569, + -0.9282327890396118, + -22.468555450439453 + ], + [ + 0.9273265600204468, + 0.05390596389770508, + -0.3703506588935852, + -47.9334716796875 + ], + [ + 0.07191772013902664, + -0.996796727180481, + 0.03498830273747444, + -19.799198150634766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2376, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_342267274", + "mask_path": "../../mask/hdr_right_02376.png" + }, + { + "file_path": "../../rgb/hdr_right_02377.png", + "transform_matrix": [ + [ + -0.35661613941192627, + -0.05319070816040039, + -0.9327356219291687, + -22.455110549926758 + ], + [ + 0.9317792654037476, + 0.05232559144496918, + -0.35923442244529724, + -48.0104866027832 + ], + [ + 0.06791386753320694, + -0.9972124695777893, + 0.030901851132512093, + -19.803747177124023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2377, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_442266702", + "mask_path": "../../mask/hdr_right_02377.png" + }, + { + "file_path": "../../rgb/hdr_right_02378.png", + "transform_matrix": [ + [ + -0.34595733880996704, + -0.05434232950210571, + -0.9366751909255981, + -22.43476104736328 + ], + [ + 0.9361525177955627, + 0.04672836512327194, + -0.34847527742385864, + -48.10456085205078 + ], + [ + 0.06270626187324524, + -0.9974284172058105, + 0.034706685692071915, + -19.80733299255371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2378, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_542267322", + "mask_path": "../../mask/hdr_right_02378.png" + }, + { + "file_path": "../../rgb/hdr_right_02379.png", + "transform_matrix": [ + [ + -0.34361785650253296, + -0.062321100383996964, + -0.9370394349098206, + -22.412269592285156 + ], + [ + 0.9366890788078308, + 0.048849109560251236, + -0.3467382490634918, + -48.22140121459961 + ], + [ + 0.06738265603780746, + -0.9968599677085876, + 0.041590068489313126, + -19.82140350341797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2379, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_642268180", + "mask_path": "../../mask/hdr_right_02379.png" + }, + { + "file_path": "../../rgb/hdr_right_02380.png", + "transform_matrix": [ + [ + -0.3458806276321411, + -0.06626439839601517, + -0.9359357357025146, + -22.391529083251953 + ], + [ + 0.9356613755226135, + 0.050093136727809906, + -0.34932586550712585, + -48.300472259521484 + ], + [ + 0.07003182172775269, + -0.9965438842773438, + 0.04467479884624481, + -19.834787368774414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2380, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_742267131", + "mask_path": "../../mask/hdr_right_02380.png" + }, + { + "file_path": "../../rgb/hdr_right_02381.png", + "transform_matrix": [ + [ + -0.3485809862613678, + -0.06265450268983841, + -0.9351822733879089, + -22.37180519104004 + ], + [ + 0.9349437355995178, + 0.047140683978796005, + -0.3516503572463989, + -48.371826171875 + ], + [ + 0.06611760705709457, + -0.9969213604927063, + 0.04214608296751976, + -19.845447540283203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2381, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_842267751", + "mask_path": "../../mask/hdr_right_02381.png" + }, + { + "file_path": "../../rgb/hdr_right_02382.png", + "transform_matrix": [ + [ + -0.34432974457740784, + -0.061610858887434006, + -0.9368250966072083, + -22.347291946411133 + ], + [ + 0.9362391233444214, + 0.05181572586297989, + -0.3475220501422882, + -48.48136901855469 + ], + [ + 0.06995341181755066, + -0.9967543482780457, + 0.03984079509973526, + -19.84906768798828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2382, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639038_942267656", + "mask_path": "../../mask/hdr_right_02382.png" + }, + { + "file_path": "../../rgb/hdr_right_02383.png", + "transform_matrix": [ + [ + -0.3348711133003235, + -0.05846602842211723, + -0.9404482841491699, + -22.33397102355957 + ], + [ + 0.9396538734436035, + 0.05351608991622925, + -0.33791518211364746, + -48.58024597167969 + ], + [ + 0.07008568942546844, + -0.9968539476394653, + 0.037016842514276505, + -19.843387603759766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2383, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_42267560", + "mask_path": "../../mask/hdr_right_02383.png" + }, + { + "file_path": "../../rgb/hdr_right_02384.png", + "transform_matrix": [ + [ + -0.3235309422016144, + -0.05443795397877693, + -0.9446503520011902, + -22.328907012939453 + ], + [ + 0.943982720375061, + 0.050005968660116196, + -0.3261840343475342, + -48.64967346191406 + ], + [ + 0.0649949461221695, + -0.9972642064094543, + 0.035210009664297104, + -19.845855712890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2384, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_142267227", + "mask_path": "../../mask/hdr_right_02384.png" + }, + { + "file_path": "../../rgb/hdr_right_02385.png", + "transform_matrix": [ + [ + -0.3141404390335083, + -0.05786675959825516, + -0.947611391544342, + -22.312013626098633 + ], + [ + 0.9472389817237854, + 0.047838300466537476, + -0.31693825125694275, + -48.75346374511719 + ], + [ + 0.06367230415344238, + -0.9971774816513062, + 0.039785705506801605, + -19.856077194213867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2385, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_242268323", + "mask_path": "../../mask/hdr_right_02385.png" + }, + { + "file_path": "../../rgb/hdr_right_02386.png", + "transform_matrix": [ + [ + -0.31158068776130676, + -0.0645671859383583, + -0.9480235576629639, + -22.29258155822754 + ], + [ + 0.9476733207702637, + 0.051876623183488846, + -0.3149987459182739, + -48.86275100708008 + ], + [ + 0.06951882690191269, + -0.9965639710426331, + 0.04502484202384949, + -19.870471954345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2386, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_342267036", + "mask_path": "../../mask/hdr_right_02386.png" + }, + { + "file_path": "../../rgb/hdr_right_02387.png", + "transform_matrix": [ + [ + -0.31317487359046936, + -0.06625150144100189, + -0.9473817944526672, + -22.278390884399414 + ], + [ + 0.9469618201255798, + 0.05385046452283859, + -0.31680184602737427, + -48.93938446044922 + ], + [ + 0.07200554758310318, + -0.9963487982749939, + 0.04587302729487419, + -19.877826690673828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2387, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_442267894", + "mask_path": "../../mask/hdr_right_02387.png" + }, + { + "file_path": "../../rgb/hdr_right_02388.png", + "transform_matrix": [ + [ + -0.31405845284461975, + -0.06067543849349022, + -0.9474628567695618, + -22.26123809814453 + ], + [ + 0.9469264149665833, + 0.052026331424713135, + -0.31721237301826477, + -49.033851623535156 + ], + [ + 0.06854001432657242, + -0.9968007802963257, + 0.04111587256193161, + -19.887073516845703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2388, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_542267799", + "mask_path": "../../mask/hdr_right_02388.png" + }, + { + "file_path": "../../rgb/hdr_right_02389.png", + "transform_matrix": [ + [ + -0.30748867988586426, + -0.05552413687109947, + -0.9499304294586182, + -22.245513916015625 + ], + [ + 0.9489808678627014, + 0.055439796298742294, + -0.31042179465293884, + -49.1562614440918 + ], + [ + 0.06989985704421997, + -0.9969170689582825, + 0.03564424067735672, + -19.89064598083496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2389, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_642267942", + "mask_path": "../../mask/hdr_right_02389.png" + }, + { + "file_path": "../../rgb/hdr_right_02390.png", + "transform_matrix": [ + [ + -0.2968899607658386, + -0.04768475890159607, + -0.9537204504013062, + -22.23667335510254 + ], + [ + 0.952411413192749, + 0.05743938311934471, + -0.2993544042110443, + -49.247520446777344 + ], + [ + 0.06905574351549149, + -0.9972095489501953, + 0.028362339362502098, + -19.889965057373047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2390, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_742267847", + "mask_path": "../../mask/hdr_right_02390.png" + }, + { + "file_path": "../../rgb/hdr_right_02391.png", + "transform_matrix": [ + [ + -0.2853034436702728, + -0.04354139789938927, + -0.9574477672576904, + -22.228317260742188 + ], + [ + 0.9563398361206055, + 0.053119998425245285, + -0.28738901019096375, + -49.315364837646484 + ], + [ + 0.06337294727563858, + -0.9976384043693542, + 0.026485061272978783, + -19.896774291992188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2391, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_842267036", + "mask_path": "../../mask/hdr_right_02391.png" + }, + { + "file_path": "../../rgb/hdr_right_02392.png", + "transform_matrix": [ + [ + -0.27985477447509766, + -0.05145401135087013, + -0.9586625099182129, + -22.212907791137695 + ], + [ + 0.9577300548553467, + 0.0543006993830204, + -0.28249701857566833, + -49.42964553833008 + ], + [ + 0.06659164279699326, + -0.9971980452537537, + 0.03408275172114372, + -19.91008758544922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2392, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639039_942266941", + "mask_path": "../../mask/hdr_right_02392.png" + }, + { + "file_path": "../../rgb/hdr_right_02393.png", + "transform_matrix": [ + [ + -0.28016164898872375, + -0.058271974325180054, + -0.9581826329231262, + -22.194114685058594 + ], + [ + 0.9572733640670776, + 0.05756676197052002, + -0.28339672088623047, + -49.532657623291016 + ], + [ + 0.07167355716228485, + -0.9966395497322083, + 0.039654217660427094, + -19.925426483154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2393, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_42266845", + "mask_path": "../../mask/hdr_right_02393.png" + }, + { + "file_path": "../../rgb/hdr_right_02394.png", + "transform_matrix": [ + [ + -0.282720148563385, + -0.058070212602615356, + -0.9574430584907532, + -22.17566680908203 + ], + [ + 0.9566041827201843, + 0.05635012686252594, + -0.285890132188797, + -49.60721969604492 + ], + [ + 0.0705537423491478, + -0.9967208504676819, + 0.039618879556655884, + -19.93596839904785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2394, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_142267942", + "mask_path": "../../mask/hdr_right_02394.png" + }, + { + "file_path": "../../rgb/hdr_right_02395.png", + "transform_matrix": [ + [ + -0.2808620035648346, + -0.05786985531449318, + -0.9580018520355225, + -22.16132164001465 + ], + [ + 0.9570637941360474, + 0.05771683156490326, + -0.28407347202301025, + -49.71502685546875 + ], + [ + 0.07173213362693787, + -0.9966543316841125, + 0.039174675941467285, + -19.943906784057617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2395, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_242268085", + "mask_path": "../../mask/hdr_right_02395.png" + }, + { + "file_path": "../../rgb/hdr_right_02396.png", + "transform_matrix": [ + [ + -0.27235203981399536, + -0.05546148121356964, + -0.9605979323387146, + -22.15578269958496 + ], + [ + 0.9596198201179504, + 0.05737247318029404, + -0.2753871977329254, + -49.82953643798828 + ], + [ + 0.07038526982069016, + -0.9968110918998718, + 0.03759642690420151, + -19.937482833862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2396, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_342268466", + "mask_path": "../../mask/hdr_right_02396.png" + }, + { + "file_path": "../../rgb/hdr_right_02397.png", + "transform_matrix": [ + [ + -0.2609134018421173, + -0.04933115839958191, + -0.9641009569168091, + -22.14723777770996 + ], + [ + 0.9631962180137634, + 0.05355943366885185, + -0.2634091079235077, + -49.90332794189453 + ], + [ + 0.06463097780942917, + -0.997345507144928, + 0.033541206270456314, + -19.93707275390625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2397, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_442268848", + "mask_path": "../../mask/hdr_right_02397.png" + }, + { + "file_path": "../../rgb/hdr_right_02398.png", + "transform_matrix": [ + [ + -0.2494218647480011, + -0.050496168434619904, + -0.9670774936676025, + -22.134265899658203 + ], + [ + 0.9665642976760864, + 0.04839341714978218, + -0.25181639194488525, + -49.988285064697266 + ], + [ + 0.05951594561338425, + -0.9975510835647583, + 0.03673741593956947, + -19.946245193481445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2398, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_542267560", + "mask_path": "../../mask/hdr_right_02398.png" + }, + { + "file_path": "../../rgb/hdr_right_02399.png", + "transform_matrix": [ + [ + -0.24533335864543915, + -0.058472927659749985, + -0.9676737189292908, + -22.124549865722656 + ], + [ + 0.9672905802726746, + 0.051648907363414764, + -0.24835717678070068, + -50.10650634765625 + ], + [ + 0.06450146436691284, + -0.9969519972801208, + 0.043889109045267105, + -19.958410263061523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2399, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_642267465", + "mask_path": "../../mask/hdr_right_02399.png" + }, + { + "file_path": "../../rgb/hdr_right_02400.png", + "transform_matrix": [ + [ + -0.2466161996126175, + -0.062227513641119, + -0.9671133756637573, + -22.110843658447266 + ], + [ + 0.9667369723320007, + 0.05404428392648697, + -0.24999763071537018, + -50.195457458496094 + ], + [ + 0.06782367825508118, + -0.9965977072715759, + 0.04682944715023041, + -19.971830368041992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2400, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_742267370", + "mask_path": "../../mask/hdr_right_02400.png" + }, + { + "file_path": "../../rgb/hdr_right_02401.png", + "transform_matrix": [ + [ + -0.24878913164138794, + -0.058693885803222656, + -0.9667776823043823, + -22.096752166748047 + ], + [ + 0.9664082527160645, + 0.05141915753483772, + -0.2518157362937927, + -50.275962829589844 + ], + [ + 0.06449094414710999, + -0.9969508647918701, + 0.04392973333597183, + -19.984891891479492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2401, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_842266559", + "mask_path": "../../mask/hdr_right_02401.png" + }, + { + "file_path": "../../rgb/hdr_right_02402.png", + "transform_matrix": [ + [ + -0.24449405074119568, + -0.05758823826909065, + -0.9679391980171204, + -22.089841842651367 + ], + [ + 0.9673455953598022, + 0.05430527403950691, + -0.247575044631958, + -50.38310623168945 + ], + [ + 0.0668216124176979, + -0.9968622922897339, + 0.042430415749549866, + -19.987417221069336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2402, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639040_942268133", + "mask_path": "../../mask/hdr_right_02402.png" + }, + { + "file_path": "../../rgb/hdr_right_02403.png", + "transform_matrix": [ + [ + -0.23537182807922363, + -0.05473736301064491, + -0.9703627824783325, + -22.091110229492188 + ], + [ + 0.9696545004844666, + 0.05468474701046944, + -0.23828475177288055, + -50.47785186767578 + ], + [ + 0.0661071240901947, + -0.9970022439956665, + 0.04020509123802185, + -19.979841232299805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2403, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_42267322", + "mask_path": "../../mask/hdr_right_02403.png" + }, + { + "file_path": "../../rgb/hdr_right_02404.png", + "transform_matrix": [ + [ + -0.22455903887748718, + -0.04983833432197571, + -0.9731851816177368, + -22.090120315551758 + ], + [ + 0.9725382924079895, + 0.05123372748494148, + -0.22703354060649872, + -50.545494079589844 + ], + [ + 0.061174873262643814, + -0.997442364692688, + 0.036964695900678635, + -19.98391342163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2404, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_142267704", + "mask_path": "../../mask/hdr_right_02404.png" + }, + { + "file_path": "../../rgb/hdr_right_02405.png", + "transform_matrix": [ + [ + -0.21418702602386475, + -0.05070212110877037, + -0.9754759669303894, + -22.083948135375977 + ], + [ + 0.9750392436981201, + 0.048712145537137985, + -0.21662302315235138, + -50.631893157958984 + ], + [ + 0.05850076675415039, + -0.9975250959396362, + 0.039003051817417145, + -19.993907928466797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2405, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_242267608", + "mask_path": "../../mask/hdr_right_02405.png" + }, + { + "file_path": "../../rgb/hdr_right_02406.png", + "transform_matrix": [ + [ + -0.21174907684326172, + -0.05588860809803009, + -0.9757248163223267, + -22.07819175720215 + ], + [ + 0.9751669764518738, + 0.05421353131532669, + -0.2147333025932312, + -50.7352294921875 + ], + [ + 0.06489863246679306, + -0.9969640970230103, + 0.043021056801080704, + -20.002758026123047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2406, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_342267036", + "mask_path": "../../mask/hdr_right_02406.png" + }, + { + "file_path": "../../rgb/hdr_right_02407.png", + "transform_matrix": [ + [ + -0.21398577094078064, + -0.059033893048763275, + -0.9750513434410095, + -22.072711944580078 + ], + [ + 0.9743555784225464, + 0.05820021033287048, + -0.21735675632953644, + -50.81576919555664 + ], + [ + 0.0695796087384224, + -0.9965579509735107, + 0.0450659841299057, + -20.013988494873047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2407, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_442267894", + "mask_path": "../../mask/hdr_right_02407.png" + }, + { + "file_path": "../../rgb/hdr_right_02408.png", + "transform_matrix": [ + [ + -0.21623626351356506, + -0.05664324015378952, + -0.974696695804596, + -22.063180923461914 + ], + [ + 0.9739428162574768, + 0.057416003197431564, + -0.2194056659936905, + -50.896724700927734 + ], + [ + 0.06839103251695633, + -0.9967421889305115, + 0.04275185987353325, + -20.027679443359375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2408, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_542267560", + "mask_path": "../../mask/hdr_right_02408.png" + }, + { + "file_path": "../../rgb/hdr_right_02409.png", + "transform_matrix": [ + [ + -0.21469880640506744, + -0.05470092594623566, + -0.9751473069190979, + -22.060245513916016 + ], + [ + 0.9740187525749207, + 0.06166699156165123, + -0.2179095298051834, + -51.00267028808594 + ], + [ + 0.07205425202846527, + -0.9965966939926147, + 0.040039900690317154, + -20.031169891357422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2409, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_642270803", + "mask_path": "../../mask/hdr_right_02409.png" + }, + { + "file_path": "../../rgb/hdr_right_02410.png", + "transform_matrix": [ + [ + -0.20868511497974396, + -0.05038880556821823, + -0.9766839742660522, + -22.06490135192871 + ], + [ + 0.9753007292747498, + 0.06318949908018112, + -0.21164962649345398, + -51.0959358215332 + ], + [ + 0.07238093763589859, + -0.996728777885437, + 0.03595753386616707, + -20.025203704833984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2410, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_742267608", + "mask_path": "../../mask/hdr_right_02410.png" + }, + { + "file_path": "../../rgb/hdr_right_02411.png", + "transform_matrix": [ + [ + -0.20357149839401245, + -0.04696539044380188, + -0.9779330492019653, + -22.06746482849121 + ], + [ + 0.9766883850097656, + 0.05974145978689194, + -0.20618146657943726, + -51.15876770019531 + ], + [ + 0.06810653954744339, + -0.9971084594726562, + 0.03370889276266098, + -20.026395797729492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2411, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_842267274", + "mask_path": "../../mask/hdr_right_02411.png" + }, + { + "file_path": "../../rgb/hdr_right_02412.png", + "transform_matrix": [ + [ + -0.20744717121124268, + -0.04481123387813568, + -0.9772194027900696, + -22.057775497436523 + ], + [ + 0.9761096835136414, + 0.05650441348552704, + -0.20980264246463776, + -51.23213195800781 + ], + [ + 0.06461872905492783, + -0.9973962903022766, + 0.0320189967751503, + -20.038127899169922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2412, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639041_942267894", + "mask_path": "../../mask/hdr_right_02412.png" + }, + { + "file_path": "../../rgb/hdr_right_02413.png", + "transform_matrix": [ + [ + -0.22533220052719116, + -0.048259273171424866, + -0.9730860590934753, + -22.040218353271484 + ], + [ + 0.9717732071876526, + 0.060496408492326736, + -0.22802844643592834, + -51.32225036621094 + ], + [ + 0.06987269967794418, + -0.9970011115074158, + 0.033265285193920135, + -20.047327041625977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2413, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_42268276", + "mask_path": "../../mask/hdr_right_02413.png" + }, + { + "file_path": "../../rgb/hdr_right_02414.png", + "transform_matrix": [ + [ + -0.24752438068389893, + -0.05003025010228157, + -0.9675891399383545, + -22.023563385009766 + ], + [ + 0.9661599397659302, + 0.06205696985125542, + -0.25036749243736267, + -51.38379669189453 + ], + [ + 0.07257159054279327, + -0.9968178272247314, + 0.03297660872340202, + -20.05718421936035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2414, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_142267227", + "mask_path": "../../mask/hdr_right_02414.png" + }, + { + "file_path": "../../rgb/hdr_right_02415.png", + "transform_matrix": [ + [ + -0.27027052640914917, + -0.04330680891871452, + -0.9618100523948669, + -22.005908966064453 + ], + [ + 0.9601198434829712, + 0.06214940920472145, + -0.2725939452648163, + -51.437278747558594 + ], + [ + 0.07158108800649643, + -0.9971268773078918, + 0.024782568216323853, + -20.06614875793457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2415, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_242267847", + "mask_path": "../../mask/hdr_right_02415.png" + }, + { + "file_path": "../../rgb/hdr_right_02416.png", + "transform_matrix": [ + [ + -0.29025208950042725, + -0.03610246628522873, + -0.9562689661979675, + -21.985456466674805 + ], + [ + 0.9542869329452515, + 0.06358177214860916, + -0.29205086827278137, + -51.52696228027344 + ], + [ + 0.07134503871202469, + -0.9973233342170715, + 0.015997374430298805, + -20.07090950012207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2416, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_342266798", + "mask_path": "../../mask/hdr_right_02416.png" + }, + { + "file_path": "../../rgb/hdr_right_02417.png", + "transform_matrix": [ + [ + -0.2997434437274933, + -0.030691824853420258, + -0.9535260796546936, + -21.97084617614746 + ], + [ + 0.9515304565429688, + 0.06253853440284729, + -0.3011290729045868, + -51.621665954589844 + ], + [ + 0.06887432932853699, + -0.9975705146789551, + 0.010458691045641899, + -20.06543731689453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2417, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_442267417", + "mask_path": "../../mask/hdr_right_02417.png" + }, + { + "file_path": "../../rgb/hdr_right_02418.png", + "transform_matrix": [ + [ + -0.295428603887558, + -0.024007925763726234, + -0.9550631642341614, + -21.96079444885254 + ], + [ + 0.9530564546585083, + 0.06204473227262497, + -0.2963675260543823, + -51.68155288696289 + ], + [ + 0.06637181341648102, + -0.9977845549583435, + 0.004551121033728123, + -20.065223693847656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2418, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_542266607", + "mask_path": "../../mask/hdr_right_02418.png" + }, + { + "file_path": "../../rgb/hdr_right_02419.png", + "transform_matrix": [ + [ + -0.28372901678085327, + -0.0300533939152956, + -0.9584334492683411, + -21.9471492767334 + ], + [ + 0.9568769931793213, + 0.056089069694280624, + -0.28502702713012695, + -51.7617073059082 + ], + [ + 0.062323667109012604, + -0.9979733228683472, + 0.012843305245041847, + -20.07354164123535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2419, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_642267704", + "mask_path": "../../mask/hdr_right_02419.png" + }, + { + "file_path": "../../rgb/hdr_right_02420.png", + "transform_matrix": [ + [ + -0.2790754437446594, + -0.037631452083587646, + -0.9595316052436829, + -21.935924530029297 + ], + [ + 0.9580644369125366, + 0.056763023138046265, + -0.2808748781681061, + -51.86932373046875 + ], + [ + 0.06503564119338989, + -0.9976782202720642, + 0.020212188363075256, + -20.086347579956055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2420, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_742267131", + "mask_path": "../../mask/hdr_right_02420.png" + }, + { + "file_path": "../../rgb/hdr_right_02421.png", + "transform_matrix": [ + [ + -0.28053563833236694, + -0.04096893221139908, + -0.9589689373970032, + -21.919445037841797 + ], + [ + 0.9574339985847473, + 0.05880435183644295, + -0.2825988829135895, + -51.93977737426758 + ], + [ + 0.06796931475400925, + -0.9974284768104553, + 0.02272833324968815, + -20.095266342163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2421, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_842263936", + "mask_path": "../../mask/hdr_right_02421.png" + }, + { + "file_path": "../../rgb/hdr_right_02422.png", + "transform_matrix": [ + [ + -0.2818950116634369, + -0.03745928034186363, + -0.958713710308075, + -21.897926330566406 + ], + [ + 0.9571805000305176, + 0.05763731896877289, + -0.2836962044239044, + -52.01166534423828 + ], + [ + 0.06588474661111832, + -0.9976345896720886, + 0.01960761472582817, + -20.11149787902832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2422, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639042_942267179", + "mask_path": "../../mask/hdr_right_02422.png" + }, + { + "file_path": "../../rgb/hdr_right_02423.png", + "transform_matrix": [ + [ + -0.27841392159461975, + -0.03864989057183266, + -0.9596832394599915, + -21.879716873168945 + ], + [ + 0.95801842212677, + 0.060042593628168106, + -0.2803490459918976, + -52.114925384521484 + ], + [ + 0.06845732778310776, + -0.9974472522735596, + 0.02031061425805092, + -20.11459732055664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2423, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_42268514", + "mask_path": "../../mask/hdr_right_02423.png" + }, + { + "file_path": "../../rgb/hdr_right_02424.png", + "transform_matrix": [ + [ + -0.2698074281215668, + -0.03868991136550903, + -0.9621367454528809, + -21.87278175354004 + ], + [ + 0.9606232643127441, + 0.05807086080312729, + -0.27171820402145386, + -52.2086296081543 + ], + [ + 0.06638485938310623, + -0.9975624084472656, + 0.021498478949069977, + -20.107229232788086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2424, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_142267704", + "mask_path": "../../mask/hdr_right_02424.png" + }, + { + "file_path": "../../rgb/hdr_right_02425.png", + "transform_matrix": [ + [ + -0.25834885239601135, + -0.03630141541361809, + -0.965369462966919, + -21.86813735961914 + ], + [ + 0.9641379714012146, + 0.053179461508989334, + -0.26001906394958496, + -52.27397155761719 + ], + [ + 0.060776885598897934, + -0.9979248642921448, + 0.021260719746351242, + -20.109241485595703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2425, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_242268562", + "mask_path": "../../mask/hdr_right_02425.png" + }, + { + "file_path": "../../rgb/hdr_right_02426.png", + "transform_matrix": [ + [ + -0.24879223108291626, + -0.04074535891413689, + -0.9676994681358337, + -21.854337692260742 + ], + [ + 0.9667877554893494, + 0.04991275444626808, + -0.25065943598747253, + -52.36787033081055 + ], + [ + 0.05851375684142113, + -0.9979221820831299, + 0.026974208652973175, + -20.116680145263672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2426, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_342267274", + "mask_path": "../../mask/hdr_right_02426.png" + }, + { + "file_path": "../../rgb/hdr_right_02427.png", + "transform_matrix": [ + [ + -0.24703332781791687, + -0.04902397468686104, + -0.9677661061286926, + -21.838943481445312 + ], + [ + 0.9669054746627808, + 0.05326901748776436, + -0.24951206147670746, + -52.46315002441406 + ], + [ + 0.06378403306007385, + -0.9973760843276978, + 0.034242331981658936, + -20.128198623657227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2427, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_442271232", + "mask_path": "../../mask/hdr_right_02427.png" + }, + { + "file_path": "../../rgb/hdr_right_02428.png", + "transform_matrix": [ + [ + -0.24927522242069244, + -0.052913472056388855, + -0.9669860601425171, + -21.828176498413086 + ], + [ + 0.9661335945129395, + 0.05517524480819702, + -0.25207462906837463, + -52.52830123901367 + ], + [ + 0.06669183820486069, + -0.9970736503601074, + 0.03736766055226326, + -20.135595321655273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2428, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_542267322", + "mask_path": "../../mask/hdr_right_02428.png" + }, + { + "file_path": "../../rgb/hdr_right_02429.png", + "transform_matrix": [ + [ + -0.2514229118824005, + -0.04979958385229111, + -0.9665954113006592, + -21.81575584411621 + ], + [ + 0.9657229781150818, + 0.05368828400969505, + -0.25396203994750977, + -52.59946060180664 + ], + [ + 0.06454204767942429, + -0.9973151683807373, + 0.03459414094686508, + -20.145301818847656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2429, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_642268657", + "mask_path": "../../mask/hdr_right_02429.png" + }, + { + "file_path": "../../rgb/hdr_right_02430.png", + "transform_matrix": [ + [ + -0.24725498259067535, + -0.04838011786341667, + -0.9677419662475586, + -21.807016372680664 + ], + [ + 0.9666236639022827, + 0.056857649236917496, + -0.24981170892715454, + -52.69895935058594 + ], + [ + 0.06710944324731827, + -0.997209370136261, + 0.032707031816244125, + -20.14748191833496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2430, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_742268085", + "mask_path": "../../mask/hdr_right_02430.png" + }, + { + "file_path": "../../rgb/hdr_right_02431.png", + "transform_matrix": [ + [ + -0.23792853951454163, + -0.044192105531692505, + -0.9702767729759216, + -21.806324005126953 + ], + [ + 0.96907639503479, + 0.056493423879146576, + -0.24020721018314362, + -52.791259765625 + ], + [ + 0.06542952358722687, + -0.9974244236946106, + 0.029384126886725426, + -20.14356803894043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2431, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_842267513", + "mask_path": "../../mask/hdr_right_02431.png" + }, + { + "file_path": "../../rgb/hdr_right_02432.png", + "transform_matrix": [ + [ + -0.22591754794120789, + -0.040051139891147614, + -0.9733227491378784, + -21.80384063720703 + ], + [ + 0.9723115563392639, + 0.05202534794807434, + -0.22782360017299652, + -52.861045837402344 + ], + [ + 0.059762053191661835, + -0.9978423118591309, + 0.027188749983906746, + -20.14969825744629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2432, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639043_942266941", + "mask_path": "../../mask/hdr_right_02432.png" + }, + { + "file_path": "../../rgb/hdr_right_02433.png", + "transform_matrix": [ + [ + -0.21720576286315918, + -0.04443473741412163, + -0.9751139283180237, + -21.79578971862793 + ], + [ + 0.9744417667388916, + 0.04878443479537964, + -0.21927905082702637, + -52.95402526855469 + ], + [ + 0.05731399729847908, + -0.9978204369544983, + 0.03270281106233597, + -20.153980255126953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2433, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_42267322", + "mask_path": "../../mask/hdr_right_02433.png" + }, + { + "file_path": "../../rgb/hdr_right_02434.png", + "transform_matrix": [ + [ + -0.21559154987335205, + -0.05076329782605171, + -0.9751632809638977, + -21.786291122436523 + ], + [ + 0.9745084047317505, + 0.052302584052085876, + -0.2181694209575653, + -53.044677734375 + ], + [ + 0.062078557908535004, + -0.997340202331543, + 0.038193266838788986, + -20.1638126373291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2434, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_142267704", + "mask_path": "../../mask/hdr_right_02434.png" + }, + { + "file_path": "../../rgb/hdr_right_02435.png", + "transform_matrix": [ + [ + -0.21672441065311432, + -0.051965199410915375, + -0.9748488664627075, + -21.777240753173828 + ], + [ + 0.9740854501724243, + 0.05468681454658508, + -0.2194698005914688, + -53.10921096801758 + ], + [ + 0.06471617519855499, + -0.9971504211425781, + 0.03876657038927078, + -20.171789169311523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2435, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_242269277", + "mask_path": "../../mask/hdr_right_02435.png" + }, + { + "file_path": "../../rgb/hdr_right_02436.png", + "transform_matrix": [ + [ + -0.21703532338142395, + -0.0485365055501461, + -0.9749563932418823, + -21.76906967163086 + ], + [ + 0.9740149974822998, + 0.05546556040644646, + -0.21958698332309723, + -53.177852630615234 + ], + [ + 0.06473448872566223, + -0.9972801804542542, + 0.035237301141023636, + -20.183664321899414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2436, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_342267513", + "mask_path": "../../mask/hdr_right_02436.png" + }, + { + "file_path": "../../rgb/hdr_right_02437.png", + "transform_matrix": [ + [ + -0.21285313367843628, + -0.046140335500240326, + -0.9759941697120667, + -21.76573371887207 + ], + [ + 0.974676787853241, + 0.06004868820309639, + -0.21540464460849762, + -53.266754150390625 + ], + [ + 0.06854601949453354, + -0.9971284866333008, + 0.032190367579460144, + -20.187389373779297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2437, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_442267417", + "mask_path": "../../mask/hdr_right_02437.png" + }, + { + "file_path": "../../rgb/hdr_right_02438.png", + "transform_matrix": [ + [ + -0.20415914058685303, + -0.04122626408934593, + -0.9780693054199219, + -21.76873016357422 + ], + [ + 0.9765527844429016, + 0.06112275645136833, + -0.2064189463853836, + -53.34488296508789 + ], + [ + 0.06829216331243515, + -0.9972784519195557, + 0.027780849486589432, + -20.180931091308594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2438, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_542267322", + "mask_path": "../../mask/hdr_right_02438.png" + }, + { + "file_path": "../../rgb/hdr_right_02439.png", + "transform_matrix": [ + [ + -0.19334053993225098, + -0.03675683215260506, + -0.9804429411888123, + -21.767993927001953 + ], + [ + 0.9789344072341919, + 0.05961472541093826, + -0.19527801871299744, + -53.39860916137695 + ], + [ + 0.06562665104866028, + -0.997544527053833, + 0.024456582963466644, + -20.181499481201172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2439, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_642267942", + "mask_path": "../../mask/hdr_right_02439.png" + }, + { + "file_path": "../../rgb/hdr_right_02440.png", + "transform_matrix": [ + [ + -0.1809202879667282, + -0.0388343371450901, + -0.9827308058738708, + -21.765363693237305 + ], + [ + 0.9815171360969543, + 0.056253574788570404, + -0.18291981518268585, + -53.46854782104492 + ], + [ + 0.062385693192481995, + -0.9976609945297241, + 0.02793915569782257, + -20.1879940032959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2440, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_742268085", + "mask_path": "../../mask/hdr_right_02440.png" + }, + { + "file_path": "../../rgb/hdr_right_02441.png", + "transform_matrix": [ + [ + -0.17711465060710907, + -0.04449997842311859, + -0.983183741569519, + -21.76406478881836 + ], + [ + 0.9819996953010559, + 0.05862266197800636, + -0.17955467104911804, + -53.56126022338867 + ], + [ + 0.06562702357769012, + -0.997287929058075, + 0.03331603854894638, + -20.196144104003906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2441, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_842267513", + "mask_path": "../../mask/hdr_right_02441.png" + }, + { + "file_path": "../../rgb/hdr_right_02442.png", + "transform_matrix": [ + [ + -0.17794208228588104, + -0.04830572009086609, + -0.9828547239303589, + -21.757875442504883 + ], + [ + 0.9816077947616577, + 0.06148091331124306, + -0.18073803186416626, + -53.625526428222656 + ], + [ + 0.06915748119354248, + -0.9969387054443359, + 0.036477230489254, + -20.209922790527344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2442, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639044_942268848", + "mask_path": "../../mask/hdr_right_02442.png" + }, + { + "file_path": "../../rgb/hdr_right_02443.png", + "transform_matrix": [ + [ + -0.17888124287128448, + -0.04839590564370155, + -0.9826797246932983, + -21.753999710083008 + ], + [ + 0.9813776612281799, + 0.06228068843483925, + -0.18171146512031555, + -53.68037033081055 + ], + [ + 0.06999605894088745, + -0.9968847036361694, + 0.03635381534695625, + -20.21508026123047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2443, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_42267560", + "mask_path": "../../mask/hdr_right_02443.png" + }, + { + "file_path": "../../rgb/hdr_right_02444.png", + "transform_matrix": [ + [ + -0.1776060163974762, + -0.044153086841106415, + -0.9831107258796692, + -21.75499725341797 + ], + [ + 0.9814647436141968, + 0.06513689458370209, + -0.18023404479026794, + -53.75258255004883 + ], + [ + 0.07199465483427048, + -0.9968990087509155, + 0.03176599368453026, + -20.223499298095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2444, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_142268180", + "mask_path": "../../mask/hdr_right_02444.png" + }, + { + "file_path": "../../rgb/hdr_right_02445.png", + "transform_matrix": [ + [ + -0.17043039202690125, + -0.04330826178193092, + -0.9844176173210144, + -21.760974884033203 + ], + [ + 0.9827758073806763, + 0.06497249752283096, + -0.17300450801849365, + -53.82620620727539 + ], + [ + 0.07145258039236069, + -0.9969468116760254, + 0.031489018350839615, + -20.219331741333008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2445, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_242268800", + "mask_path": "../../mask/hdr_right_02445.png" + }, + { + "file_path": "../../rgb/hdr_right_02446.png", + "transform_matrix": [ + [ + -0.16081391274929047, + -0.041868261992931366, + -0.9860963225364685, + -21.76548957824707 + ], + [ + 0.9845907688140869, + 0.06273997575044632, + -0.16323222219944, + -53.878257751464844 + ], + [ + 0.06870190054178238, + -0.9971513152122498, + 0.03113364614546299, + -20.214834213256836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2446, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_342267513", + "mask_path": "../../mask/hdr_right_02446.png" + }, + { + "file_path": "../../rgb/hdr_right_02448.png", + "transform_matrix": [ + [ + -0.1393701136112213, + -0.03700476512312889, + -0.9895486831665039, + -21.770437240600586 + ], + [ + 0.9879263639450073, + 0.0630798265337944, + -0.1415005326271057, + -53.98756790161133 + ], + [ + 0.06765677034854889, + -0.9973222017288208, + 0.02776653692126274, + -20.224384307861328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2448, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_542268753", + "mask_path": "../../mask/hdr_right_02448.png" + }, + { + "file_path": "../../rgb/hdr_right_02449.png", + "transform_matrix": [ + [ + -0.1372196227312088, + -0.04386644437909126, + -0.9895689487457275, + -21.774669647216797 + ], + [ + 0.9877735376358032, + 0.06856183707714081, + -0.14000992476940155, + -54.04795837402344 + ], + [ + 0.07398839294910431, + -0.9966819882392883, + 0.03392208740115166, + -20.232419967651367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2449, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_642268180", + "mask_path": "../../mask/hdr_right_02449.png" + }, + { + "file_path": "../../rgb/hdr_right_02452.png", + "transform_matrix": [ + [ + -0.13543353974819183, + -0.04777151718735695, + -0.989634096622467, + -21.779399871826172 + ], + [ + 0.987708330154419, + 0.07216298580169678, + -0.13865342736244202, + -54.21382141113281 + ], + [ + 0.07803864032030106, + -0.996248185634613, + 0.03741103783249855, + -20.250057220458984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2452, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639045_942267894", + "mask_path": "../../mask/hdr_right_02452.png" + }, + { + "file_path": "../../rgb/hdr_right_02453.png", + "transform_matrix": [ + [ + -0.12804952263832092, + -0.04511937126517296, + -0.9907408952713013, + -21.787315368652344 + ], + [ + 0.9887955188751221, + 0.07147479057312012, + -0.1310531198978424, + -54.27582931518555 + ], + [ + 0.076726034283638, + -0.9964213967323303, + 0.03546151518821716, + -20.248991012573242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2453, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_42267322", + "mask_path": "../../mask/hdr_right_02453.png" + }, + { + "file_path": "../../rgb/hdr_right_02455.png", + "transform_matrix": [ + [ + -0.10477451235055923, + -0.03902393952012062, + -0.9937301278114319, + -21.7994327545166 + ], + [ + 0.992085337638855, + 0.06543026119470596, + -0.10717053711414337, + -54.369083404541016 + ], + [ + 0.0692022368311882, + -0.9970937371253967, + 0.031859658658504486, + -20.25554656982422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2455, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_242266893", + "mask_path": "../../mask/hdr_right_02455.png" + }, + { + "file_path": "../../rgb/hdr_right_02456.png", + "transform_matrix": [ + [ + -0.09949860721826553, + -0.0439719632267952, + -0.9940657019615173, + -21.80681610107422 + ], + [ + 0.9924165606498718, + 0.06807918846607208, + -0.10234496742486954, + -54.44373321533203 + ], + [ + 0.07217549532651901, + -0.9967104196548462, + 0.03686472401022911, + -20.257749557495117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2456, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_342267036", + "mask_path": "../../mask/hdr_right_02456.png" + }, + { + "file_path": "../../rgb/hdr_right_02457.png", + "transform_matrix": [ + [ + -0.09823612123727798, + -0.04778454825282097, + -0.9940152764320374, + -21.803808212280273 + ], + [ + 0.9924632906913757, + 0.06882207840681076, + -0.10139115899801254, + -54.50562286376953 + ], + [ + 0.07325512170791626, + -0.9964839220046997, + 0.040663592517375946, + -20.2674560546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2457, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_442267179", + "mask_path": "../../mask/hdr_right_02457.png" + }, + { + "file_path": "../../rgb/hdr_right_02458.png", + "transform_matrix": [ + [ + -0.0978638082742691, + -0.046750616282224655, + -0.9941011667251587, + -21.80230712890625 + ], + [ + 0.9926579594612122, + 0.06676182150840759, + -0.10086140036582947, + -54.5562744140625 + ], + [ + 0.07108333706855774, + -0.996673047542572, + 0.03987380862236023, + -20.2747802734375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2458, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_542265653", + "mask_path": "../../mask/hdr_right_02458.png" + }, + { + "file_path": "../../rgb/hdr_right_02459.png", + "transform_matrix": [ + [ + -0.09808693081140518, + -0.04181089252233505, + -0.9942992329597473, + -21.804235458374023 + ], + [ + 0.9926734566688538, + 0.06672552973031998, + -0.10073238611221313, + -54.61267852783203 + ], + [ + 0.07055684924125671, + -0.9968949556350708, + 0.034959662705659866, + -20.287099838256836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2459, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_642266511", + "mask_path": "../../mask/hdr_right_02459.png" + }, + { + "file_path": "../../rgb/hdr_right_02460.png", + "transform_matrix": [ + [ + -0.09310092777013779, + -0.04130813106894493, + -0.9947994351387024, + -21.809093475341797 + ], + [ + 0.9930765628814697, + 0.06803052127361298, + -0.09576457738876343, + -54.67123031616211 + ], + [ + 0.07163257896900177, + -0.9968276619911194, + 0.03468843176960945, + -20.28326988220215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2460, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639046_742266893", + "mask_path": "../../mask/hdr_right_02460.png" + }, + { + "file_path": "../../rgb/hdr_right_02464.png", + "transform_matrix": [ + [ + -0.06298716366291046, + -0.03365644812583923, + -0.9974466562271118, + -21.838863372802734 + ], + [ + 0.9960061311721802, + 0.06125062704086304, + -0.06496293097734451, + -54.857662200927734 + ], + [ + 0.06328065693378448, + -0.9975547790527344, + 0.02966402657330036, + -20.282203674316406 + ], + [ + 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": "1730639047_142269372", + "mask_path": "../../mask/hdr_right_02464.png" + }, + { + "file_path": "../../rgb/hdr_right_02466.png", + "transform_matrix": [ + [ + -0.06565366685390472, + -0.037504371255636215, + -0.9971374273300171, + -21.847597122192383 + ], + [ + 0.9955878257751465, + 0.06467657536268234, + -0.06798424571752548, + -54.93437576293945 + ], + [ + 0.06704115122556686, + -0.9972013831138611, + 0.03309263661503792, + -20.30249786376953 + ], + [ + 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": "1730639047_342267274", + "mask_path": "../../mask/hdr_right_02466.png" + }, + { + "file_path": "../../rgb/hdr_right_02468.png", + "transform_matrix": [ + [ + -0.05821783095598221, + -0.033306702971458435, + -0.9977481365203857, + -21.859638214111328 + ], + [ + 0.9960212707519531, + 0.06560937315225601, + -0.060307204723358154, + -55.035484313964844 + ], + [ + 0.0674702525138855, + -0.9972893595695496, + 0.029354551807045937, + -20.298398971557617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2468, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639047_542267084", + "mask_path": "../../mask/hdr_right_02468.png" + }, + { + "file_path": "../../rgb/hdr_right_02470.png", + "transform_matrix": [ + [ + -0.03930089250206947, + -0.02522202767431736, + -0.9989091157913208, + -21.87262725830078 + ], + [ + 0.9975920915603638, + 0.05618062615394592, + -0.040667615830898285, + -55.10599899291992 + ], + [ + 0.05714505910873413, + -0.9981020092964172, + 0.022953346371650696, + -20.297588348388672 + ], + [ + 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": "1730639047_742267131", + "mask_path": "../../mask/hdr_right_02470.png" + }, + { + "file_path": "../../rgb/hdr_right_02482.png", + "transform_matrix": [ + [ + 0.04285360127687454, + -0.044665880501270294, + -0.9980824589729309, + -22.00974464416504 + ], + [ + 0.9967964291572571, + 0.06943807750940323, + 0.039690904319286346, + -55.59380340576172 + ], + [ + 0.06753209978342056, + -0.9965858459472656, + 0.04749846085906029, + -20.33106231689453 + ], + [ + 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": "1730639048_942269563", + "mask_path": "../../mask/hdr_right_02482.png" + }, + { + "file_path": "../../rgb/hdr_right_02485.png", + "transform_matrix": [ + [ + 0.15840519964694977, + -0.03351442515850067, + -0.986805260181427, + -22.071067810058594 + ], + [ + 0.985754668712616, + 0.0625869482755661, + 0.1561109721660614, + -55.72463607788086 + ], + [ + 0.05652916058897972, + -0.9974766373634338, + 0.04295109957456589, + -20.32642936706543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2485, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639049_242267370", + "mask_path": "../../mask/hdr_right_02485.png" + }, + { + "file_path": "../../rgb/hdr_right_02486.png", + "transform_matrix": [ + [ + 0.19380255043506622, + -0.036471907049417496, + -0.9803623557090759, + -22.087732315063477 + ], + [ + 0.9796269536018372, + 0.060820989310741425, + 0.19139452278614044, + -55.77716827392578 + ], + [ + 0.05264608934521675, + -0.9974821209907532, + 0.04751612991094589, + -20.340553283691406 + ], + [ + 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": "1730639049_342268228", + "mask_path": "../../mask/hdr_right_02486.png" + }, + { + "file_path": "../../rgb/hdr_right_02488.png", + "transform_matrix": [ + [ + 0.281467080116272, + -0.04119378700852394, + -0.9586862325668335, + -22.12905502319336 + ], + [ + 0.9584265947341919, + 0.06084693595767021, + 0.27877628803253174, + -55.845123291015625 + ], + [ + 0.04684927314519882, + -0.9972966909408569, + 0.05660763010382652, + -20.358362197875977 + ], + [ + 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": "1730639049_542268276", + "mask_path": "../../mask/hdr_right_02488.png" + }, + { + "file_path": "../../rgb/hdr_right_02490.png", + "transform_matrix": [ + [ + 0.3864581882953644, + -0.027929384261369705, + -0.9218839406967163, + -22.19495964050293 + ], + [ + 0.9209822416305542, + 0.06523977965116501, + 0.3841036856174469, + -55.9336051940918 + ], + [ + 0.04941572621464729, + -0.9974786639213562, + 0.050934914499521255, + -20.35634422302246 + ], + [ + 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": "1730639049_742267370", + "mask_path": "../../mask/hdr_right_02490.png" + }, + { + "file_path": "../../rgb/hdr_right_02492.png", + "transform_matrix": [ + [ + 0.4911789894104004, + -0.020272107794880867, + -0.8708226680755615, + -22.30000877380371 + ], + [ + 0.8700543642044067, + 0.05940966308116913, + 0.4893626570701599, + -56.02784729003906 + ], + [ + 0.04181487858295441, + -0.9980278015136719, + 0.04681861773133278, + -20.356685638427734 + ], + [ + 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": "1730639049_942268371", + "mask_path": "../../mask/hdr_right_02492.png" + }, + { + "file_path": "../../rgb/hdr_right_02493.png", + "transform_matrix": [ + [ + 0.5343947410583496, + -0.024072160944342613, + -0.844892144203186, + -22.361066818237305 + ], + [ + 0.8442315459251404, + 0.06389336287975311, + 0.5321565270423889, + -56.07954788208008 + ], + [ + 0.04117284715175629, + -0.9976664185523987, + 0.05446676164865494, + -20.363191604614258 + ], + [ + 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": "1730639050_42267560", + "mask_path": "../../mask/hdr_right_02493.png" + }, + { + "file_path": "../../rgb/hdr_right_02494.png", + "transform_matrix": [ + [ + 0.5740424990653992, + -0.029973335564136505, + -0.8182767033576965, + -22.409570693969727 + ], + [ + 0.8179290294647217, + 0.06773976236581802, + 0.5713173747062683, + -56.11610794067383 + ], + [ + 0.03830558434128761, + -0.9972527027130127, + 0.06340156495571136, + -20.375411987304688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2494, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639050_142267704", + "mask_path": "../../mask/hdr_right_02494.png" + }, + { + "file_path": "../../rgb/hdr_right_02495.png", + "transform_matrix": [ + [ + 0.6152000427246094, + -0.02417314052581787, + -0.7880003452301025, + -22.47978973388672 + ], + [ + 0.7873337268829346, + 0.07009807229042053, + 0.6125291585922241, + -56.15932083129883 + ], + [ + 0.04043056070804596, + -0.9972471594810486, + 0.062156666070222855, + -20.38039779663086 + ], + [ + 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": "1730639050_242267370", + "mask_path": "../../mask/hdr_right_02495.png" + }, + { + "file_path": "../../rgb/hdr_right_02496.png", + "transform_matrix": [ + [ + 0.6602445244789124, + -0.01936194859445095, + -0.7508010864257812, + -22.558130264282227 + ], + [ + 0.74989914894104, + 0.07233165949583054, + 0.6575860977172852, + -56.19981384277344 + ], + [ + 0.041574545204639435, + -0.9971926808357239, + 0.06227609142661095, + -20.378890991210938 + ], + [ + 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": "1730639050_342267036", + "mask_path": "../../mask/hdr_right_02496.png" + }, + { + "file_path": "../../rgb/hdr_right_02497.png", + "transform_matrix": [ + [ + 0.7065277099609375, + -0.017527906224131584, + -0.7074681520462036, + -22.625083923339844 + ], + [ + 0.7067294120788574, + 0.06941947340965271, + 0.704069972038269, + -56.22200393676758 + ], + [ + 0.036771200597286224, + -0.997433602809906, + 0.061434268951416016, + -20.37796401977539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2497, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639050_442267894", + "mask_path": "../../mask/hdr_right_02497.png" + }, + { + "file_path": "../../rgb/hdr_right_02498.png", + "transform_matrix": [ + [ + 0.7541494965553284, + -0.0182481836527586, + -0.6564491391181946, + -22.706905364990234 + ], + [ + 0.6559000015258789, + 0.07034093141555786, + 0.751563310623169, + -56.24932861328125 + ], + [ + 0.03246058151125908, + -0.997356116771698, + 0.06501657515764236, + -20.380043029785156 + ], + [ + 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": "1730639050_542268276", + "mask_path": "../../mask/hdr_right_02498.png" + }, + { + "file_path": "../../rgb/hdr_right_02499.png", + "transform_matrix": [ + [ + 0.7956146597862244, + -0.015521902590990067, + -0.6056041121482849, + -22.801694869995117 + ], + [ + 0.6049741506576538, + 0.07262985408306122, + 0.7929255962371826, + -56.28477478027344 + ], + [ + 0.03167722374200821, + -0.9972381591796875, + 0.0671757310628891, + -20.387325286865234 + ], + [ + 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": "1730639050_642267465", + "mask_path": "../../mask/hdr_right_02499.png" + }, + { + "file_path": "../../rgb/hdr_right_02500.png", + "transform_matrix": [ + [ + 0.8328848481178284, + -0.016639146953821182, + -0.5531961917877197, + -22.87178611755371 + ], + [ + 0.5527304410934448, + 0.07583276927471161, + 0.829902708530426, + -56.30474853515625 + ], + [ + 0.028141526505351067, + -0.996981680393219, + 0.0723569318652153, + -20.397380828857422 + ], + [ + 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": "1730639050_742268085", + "mask_path": "../../mask/hdr_right_02500.png" + }, + { + "file_path": "../../rgb/hdr_right_02501.png", + "transform_matrix": [ + [ + 0.8681089878082275, + -0.019808026030659676, + -0.49597835540771484, + -22.944652557373047 + ], + [ + 0.4959299862384796, + 0.07685118913650513, + 0.8649550676345825, + -56.30864334106445 + ], + [ + 0.02098347246646881, + -0.9968457818031311, + 0.07653860002756119, + -20.40553092956543 + ], + [ + 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": "1730639050_842268466", + "mask_path": "../../mask/hdr_right_02501.png" + }, + { + "file_path": "../../rgb/hdr_right_02502.png", + "transform_matrix": [ + [ + 0.9020079970359802, + -0.012240095064043999, + -0.43154585361480713, + -23.038902282714844 + ], + [ + 0.43111902475357056, + 0.07823799550533295, + 0.8988966941833496, + -56.317420959472656 + ], + [ + 0.022760706022381783, + -0.9968595504760742, + 0.07584823668003082, + -20.405038833618164 + ], + [ + 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": "1730639050_942268133", + "mask_path": "../../mask/hdr_right_02502.png" + }, + { + "file_path": "../../rgb/hdr_right_02503.png", + "transform_matrix": [ + [ + 0.9321703910827637, + -0.0060407924465835094, + -0.36196938157081604, + -23.116954803466797 + ], + [ + 0.3613808751106262, + 0.07490420341491699, + 0.9294048547744751, + -56.31696319580078 + ], + [ + 0.02149869129061699, + -0.997172474861145, + 0.07200652360916138, + -20.400548934936523 + ], + [ + 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": "1730639051_42268037", + "mask_path": "../../mask/hdr_right_02503.png" + }, + { + "file_path": "../../rgb/hdr_right_02504.png", + "transform_matrix": [ + [ + 0.957487940788269, + -0.005327144172042608, + -0.2884242534637451, + -23.1826114654541 + ], + [ + 0.28804346919059753, + 0.07222488522529602, + 0.9548897743225098, + -56.30373764038086 + ], + [ + 0.01574457436800003, + -0.9973741769790649, + 0.07068891078233719, + -20.395002365112305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2504, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639051_142268419", + "mask_path": "../../mask/hdr_right_02504.png" + }, + { + "file_path": "../../rgb/hdr_right_02505.png", + "transform_matrix": [ + [ + 0.9752375483512878, + -0.00019432186672929674, + -0.22116030752658844, + -23.278228759765625 + ], + [ + 0.22060617804527283, + 0.07160508632659912, + 0.9727310538291931, + -56.29499053955078 + ], + [ + 0.015647180378437042, + -0.9974330067634583, + 0.0698748305439949, + -20.40448570251465 + ], + [ + 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": "1730639051_242268085", + "mask_path": "../../mask/hdr_right_02505.png" + }, + { + "file_path": "../../rgb/hdr_right_02506.png", + "transform_matrix": [ + [ + 0.9866651892662048, + -0.001669430872425437, + -0.1627550721168518, + -23.365394592285156 + ], + [ + 0.16246160864830017, + 0.07099306583404541, + 0.9841577410697937, + -56.28853225708008 + ], + [ + 0.009911498986184597, + -0.9974754452705383, + 0.0703175961971283, + -20.408342361450195 + ], + [ + 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": "1730639051_342267990", + "mask_path": "../../mask/hdr_right_02506.png" + }, + { + "file_path": "../../rgb/hdr_right_02507.png", + "transform_matrix": [ + [ + 0.9945537447929382, + -0.0014962785644456744, + -0.10421410202980042, + -23.43305015563965 + ], + [ + 0.10404402017593384, + 0.07312886416912079, + 0.9918805360794067, + -56.2656364440918 + ], + [ + 0.0061369300819933414, + -0.9973214268684387, + 0.07288626581430435, + -20.40447235107422 + ], + [ + 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": "1730639051_442268371", + "mask_path": "../../mask/hdr_right_02507.png" + }, + { + "file_path": "../../rgb/hdr_right_02508.png", + "transform_matrix": [ + [ + 0.9992372393608093, + 0.008495704270899296, + -0.03811662644147873, + -23.50520896911621 + ], + [ + 0.037441499531269073, + 0.06898774206638336, + 0.9969146847724915, + -56.238983154296875 + ], + [ + 0.011099073104560375, + -0.9975813627243042, + 0.06861701607704163, + -20.40911293029785 + ], + [ + 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": "1730639051_542268037", + "mask_path": "../../mask/hdr_right_02508.png" + }, + { + "file_path": "../../rgb/hdr_right_02509.png", + "transform_matrix": [ + [ + 0.9992864727973938, + 0.014692123979330063, + 0.034797120839357376, + -23.569820404052734 + ], + [ + -0.035670533776283264, + 0.06409579515457153, + 0.9973060488700867, + -56.2100715637207 + ], + [ + 0.012422195635735989, + -0.997835636138916, + 0.06457414478063583, + -20.409343719482422 + ], + [ + 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": "1730639051_642267942", + "mask_path": "../../mask/hdr_right_02509.png" + }, + { + "file_path": "../../rgb/hdr_right_02510.png", + "transform_matrix": [ + [ + 0.9939488768577576, + 0.016638262197375298, + 0.10857611894607544, + -23.6320858001709 + ], + [ + -0.10940725356340408, + 0.06195290759205818, + 0.9920644760131836, + -56.17366409301758 + ], + [ + 0.00977962464094162, + -0.9979403614997864, + 0.06339837610721588, + -20.4075984954834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2510, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639051_742268323", + "mask_path": "../../mask/hdr_right_02510.png" + }, + { + "file_path": "../../rgb/hdr_right_02511.png", + "transform_matrix": [ + [ + 0.9852469563484192, + 0.019198326393961906, + 0.17005832493305206, + -23.71061134338379 + ], + [ + -0.17089860141277313, + 0.0577692985534668, + 0.9835937023162842, + -56.133522033691406 + ], + [ + 0.009059200063347816, + -0.998145341873169, + 0.060197994112968445, + -20.406375885009766 + ], + [ + 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": "1730639051_842267990", + "mask_path": "../../mask/hdr_right_02511.png" + }, + { + "file_path": "../../rgb/hdr_right_02512.png", + "transform_matrix": [ + [ + 0.9741507172584534, + 0.01954476162791252, + 0.2250521332025528, + -23.778812408447266 + ], + [ + -0.2258269488811493, + 0.05906776338815689, + 0.9723750352859497, + -56.0954704284668 + ], + [ + 0.005711513105779886, + -0.9980626702308655, + 0.06195463985204697, + -20.412385940551758 + ], + [ + 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": "1730639051_942267656", + "mask_path": "../../mask/hdr_right_02512.png" + }, + { + "file_path": "../../rgb/hdr_right_02513.png", + "transform_matrix": [ + [ + 0.9581378102302551, + 0.018844857811927795, + 0.2856864929199219, + -23.841754913330078 + ], + [ + -0.286300390958786, + 0.0700131505727768, + 0.9555785059928894, + -56.041133880615234 + ], + [ + -0.0019940712954849005, + -0.9973680377006531, + 0.07247753441333771, + -20.40301513671875 + ], + [ + 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": "1730639052_42268037", + "mask_path": "../../mask/hdr_right_02513.png" + }, + { + "file_path": "../../rgb/hdr_right_02514.png", + "transform_matrix": [ + [ + 0.9372854828834534, + 0.012088242918252945, + 0.34835296869277954, + -23.902996063232422 + ], + [ + -0.3482832908630371, + 0.07248501479625702, + 0.9345827102661133, + -55.975364685058594 + ], + [ + -0.013952910900115967, + -0.9972962141036987, + 0.07214929908514023, + -20.387174606323242 + ], + [ + 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": "1730639052_142267704", + "mask_path": "../../mask/hdr_right_02514.png" + }, + { + "file_path": "../../rgb/hdr_right_02515.png", + "transform_matrix": [ + [ + 0.9154329895973206, + 0.003639570437371731, + 0.40245383977890015, + -23.95382308959961 + ], + [ + -0.4016741216182709, + 0.07112886011600494, + 0.9130162000656128, + -55.91555404663086 + ], + [ + -0.025303103029727936, + -0.9974604845046997, + 0.06657563149929047, + -20.3828125 + ], + [ + 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": "1730639052_242268085", + "mask_path": "../../mask/hdr_right_02515.png" + }, + { + "file_path": "../../rgb/hdr_right_02516.png", + "transform_matrix": [ + [ + 0.9050500392913818, + -0.04527563229203224, + 0.42288845777511597, + -24.02312660217285 + ], + [ + -0.4200300872325897, + 0.060966264456510544, + 0.9054600596427917, + -55.87690353393555 + ], + [ + -0.06677719950675964, + -0.9971124529838562, + 0.036160390824079514, + -20.359987258911133 + ], + [ + 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": "1730639052_342267274", + "mask_path": "../../mask/hdr_right_02516.png" + }, + { + "file_path": "../../rgb/hdr_right_02517.png", + "transform_matrix": [ + [ + 0.904843807220459, + -0.07600267231464386, + 0.4189048707485199, + -24.106595993041992 + ], + [ + -0.4141269624233246, + 0.07115732133388519, + 0.9074334502220154, + -55.84275817871094 + ], + [ + -0.09877552092075348, + -0.9945653080940247, + 0.0329115055501461, + -20.289987564086914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2517, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639052_442267179", + "mask_path": "../../mask/hdr_right_02517.png" + }, + { + "file_path": "../../rgb/hdr_right_02518.png", + "transform_matrix": [ + [ + 0.9037978649139404, + -0.08500798046588898, + 0.4194318354129791, + -24.1686954498291 + ], + [ + -0.4136670231819153, + 0.07764100283384323, + 0.907111644744873, + -55.78443145751953 + ], + [ + -0.10967683047056198, + -0.9933506846427917, + 0.03500676527619362, + -20.275583267211914 + ], + [ + 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": "1730639052_542267799", + "mask_path": "../../mask/hdr_right_02518.png" + }, + { + "file_path": "../../rgb/hdr_right_02519.png", + "transform_matrix": [ + [ + 0.8969757556915283, + -0.12119302898645401, + 0.425143301486969, + -24.214202880859375 + ], + [ + -0.4193566143512726, + 0.07109487801790237, + 0.905033528804779, + -55.73500442504883 + ], + [ + -0.13990925252437592, + -0.9900797009468079, + 0.012947277165949345, + -20.255950927734375 + ], + [ + 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": "1730639052_642268419", + "mask_path": "../../mask/hdr_right_02519.png" + }, + { + "file_path": "../../rgb/hdr_right_02520.png", + "transform_matrix": [ + [ + 0.8907105922698975, + -0.16713443398475647, + 0.4227302074432373, + -24.279333114624023 + ], + [ + -0.4187130928039551, + 0.06035841628909111, + 0.9061105251312256, + -55.71228790283203 + ], + [ + -0.17695757746696472, + -0.9840847849845886, + -0.01621950976550579, + -20.197734832763672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2520, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639052_742267370", + "mask_path": "../../mask/hdr_right_02520.png" + }, + { + "file_path": "../../rgb/hdr_right_02521.png", + "transform_matrix": [ + [ + 0.8968591690063477, + -0.19798016548156738, + 0.395534485578537, + -24.34501075744629 + ], + [ + -0.3904825747013092, + 0.06565355509519577, + 0.918266236782074, + -55.711036682128906 + ], + [ + -0.20776677131652832, + -0.9780048727989197, + -0.018425822257995605, + -20.180500030517578 + ], + [ + 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": "1730639052_842267751", + "mask_path": "../../mask/hdr_right_02521.png" + }, + { + "file_path": "../../rgb/hdr_right_02523.png", + "transform_matrix": [ + [ + 0.9197697639465332, + -0.22947216033935547, + 0.3183802664279938, + -24.350217819213867 + ], + [ + -0.3149482309818268, + 0.05245017632842064, + 0.9476584792137146, + -55.662322998046875 + ], + [ + -0.23416031897068024, + -0.971900999546051, + -0.024029765278100967, + -20.19131088256836 + ], + [ + 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": "1730639053_42267799", + "mask_path": "../../mask/hdr_right_02523.png" + }, + { + "file_path": "../../rgb/hdr_right_02525.png", + "transform_matrix": [ + [ + 0.9346579909324646, + -0.17578370869159698, + 0.30905428528785706, + -24.30122947692871 + ], + [ + -0.30436956882476807, + 0.053708773106336594, + 0.9510385990142822, + -55.613128662109375 + ], + [ + -0.18377602100372314, + -0.9829625487327576, + -0.003303883597254753, + -20.22581672668457 + ], + [ + 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": "1730639053_242267847", + "mask_path": "../../mask/hdr_right_02525.png" + }, + { + "file_path": "../../rgb/hdr_right_02531.png", + "transform_matrix": [ + [ + 0.9414255023002625, + -0.07538110017776489, + 0.3286879062652588, + -24.30012321472168 + ], + [ + -0.32275035977363586, + 0.08105111867189407, + 0.9430074691772461, + -55.54598617553711 + ], + [ + -0.09772545844316483, + -0.9938552975654602, + 0.051974307745695114, + -20.27238655090332 + ], + [ + 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": "1730639053_842267990", + "mask_path": "../../mask/hdr_right_02531.png" + }, + { + "file_path": "../../rgb/hdr_right_02533.png", + "transform_matrix": [ + [ + 0.94386887550354, + -0.05620373412966728, + 0.3255038559436798, + -24.3583984375 + ], + [ + -0.319256067276001, + 0.09768989682197571, + 0.9426199197769165, + -55.49150085449219 + ], + [ + -0.08477719128131866, + -0.9936286211013794, + 0.0742630660533905, + -20.2852840423584 + ], + [ + 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": "1730639054_42268276", + "mask_path": "../../mask/hdr_right_02533.png" + }, + { + "file_path": "../../rgb/hdr_right_02534.png", + "transform_matrix": [ + [ + 0.9453879594802856, + -0.0571259967982769, + 0.32090237736701965, + -24.416719436645508 + ], + [ + -0.31427937746047974, + 0.10130256414413452, + 0.9439101815223694, + -55.4420166015625 + ], + [ + -0.08643003553152084, + -0.9932141900062561, + 0.07781670987606049, + -20.28498077392578 + ], + [ + 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": "1730639054_142268657", + "mask_path": "../../mask/hdr_right_02534.png" + }, + { + "file_path": "../../rgb/hdr_right_02535.png", + "transform_matrix": [ + [ + 0.9453189969062805, + -0.06350994855165482, + 0.3199039697647095, + -24.48008918762207 + ], + [ + -0.3131558299064636, + 0.0973309874534607, + 0.9447011351585388, + -55.392269134521484 + ], + [ + -0.09113448858261108, + -0.9932237267494202, + 0.0721203163266182, + -20.275941848754883 + ], + [ + 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": "1730639054_242267608", + "mask_path": "../../mask/hdr_right_02535.png" + }, + { + "file_path": "../../rgb/hdr_right_02536.png", + "transform_matrix": [ + [ + 0.9429879188537598, + -0.07265550643205643, + 0.32479962706565857, + -24.526884078979492 + ], + [ + -0.3176349699497223, + 0.09501367062330246, + 0.9434407949447632, + -55.36018753051758 + ], + [ + -0.09940656274557114, + -0.9928209781646729, + 0.06651881337165833, + -20.267629623413086 + ], + [ + 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": "1730639054_342267990", + "mask_path": "../../mask/hdr_right_02536.png" + }, + { + "file_path": "../../rgb/hdr_right_02538.png", + "transform_matrix": [ + [ + 0.9422208070755005, + -0.07258115708827972, + 0.3270350992679596, + -24.659406661987305 + ], + [ + -0.31984028220176697, + 0.09537409245967865, + 0.9426589608192444, + -55.29031753540039 + ], + [ + -0.09960995614528656, + -0.9927918910980225, + 0.06664907932281494, + -20.266761779785156 + ], + [ + 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": "1730639054_542267560", + "mask_path": "../../mask/hdr_right_02538.png" + }, + { + "file_path": "../../rgb/hdr_right_02539.png", + "transform_matrix": [ + [ + 0.9451145529747009, + -0.06532402336597443, + 0.32014256715774536, + -24.732280731201172 + ], + [ + -0.3132602870464325, + 0.09736088663339615, + 0.944663405418396, + -55.259849548339844 + ], + [ + -0.09287857264280319, + -0.99310302734375, + 0.07155375927686691, + -20.273603439331055 + ], + [ + 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": "1730639054_642267465", + "mask_path": "../../mask/hdr_right_02539.png" + }, + { + "file_path": "../../rgb/hdr_right_02540.png", + "transform_matrix": [ + [ + 0.9468650817871094, + -0.06333538144826889, + 0.3153335154056549, + -24.800216674804688 + ], + [ + -0.30861082673072815, + 0.09722522646188736, + 0.9462063908576965, + -55.2328987121582 + ], + [ + -0.09058671444654465, + -0.9932451248168945, + 0.07251319289207458, + -20.27067756652832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2540, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639054_742267370", + "mask_path": "../../mask/hdr_right_02540.png" + }, + { + "file_path": "../../rgb/hdr_right_02541.png", + "transform_matrix": [ + [ + 0.9472479820251465, + -0.05961095169186592, + 0.3149093687534332, + -24.883365631103516 + ], + [ + -0.309879869222641, + 0.08051518350839615, + 0.9473604559898376, + -55.19278335571289 + ], + [ + -0.0818280428647995, + -0.9949693083763123, + 0.05779561400413513, + -20.26412582397461 + ], + [ + 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": "1730639054_842267751", + "mask_path": "../../mask/hdr_right_02541.png" + }, + { + "file_path": "../../rgb/hdr_right_02542.png", + "transform_matrix": [ + [ + 0.9445221424102783, + -0.06452809274196625, + 0.3220466673374176, + -24.957998275756836 + ], + [ + -0.31745606660842896, + 0.0721828043460846, + 0.9455217719078064, + -55.144351959228516 + ], + [ + -0.08425894379615784, + -0.9953019022941589, + 0.04769342392683029, + -20.249540328979492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2542, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639054_942267417", + "mask_path": "../../mask/hdr_right_02542.png" + }, + { + "file_path": "../../rgb/hdr_right_02543.png", + "transform_matrix": [ + [ + 0.9414774775505066, + -0.07138682156801224, + 0.32943013310432434, + -25.017322540283203 + ], + [ + -0.32514357566833496, + 0.06540507078170776, + 0.9434002041816711, + -55.110321044921875 + ], + [ + -0.08889273554086685, + -0.9953019618988037, + 0.03836643323302269, + -20.243549346923828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2543, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639055_42267799", + "mask_path": "../../mask/hdr_right_02543.png" + }, + { + "file_path": "../../rgb/hdr_right_02544.png", + "transform_matrix": [ + [ + 0.9395750761032104, + -0.07025354355573654, + 0.3350570499897003, + -25.104141235351562 + ], + [ + -0.3310016095638275, + 0.06340593099594116, + 0.9414975643157959, + -55.07467269897461 + ], + [ + -0.08738813549280167, + -0.9955120086669922, + 0.03632059320807457, + -20.236608505249023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2544, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639055_142268180", + "mask_path": "../../mask/hdr_right_02544.png" + }, + { + "file_path": "../../rgb/hdr_right_02545.png", + "transform_matrix": [ + [ + 0.9411026835441589, + -0.059995412826538086, + 0.33275556564331055, + -25.202163696289062 + ], + [ + -0.32915976643562317, + 0.06250762939453125, + 0.942203164100647, + -55.0306396484375 + ], + [ + -0.07732762396335602, + -0.9962395429611206, + 0.03907802328467369, + -20.23920249938965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2545, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639055_242266893", + "mask_path": "../../mask/hdr_right_02545.png" + }, + { + "file_path": "../../rgb/hdr_right_02546.png", + "transform_matrix": [ + [ + 0.943938136100769, + -0.04981610178947449, + 0.3263419568538666, + -25.275117874145508 + ], + [ + -0.32319390773773193, + 0.06201207637786865, + 0.9442988634109497, + -54.99733352661133 + ], + [ + -0.0672784298658371, + -0.9968314170837402, + 0.042435310781002045, + -20.244176864624023 + ], + [ + 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": "1730639055_342267513", + "mask_path": "../../mask/hdr_right_02546.png" + }, + { + "file_path": "../../rgb/hdr_right_02547.png", + "transform_matrix": [ + [ + 0.9450567364692688, + -0.04650682583451271, + 0.323581337928772, + -25.35028076171875 + ], + [ + -0.3206249177455902, + 0.061242494732141495, + 0.9452243447303772, + -54.95778274536133 + ], + [ + -0.06377630680799484, + -0.9970388412475586, + 0.042966388165950775, + -20.24441909790039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2547, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639055_442267656", + "mask_path": "../../mask/hdr_right_02547.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/e9713b49/mesh.ply b/2024-11-03-13-59-54/splats/e9713b49/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..a5381638b0bcb4634f896fdce05f1430a9e570ad --- /dev/null +++ b/2024-11-03-13-59-54/splats/e9713b49/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81a2a08da284239b867d1b7004691621d1a51d7e0631935966dcd1be701e465d +size 33402950 diff --git a/2024-11-03-13-59-54/splats/e9713b49/mesh_filled_decimated.ply b/2024-11-03-13-59-54/splats/e9713b49/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..b38887e7c826f094c09ea36cc7c4fef315959729 --- /dev/null +++ b/2024-11-03-13-59-54/splats/e9713b49/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f02e989f62706a038b986aee05b9587ae0555a756a7db78f9d0ae8a28e98b01 +size 1580703 diff --git a/2024-11-03-13-59-54/splats/e9713b49/splatfacto/config.yml b/2024-11-03-13-59-54/splats/e9713b49/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..2911be8eecf6ae8090ff7b4b985e30a84cd94b98 --- /dev/null +++ b/2024-11-03-13-59-54/splats/e9713b49/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-03-13-59-54_nerfstudio +- slices +- slice_e9713b49 +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-03-13-59-54_nerfstudio + - slices + - slice_e9713b49 + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-03-13-59-54/splats/e9713b49/splatfacto/dataparser_transforms.json b/2024-11-03-13-59-54/splats/e9713b49/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..48ae4f635503ed3dcd92ba05795e5e760c8bf793 --- /dev/null +++ b/2024-11-03-13-59-54/splats/e9713b49/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + 0.17551451921463013, + 0.9832954406738281, + 0.04821273684501648, + 44.73912048339844 + ], + [ + 0.9832954406738281, + -0.17269492149353027, + -0.05749933421611786, + 15.745162963867188 + ], + [ + -0.04821273684501648, + 0.05749933421611786, + -0.9971804618835449, + -17.97403335571289 + ] + ], + "scale": 0.20639520922253007 +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/e9713b49/splatfacto/splat.ply b/2024-11-03-13-59-54/splats/e9713b49/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..85eadd7d1bec1bdbfe97af8f3ec4254c721ccd25 --- /dev/null +++ b/2024-11-03-13-59-54/splats/e9713b49/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d770eecb2728d2563e0c20c66b4de77c867fb57781f9d7fa95957b8ff3bddac6 +size 293979058 diff --git a/2024-11-03-13-59-54/splats/e9713b49/transforms.json b/2024-11-03-13-59-54/splats/e9713b49/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f0583f821705a4d9014cdec648f7354b0d0faab4 --- /dev/null +++ b/2024-11-03-13-59-54/splats/e9713b49/transforms.json @@ -0,0 +1,15252 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_02182.png", + "transform_matrix": [ + [ + 0.9951601028442383, + -0.06733428686857224, + -0.07157109677791595, + -24.74835968017578 + ], + [ + 0.07586222887039185, + 0.06348975747823715, + 0.9950950145721436, + -35.348358154296875 + ], + [ + -0.06245997175574303, + -0.9957084059715271, + 0.0682906061410904, + -18.8269100189209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2182, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_142267704", + "mask_path": "../../mask/hdr_front_02182.png" + }, + { + "file_path": "../../rgb/hdr_front_02183.png", + "transform_matrix": [ + [ + 0.9952598810195923, + -0.06341961026191711, + -0.0737268254160881, + -24.736753463745117 + ], + [ + 0.07758891582489014, + 0.06075704097747803, + 0.9951324462890625, + -35.43547439575195 + ], + [ + -0.05863148346543312, + -0.9961358308792114, + 0.0653897076845169, + -18.84133529663086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2183, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_242267847", + "mask_path": "../../mask/hdr_front_02183.png" + }, + { + "file_path": "../../rgb/hdr_front_02184.png", + "transform_matrix": [ + [ + 0.9958022832870483, + -0.06026184558868408, + -0.0688941702246666, + -24.733963012695312 + ], + [ + 0.0726921409368515, + 0.06328292936086655, + 0.9953447580337524, + -35.546546936035156 + ], + [ + -0.05562148243188858, + -0.9961746335029602, + 0.0673978328704834, + -18.843488693237305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2184, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_342267274", + "mask_path": "../../mask/hdr_front_02184.png" + }, + { + "file_path": "../../rgb/hdr_front_02185.png", + "transform_matrix": [ + [ + 0.9968056082725525, + -0.05416185036301613, + -0.05869411677122116, + -24.733293533325195 + ], + [ + 0.0621047280728817, + 0.06359788030385971, + 0.9960413575172424, + -35.63361358642578 + ], + [ + -0.05021461844444275, + -0.9965049028396606, + 0.06675843894481659, + -18.839509963989258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2185, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_442267417", + "mask_path": "../../mask/hdr_front_02185.png" + }, + { + "file_path": "../../rgb/hdr_front_02186.png", + "transform_matrix": [ + [ + 0.9977588653564453, + -0.04833367466926575, + -0.046273231506347656, + -24.73165512084961 + ], + [ + 0.04915492236614227, + 0.06023954972624779, + 0.996972918510437, + -35.69148635864258 + ], + [ + -0.04539988189935684, + -0.9970130920410156, + 0.0624803826212883, + -18.84760856628418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2186, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_542266845", + "mask_path": "../../mask/hdr_front_02186.png" + }, + { + "file_path": "../../rgb/hdr_front_02187.png", + "transform_matrix": [ + [ + 0.9980107545852661, + -0.050948239862918854, + -0.03713046386837959, + -24.72602081298828 + ], + [ + 0.03995663300156593, + 0.05562256649136543, + 0.9976520538330078, + -35.78801345825195 + ], + [ + -0.048763323575258255, + -0.9971511960029602, + 0.05754764378070831, + -18.850393295288086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2187, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_642267465", + "mask_path": "../../mask/hdr_front_02187.png" + }, + { + "file_path": "../../rgb/hdr_front_02188.png", + "transform_matrix": [ + [ + 0.9976619482040405, + -0.05797523260116577, + -0.03618583083152771, + -24.71355438232422 + ], + [ + 0.039517950266599655, + 0.057398661971092224, + 0.9975689649581909, + -35.88678741455078 + ], + [ + -0.05575726553797722, + -0.9966666102409363, + 0.059555526822805405, + -18.858966827392578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2188, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_742268085", + "mask_path": "../../mask/hdr_front_02188.png" + }, + { + "file_path": "../../rgb/hdr_front_02189.png", + "transform_matrix": [ + [ + 0.9973896741867065, + -0.060587186366319656, + -0.039281196892261505, + -24.70611000061035 + ], + [ + 0.042886070907115936, + 0.059393275529146194, + 0.9973130226135254, + -35.95479202270508 + ], + [ + -0.058091338723897934, + -0.9963943958282471, + 0.06183658540248871, + -18.86777687072754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2189, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_842267751", + "mask_path": "../../mask/hdr_front_02189.png" + }, + { + "file_path": "../../rgb/hdr_front_02190.png", + "transform_matrix": [ + [ + 0.9974612593650818, + -0.05685385316610336, + -0.04287717118859291, + -24.69768714904785 + ], + [ + 0.04616639390587807, + 0.057861700654029846, + 0.9972565770149231, + -36.030860900878906 + ], + [ + -0.05421692878007889, + -0.9967044591903687, + 0.0603395476937294, + -18.884183883666992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2190, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_942269325", + "mask_path": "../../mask/hdr_front_02190.png" + }, + { + "file_path": "../../rgb/hdr_front_02191.png", + "transform_matrix": [ + [ + 0.9972846508026123, + -0.05604191869497299, + -0.04777488857507706, + -24.691015243530273 + ], + [ + 0.05116426199674606, + 0.06069044768810272, + 0.996844470500946, + -36.1291389465332 + ], + [ + -0.052965592592954636, + -0.9965821504592896, + 0.0633930116891861, + -18.88303565979004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2191, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_42267799", + "mask_path": "../../mask/hdr_front_02191.png" + }, + { + "file_path": "../../rgb/hdr_front_02192.png", + "transform_matrix": [ + [ + 0.9972147345542908, + -0.05358908697962761, + -0.05187419056892395, + -24.68410873413086 + ], + [ + 0.05507628247141838, + 0.06011269986629486, + 0.9966709613800049, + -36.20579147338867 + ], + [ + -0.05029239133000374, + -0.996752142906189, + 0.06289676576852798, + -18.87464141845703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2192, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_142269372", + "mask_path": "../../mask/hdr_front_02192.png" + }, + { + "file_path": "../../rgb/hdr_front_02193.png", + "transform_matrix": [ + [ + 0.9972855448722839, + -0.049799881875514984, + -0.05423727631568909, + -24.678466796875 + ], + [ + 0.05705929175019264, + 0.057111822068691254, + 0.9967359304428101, + -36.25959014892578 + ], + [ + -0.046539731323719025, + -0.9971250295639038, + 0.059798333793878555, + -18.878726959228516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2193, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_242268323", + "mask_path": "../../mask/hdr_front_02193.png" + }, + { + "file_path": "../../rgb/hdr_front_02194.png", + "transform_matrix": [ + [ + 0.9971834421157837, + -0.04828646406531334, + -0.0573902390897274, + -24.67266273498535 + ], + [ + 0.06008020415902138, + 0.056235238909721375, + 0.9966082572937012, + -36.33317184448242 + ], + [ + -0.04489533603191376, + -0.9972492456436157, + 0.05897791311144829, + -18.88869285583496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2194, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_342268466", + "mask_path": "../../mask/hdr_front_02194.png" + }, + { + "file_path": "../../rgb/hdr_front_02195.png", + "transform_matrix": [ + [ + 0.9959775805473328, + -0.054651498794555664, + -0.0710056871175766, + -24.657129287719727 + ], + [ + 0.07436909526586533, + 0.06218908354640007, + 0.9952898025512695, + -36.4202766418457 + ], + [ + -0.04997830465435982, + -0.9965669512748718, + 0.06600331515073776, + -18.90293312072754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2195, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_442268371", + "mask_path": "../../mask/hdr_front_02195.png" + }, + { + "file_path": "../../rgb/hdr_front_02196.png", + "transform_matrix": [ + [ + 0.9944164752960205, + -0.0600556917488575, + -0.08677076548337936, + -24.639507293701172 + ], + [ + 0.09060090780258179, + 0.06429720669984818, + 0.9938094615936279, + -36.4912223815918 + ], + [ + -0.05410479009151459, + -0.9961220622062683, + 0.0693792924284935, + -18.915678024291992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2196, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_542268037", + "mask_path": "../../mask/hdr_front_02196.png" + }, + { + "file_path": "../../rgb/hdr_front_02197.png", + "transform_matrix": [ + [ + 0.9938338994979858, + -0.059377167373895645, + -0.09364036470651627, + -24.627552032470703 + ], + [ + 0.09736956655979156, + 0.06337285041809082, + 0.9932286739349365, + -36.56324768066406 + ], + [ + -0.05304083973169327, + -0.9962220191955566, + 0.0687636137008667, + -18.91994285583496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2197, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_642267465", + "mask_path": "../../mask/hdr_front_02197.png" + }, + { + "file_path": "../../rgb/hdr_front_02198.png", + "transform_matrix": [ + [ + 0.9941367506980896, + -0.05639205127954483, + -0.09226050227880478, + -24.62251853942871 + ], + [ + 0.09585040807723999, + 0.06466726213693619, + 0.9932929277420044, + -36.654090881347656 + ], + [ + -0.05004758760333061, + -0.9963122606277466, + 0.06969331204891205, + -18.922130584716797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2198, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_742269277", + "mask_path": "../../mask/hdr_front_02198.png" + }, + { + "file_path": "../../rgb/hdr_front_02199.png", + "transform_matrix": [ + [ + 0.9951080679893494, + -0.04974915832281113, + -0.08535201847553253, + -24.620285034179688 + ], + [ + 0.08838982880115509, + 0.062447771430015564, + 0.9941264986991882, + -36.741310119628906 + ], + [ + -0.044126905500888824, + -0.9968075156211853, + 0.06653960794210434, + -18.91846466064453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2199, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_842267036", + "mask_path": "../../mask/hdr_front_02199.png" + }, + { + "file_path": "../../rgb/hdr_front_02200.png", + "transform_matrix": [ + [ + 0.9961796402931213, + -0.044243503361940384, + -0.07528967410326004, + -24.615657806396484 + ], + [ + 0.07783519476652145, + 0.05894383043050766, + 0.9952223300933838, + -36.80368423461914 + ], + [ + -0.03959425538778305, + -0.9972804188728333, + 0.06216235086321831, + -18.921398162841797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2200, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_942268133", + "mask_path": "../../mask/hdr_front_02200.png" + }, + { + "file_path": "../../rgb/hdr_front_02201.png", + "transform_matrix": [ + [ + 0.9968619346618652, + -0.047416381537914276, + -0.06338689476251602, + -24.604909896850586 + ], + [ + 0.06585808843374252, + 0.052508965134620667, + 0.996446430683136, + -36.87678909301758 + ], + [ + -0.04391949996352196, + -0.9974941611289978, + 0.055466946214437485, + -18.92632484436035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2201, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_42267799", + "mask_path": "../../mask/hdr_front_02201.png" + }, + { + "file_path": "../../rgb/hdr_front_02202.png", + "transform_matrix": [ + [ + 0.9968047142028809, + -0.052928097546100616, + -0.05982600525021553, + -24.59348487854004 + ], + [ + 0.06263377517461777, + 0.0530836321413517, + 0.9966238141059875, + -36.980224609375 + ], + [ + -0.0495736226439476, + -0.9971864819526672, + 0.05622909590601921, + -18.93623924255371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2202, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_142267227", + "mask_path": "../../mask/hdr_front_02202.png" + }, + { + "file_path": "../../rgb/hdr_front_02203.png", + "transform_matrix": [ + [ + 0.9965457916259766, + -0.05453365668654442, + -0.06263045966625214, + -24.582319259643555 + ], + [ + 0.06563396751880646, + 0.05514691025018692, + 0.9963186979293823, + -37.05535888671875 + ], + [ + -0.05087902396917343, + -0.9969879388809204, + 0.058535680174827576, + -18.947620391845703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2203, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_242267847", + "mask_path": "../../mask/hdr_front_02203.png" + }, + { + "file_path": "../../rgb/hdr_front_02204.png", + "transform_matrix": [ + [ + 0.9964337348937988, + -0.053277671337127686, + -0.06543255597352982, + -24.57469940185547 + ], + [ + 0.06835909932851791, + 0.055097270756959915, + 0.9961382150650024, + -37.12009811401367 + ], + [ + -0.04946676641702652, + -0.9970585703849792, + 0.05854278802871704, + -18.957761764526367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2204, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_342269659", + "mask_path": "../../mask/hdr_front_02204.png" + }, + { + "file_path": "../../rgb/hdr_front_02205.png", + "transform_matrix": [ + [ + 0.996585488319397, + -0.05040011554956436, + -0.0654006153345108, + -24.571714401245117 + ], + [ + 0.06822846084833145, + 0.05659409239888191, + 0.9960632920265198, + -37.20575714111328 + ], + [ + -0.04650041088461876, + -0.9971243739128113, + 0.05983957275748253, + -18.96234893798828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2205, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_442267894", + "mask_path": "../../mask/hdr_front_02205.png" + }, + { + "file_path": "../../rgb/hdr_front_02206.png", + "transform_matrix": [ + [ + 0.9971694946289062, + -0.04412826523184776, + -0.060875046998262405, + -24.570110321044922 + ], + [ + 0.06334824860095978, + 0.05700050666928291, + 0.9963623881340027, + -37.29113006591797 + ], + [ + -0.040497832000255585, + -0.9973984956741333, + 0.059634607285261154, + -18.95653533935547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2206, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_542270660", + "mask_path": "../../mask/hdr_front_02206.png" + }, + { + "file_path": "../../rgb/hdr_front_02207.png", + "transform_matrix": [ + [ + 0.9977911114692688, + -0.03942277655005455, + -0.05346637964248657, + -24.563732147216797 + ], + [ + 0.05562341958284378, + 0.05581623315811157, + 0.9968904256820679, + -37.35181427001953 + ], + [ + -0.03631589561700821, + -0.9976624846458435, + 0.057885777205228806, + -18.957359313964844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2207, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_642267465", + "mask_path": "../../mask/hdr_front_02207.png" + }, + { + "file_path": "../../rgb/hdr_front_02208.png", + "transform_matrix": [ + [ + 0.9982244968414307, + -0.041277576237916946, + -0.042942408472299576, + -24.564945220947266 + ], + [ + 0.045069072395563126, + 0.05205126106739044, + 0.9976269602775574, + -37.42163848876953 + ], + [ + -0.038944412022829056, + -0.9977909922599792, + 0.053819186985492706, + -18.961599349975586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2208, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_742267370", + "mask_path": "../../mask/hdr_front_02208.png" + }, + { + "file_path": "../../rgb/hdr_front_02209.png", + "transform_matrix": [ + [ + 0.9979209303855896, + -0.049589917063713074, + -0.04116680845618248, + -24.563016891479492 + ], + [ + 0.04389122873544693, + 0.05516408383846283, + 0.9975122213363647, + -37.52107238769531 + ], + [ + -0.047195613384246826, + -0.9972451329231262, + 0.05722595751285553, + -18.970748901367188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2209, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_842267990", + "mask_path": "../../mask/hdr_front_02209.png" + }, + { + "file_path": "../../rgb/hdr_front_02210.png", + "transform_matrix": [ + [ + 0.9970145225524902, + -0.05691225454211235, + -0.052182186394929886, + -24.55320167541504 + ], + [ + 0.055499687790870667, + 0.0583585724234581, + 0.9967517256736755, + -37.59834289550781 + ], + [ + -0.053682103753089905, + -0.9966720938682556, + 0.061342962086200714, + -18.982891082763672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2210, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_942267656", + "mask_path": "../../mask/hdr_front_02210.png" + }, + { + "file_path": "../../rgb/hdr_front_02211.png", + "transform_matrix": [ + [ + 0.9955763220787048, + -0.05769553408026695, + -0.07415438443422318, + -24.536727905273438 + ], + [ + 0.07751515507698059, + 0.05837232246994972, + 0.995280921459198, + -37.6727409362793 + ], + [ + -0.05309469625353813, + -0.9966262578964233, + 0.06258638203144073, + -18.997983932495117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2211, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_42267560", + "mask_path": "../../mask/hdr_front_02211.png" + }, + { + "file_path": "../../rgb/hdr_front_02212.png", + "transform_matrix": [ + [ + 0.9929890036582947, + -0.05739256739616394, + -0.10333915054798126, + -24.51998519897461 + ], + [ + 0.1067170798778534, + 0.05928807705640793, + 0.9925202131271362, + -37.7666015625 + ], + [ + -0.05083650350570679, + -0.9965896606445312, + 0.06499717384576797, + -18.998249053955078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2212, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_142267465", + "mask_path": "../../mask/hdr_front_02212.png" + }, + { + "file_path": "../../rgb/hdr_front_02213.png", + "transform_matrix": [ + [ + 0.9900155067443848, + -0.055013615638017654, + -0.1297796219587326, + -24.508628845214844 + ], + [ + 0.1328895390033722, + 0.05723695829510689, + 0.98947674036026, + -37.83965301513672 + ], + [ + -0.04700649902224541, + -0.9968437552452087, + 0.06397620588541031, + -18.991065979003906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2213, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_242267370", + "mask_path": "../../mask/hdr_front_02213.png" + }, + { + "file_path": "../../rgb/hdr_front_02216.png", + "transform_matrix": [ + [ + 0.9849560856819153, + -0.05223062261939049, + -0.16472269594669342, + -24.477293014526367 + ], + [ + 0.16776041686534882, + 0.06037086620926857, + 0.9839776158332825, + -38.01799011230469 + ], + [ + -0.041449300944805145, + -0.9968085885047913, + 0.06822488456964493, + -19.009685516357422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2216, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_542268753", + "mask_path": "../../mask/hdr_front_02216.png" + }, + { + "file_path": "../../rgb/hdr_front_02217.png", + "transform_matrix": [ + [ + 0.9845209121704102, + -0.05712241306900978, + -0.16569668054580688, + -24.46303367614746 + ], + [ + 0.16917461156845093, + 0.06263203918933868, + 0.9835940599441528, + -38.09880447387695 + ], + [ + -0.04580734297633171, + -0.9964006543159485, + 0.07132621854543686, + -19.022762298583984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2217, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_642267704", + "mask_path": "../../mask/hdr_front_02217.png" + }, + { + "file_path": "../../rgb/hdr_front_02218.png", + "transform_matrix": [ + [ + 0.9839251637458801, + -0.05626578629016876, + -0.16948574781417847, + -24.438627243041992 + ], + [ + 0.1727420538663864, + 0.059161476790905, + 0.9831887483596802, + -38.17143249511719 + ], + [ + -0.045292846858501434, + -0.9966614842414856, + 0.06792993098497391, + -19.0267391204834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2218, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_742267370", + "mask_path": "../../mask/hdr_front_02218.png" + }, + { + "file_path": "../../rgb/hdr_front_02219.png", + "transform_matrix": [ + [ + 0.9837539196014404, + -0.05153217166662216, + -0.17196734249591827, + -24.410301208496094 + ], + [ + 0.1749228984117508, + 0.05970463529229164, + 0.9827702045440674, + -38.258758544921875 + ], + [ + -0.04037703573703766, + -0.9968850612640381, + 0.06774881482124329, + -19.0388240814209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2219, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_842267274", + "mask_path": "../../mask/hdr_front_02219.png" + }, + { + "file_path": "../../rgb/hdr_front_02220.png", + "transform_matrix": [ + [ + 0.9845922589302063, + -0.05068907514214516, + -0.16735772788524628, + -24.3908748626709 + ], + [ + 0.17029614746570587, + 0.06058883294463158, + 0.9835284948348999, + -38.35212326049805 + ], + [ + -0.039714131504297256, + -0.9968749284744263, + 0.0682874470949173, + -19.043045043945312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2220, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_942266464", + "mask_path": "../../mask/hdr_front_02220.png" + }, + { + "file_path": "../../rgb/hdr_front_02221.png", + "transform_matrix": [ + [ + 0.986347496509552, + -0.046574629843235016, + -0.15795379877090454, + -24.376827239990234 + ], + [ + 0.1605284959077835, + 0.057991065084934235, + 0.9853262305259705, + -38.4307746887207 + ], + [ + -0.0367312952876091, + -0.997230052947998, + 0.06467588245868683, + -19.041118621826172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2221, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_42267560", + "mask_path": "../../mask/hdr_front_02221.png" + }, + { + "file_path": "../../rgb/hdr_front_02222.png", + "transform_matrix": [ + [ + 0.988318681716919, + -0.04935453087091446, + -0.14418919384479523, + -24.35933494567871 + ], + [ + 0.1466408222913742, + 0.05028475075960159, + 0.9879109263420105, + -38.515663146972656 + ], + [ + -0.041507355868816376, + -0.9975147247314453, + 0.056934744119644165, + -19.048185348510742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2222, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_142270565", + "mask_path": "../../mask/hdr_front_02222.png" + }, + { + "file_path": "../../rgb/hdr_front_02223.png", + "transform_matrix": [ + [ + 0.9889204502105713, + -0.05172489956021309, + -0.1391431987285614, + -24.335908889770508 + ], + [ + 0.1417517364025116, + 0.05072977393865585, + 0.9886015057563782, + -38.6270637512207 + ], + [ + -0.04407660663127899, + -0.9973720908164978, + 0.057499803602695465, + -19.060932159423828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2223, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_242267131", + "mask_path": "../../mask/hdr_front_02223.png" + }, + { + "file_path": "../../rgb/hdr_front_02224.png", + "transform_matrix": [ + [ + 0.9884090423583984, + -0.05436669662594795, + -0.14174538850784302, + -24.313295364379883 + ], + [ + 0.14470955729484558, + 0.05511826276779175, + 0.9879378080368042, + -38.712886810302734 + ], + [ + -0.04589815437793732, + -0.99699866771698, + 0.06234677508473396, + -19.072731018066406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2224, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_342267990", + "mask_path": "../../mask/hdr_front_02224.png" + }, + { + "file_path": "../../rgb/hdr_front_02225.png", + "transform_matrix": [ + [ + 0.9880637526512146, + -0.051918014883995056, + -0.14503251016139984, + -24.289331436157227 + ], + [ + 0.14789046347141266, + 0.05623446777462959, + 0.9874036312103271, + -38.79313659667969 + ], + [ + -0.04310820624232292, + -0.997066855430603, + 0.06324141472578049, + -19.086458206176758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2225, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_442267656", + "mask_path": "../../mask/hdr_front_02225.png" + }, + { + "file_path": "../../rgb/hdr_front_02226.png", + "transform_matrix": [ + [ + 0.9885758757591248, + -0.05164481699466705, + -0.14159998297691345, + -24.276981353759766 + ], + [ + 0.14457730948925018, + 0.05936209857463837, + 0.9877113103866577, + -38.90102005004883 + ], + [ + -0.04260449483990669, + -0.9968997240066528, + 0.06615059822797775, + -19.091781616210938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2226, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_542267799", + "mask_path": "../../mask/hdr_front_02226.png" + }, + { + "file_path": "../../rgb/hdr_front_02227.png", + "transform_matrix": [ + [ + 0.9900367259979248, + -0.0482901968061924, + -0.13226991891860962, + -24.270700454711914 + ], + [ + 0.13509076833724976, + 0.06075875088572502, + 0.988968551158905, + -38.99396514892578 + ], + [ + -0.03972093388438225, + -0.9969836473464966, + 0.06667695194482803, + -19.08932113647461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2227, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_642267942", + "mask_path": "../../mask/hdr_front_02227.png" + }, + { + "file_path": "../../rgb/hdr_front_02228.png", + "transform_matrix": [ + [ + 0.9916470646858215, + -0.04489445313811302, + -0.12091567367315292, + -24.264142990112305 + ], + [ + 0.12344793975353241, + 0.05872103571891785, + 0.9906121492385864, + -39.05826950073242 + ], + [ + -0.03737269714474678, + -0.9972644448280334, + 0.06377267092466354, + -19.094844818115234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2228, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_742267131", + "mask_path": "../../mask/hdr_front_02228.png" + }, + { + "file_path": "../../rgb/hdr_front_02229.png", + "transform_matrix": [ + [ + 0.9926019310951233, + -0.05033588409423828, + -0.1104884073138237, + -24.250911712646484 + ], + [ + 0.11322812736034393, + 0.055281635373830795, + 0.9920299053192139, + -39.1560173034668 + ], + [ + -0.043826717883348465, + -0.9972012639045715, + 0.060572098940610886, + -19.1058292388916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2229, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_842267990", + "mask_path": "../../mask/hdr_front_02229.png" + }, + { + "file_path": "../../rgb/hdr_front_02230.png", + "transform_matrix": [ + [ + 0.9923370480537415, + -0.05894405022263527, + -0.1085948720574379, + -24.237285614013672 + ], + [ + 0.11196813732385635, + 0.0573035329580307, + 0.9920581579208374, + -39.260047912597656 + ], + [ + -0.05225305259227753, + -0.9966152310371399, + 0.06346427649259567, + -19.117319107055664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2230, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_942267417", + "mask_path": "../../mask/hdr_front_02230.png" + }, + { + "file_path": "../../rgb/hdr_front_02231.png", + "transform_matrix": [ + [ + 0.9916979670524597, + -0.06327652931213379, + -0.11194272339344025, + -24.22511100769043 + ], + [ + 0.11567655205726624, + 0.058787643909454346, + 0.9915456771850586, + -39.32590103149414 + ], + [ + -0.05616071820259094, + -0.9962630867958069, + 0.06561920046806335, + -19.123722076416016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2231, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_42267799", + "mask_path": "../../mask/hdr_front_02231.png" + }, + { + "file_path": "../../rgb/hdr_front_02232.png", + "transform_matrix": [ + [ + 0.9913741946220398, + -0.06369328498840332, + -0.1145445704460144, + -24.211706161499023 + ], + [ + 0.11831669509410858, + 0.05898543819785118, + 0.9912224411964417, + -39.396873474121094 + ], + [ + -0.056377753615379333, + -0.9962248206138611, + 0.06601262092590332, + -19.127492904663086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2232, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_142268419", + "mask_path": "../../mask/hdr_front_02232.png" + }, + { + "file_path": "../../rgb/hdr_front_02233.png", + "transform_matrix": [ + [ + 0.9919746518135071, + -0.060387130826711655, + -0.11108487099409103, + -24.20758628845215 + ], + [ + 0.11489781737327576, + 0.06383106112480164, + 0.9913244247436523, + -39.4895133972168 + ], + [ + -0.05277256667613983, + -0.9961320757865906, + 0.07025712728500366, + -19.132728576660156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2233, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_242266416", + "mask_path": "../../mask/hdr_front_02233.png" + }, + { + "file_path": "../../rgb/hdr_front_02234.png", + "transform_matrix": [ + [ + 0.993206799030304, + -0.05594584718346596, + -0.10203162580728531, + -24.206857681274414 + ], + [ + 0.10561006516218185, + 0.06524567306041718, + 0.9922648668289185, + -39.564640045166016 + ], + [ + -0.048855971544981, + -0.9962997436523438, + 0.07071087509393692, + -19.133419036865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2234, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_342267274", + "mask_path": "../../mask/hdr_front_02234.png" + }, + { + "file_path": "../../rgb/hdr_front_02235.png", + "transform_matrix": [ + [ + 0.9944648146629333, + -0.05500616505742073, + -0.08952105045318604, + -24.207433700561523 + ], + [ + 0.09293410181999207, + 0.06298573315143585, + 0.993678092956543, + -39.61919403076172 + ], + [ + -0.049019865691661835, + -0.9964974522590637, + 0.06774904578924179, + -19.13694190979004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2235, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_442268610", + "mask_path": "../../mask/hdr_front_02235.png" + }, + { + "file_path": "../../rgb/hdr_front_02236.png", + "transform_matrix": [ + [ + 0.9953495264053345, + -0.05845027044415474, + -0.07656972855329514, + -24.20616912841797 + ], + [ + 0.08006025850772858, + 0.059914253652095795, + 0.9949877858161926, + -39.69407272338867 + ], + [ + -0.05356968194246292, + -0.9964907765388489, + 0.06431516259908676, + -19.145565032958984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2236, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_542267560", + "mask_path": "../../mask/hdr_front_02236.png" + }, + { + "file_path": "../../rgb/hdr_front_02237.png", + "transform_matrix": [ + [ + 0.995125949382782, + -0.06683143228292465, + -0.07251109182834625, + -24.204410552978516 + ], + [ + 0.07657301425933838, + 0.06036418676376343, + 0.9952350854873657, + -39.78512191772461 + ], + [ + -0.06213591992855072, + -0.9959366917610168, + 0.06518746167421341, + -19.15096092224121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2237, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_642266750", + "mask_path": "../../mask/hdr_front_02237.png" + }, + { + "file_path": "../../rgb/hdr_front_02238.png", + "transform_matrix": [ + [ + 0.9948714971542358, + -0.0704672560095787, + -0.0725603699684143, + -24.200883865356445 + ], + [ + 0.07688435912132263, + 0.060719896107912064, + 0.9951894283294678, + -39.854225158691406 + ], + [ + -0.06572240591049194, + -0.9956643581390381, + 0.06582632660865784, + -19.158863067626953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2238, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_742267847", + "mask_path": "../../mask/hdr_front_02238.png" + }, + { + "file_path": "../../rgb/hdr_front_02239.png", + "transform_matrix": [ + [ + 0.9949515461921692, + -0.06851176172494888, + -0.07333239912986755, + -24.1917667388916 + ], + [ + 0.07751307636499405, + 0.06049642711877823, + 0.9951542019844055, + -39.91950225830078 + ], + [ + -0.06374341249465942, + -0.9958144426345825, + 0.06550157070159912, + -19.1678524017334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2239, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_842267990", + "mask_path": "../../mask/hdr_front_02239.png" + }, + { + "file_path": "../../rgb/hdr_front_02240.png", + "transform_matrix": [ + [ + 0.9953032732009888, + -0.0655176043510437, + -0.07126521319150925, + -24.19051742553711 + ], + [ + 0.07534951716661453, + 0.0621376559138298, + 0.9952192902565002, + -40.014957427978516 + ], + [ + -0.06077612191438675, + -0.995914876461029, + 0.06678253412246704, + -19.168846130371094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2240, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_942269802", + "mask_path": "../../mask/hdr_front_02240.png" + }, + { + "file_path": "../../rgb/hdr_front_02241.png", + "transform_matrix": [ + [ + 0.9962537288665771, + -0.060145147144794464, + -0.06213785707950592, + -24.197771072387695 + ], + [ + 0.06583070755004883, + 0.06149950623512268, + 0.9959338903427124, + -40.095645904541016 + ], + [ + -0.05607914179563522, + -0.9962933659553528, + 0.06522851437330246, + -19.165403366088867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2241, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_42267560", + "mask_path": "../../mask/hdr_front_02241.png" + }, + { + "file_path": "../../rgb/hdr_front_02242.png", + "transform_matrix": [ + [ + 0.9972524046897888, + -0.05447636544704437, + -0.050199028104543686, + -24.197895050048828 + ], + [ + 0.0534069761633873, + 0.05912274867296219, + 0.9968210458755493, + -40.14583969116211 + ], + [ + -0.05133528262376785, + -0.9967631697654724, + 0.06186972185969353, + -19.171165466308594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2242, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_142266988", + "mask_path": "../../mask/hdr_front_02242.png" + }, + { + "file_path": "../../rgb/hdr_front_02243.png", + "transform_matrix": [ + [ + 0.9978384375572205, + -0.05362938344478607, + -0.03797806426882744, + -24.19559097290039 + ], + [ + 0.04085352644324303, + 0.05357993394136429, + 0.9977275133132935, + -40.20967102050781 + ], + [ + -0.05147264525294304, + -0.9971224069595337, + 0.055655062198638916, + -19.173446655273438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2243, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_242268085", + "mask_path": "../../mask/hdr_front_02243.png" + }, + { + "file_path": "../../rgb/hdr_front_02244.png", + "transform_matrix": [ + [ + 0.9976100325584412, + -0.059040509164333344, + -0.03589450567960739, + -24.187345504760742 + ], + [ + 0.039105795323848724, + 0.05416656285524368, + 0.9977658987045288, + -40.291622161865234 + ], + [ + -0.05696432292461395, + -0.9967849254608154, + 0.05634593218564987, + -19.17655372619629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2244, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_342267751", + "mask_path": "../../mask/hdr_front_02244.png" + }, + { + "file_path": "../../rgb/hdr_front_02245.png", + "transform_matrix": [ + [ + 0.9972550272941589, + -0.06358025968074799, + -0.037943724542856216, + -24.180397033691406 + ], + [ + 0.04149959981441498, + 0.055572982877492905, + 0.9975917935371399, + -40.34943771362305 + ], + [ + -0.061318498104810715, + -0.9964282512664795, + 0.058058999478816986, + -19.185659408569336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2245, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_442267417", + "mask_path": "../../mask/hdr_front_02245.png" + }, + { + "file_path": "../../rgb/hdr_front_02247.png", + "transform_matrix": [ + [ + 0.9976556301116943, + -0.0562126487493515, + -0.03903219848871231, + -24.164810180664062 + ], + [ + 0.042450763285160065, + 0.06096302717924118, + 0.997236967086792, + -40.46116256713867 + ], + [ + -0.05367780849337578, + -0.9965559840202332, + 0.06320638209581375, + -19.202117919921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2247, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_642267227", + "mask_path": "../../mask/hdr_front_02247.png" + }, + { + "file_path": "../../rgb/hdr_front_02248.png", + "transform_matrix": [ + [ + 0.9979715943336487, + -0.054167501628398895, + -0.033444203436374664, + -24.163541793823242 + ], + [ + 0.036893296986818314, + 0.06397927552461624, + 0.9972690343856812, + -40.52732467651367 + ], + [ + -0.05187983438372612, + -0.9964801073074341, + 0.06584791094064713, + -19.201271057128906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2248, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_742266654", + "mask_path": "../../mask/hdr_front_02248.png" + }, + { + "file_path": "../../rgb/hdr_front_02251.png", + "transform_matrix": [ + [ + 0.9987338185310364, + -0.05006326362490654, + -0.0049324664287269115, + -24.168251037597656 + ], + [ + 0.007864946499466896, + 0.058548618108034134, + 0.9982536435127258, + -40.70265197753906 + ], + [ + -0.04968704655766487, + -0.9970284700393677, + 0.05886823311448097, + -19.196622848510742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2251, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_42263984", + "mask_path": "../../mask/hdr_front_02251.png" + }, + { + "file_path": "../../rgb/hdr_front_02252.png", + "transform_matrix": [ + [ + 0.9984769225120544, + -0.05474992096424103, + -0.006802373565733433, + -24.163951873779297 + ], + [ + 0.010050163604319096, + 0.05926555022597313, + 0.9981916546821594, + -40.76665496826172 + ], + [ + -0.05424776300787926, + -0.9967397451400757, + 0.059725530445575714, + -19.205583572387695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2252, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_142266750", + "mask_path": "../../mask/hdr_front_02252.png" + }, + { + "file_path": "../../rgb/hdr_front_02253.png", + "transform_matrix": [ + [ + 0.998312771320343, + -0.05569310486316681, + -0.016431208699941635, + -24.15634536743164 + ], + [ + 0.01977355033159256, + 0.06000392884016037, + 0.9980023503303528, + -40.817962646484375 + ], + [ + -0.05459590256214142, + -0.9966433048248291, + 0.06100393459200859, + -19.212303161621094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2253, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_242267131", + "mask_path": "../../mask/hdr_front_02253.png" + }, + { + "file_path": "../../rgb/hdr_front_02254.png", + "transform_matrix": [ + [ + 0.9981402158737183, + -0.05412479117512703, + -0.02804683707654476, + -24.149503707885742 + ], + [ + 0.03129510581493378, + 0.0601310133934021, + 0.9976998567581177, + -40.87789535522461 + ], + [ + -0.052313804626464844, + -0.9967219829559326, + 0.061713024973869324, + -19.23064613342285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2254, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_342267274", + "mask_path": "../../mask/hdr_front_02254.png" + }, + { + "file_path": "../../rgb/hdr_front_02255.png", + "transform_matrix": [ + [ + 0.9980322122573853, + -0.052484627813100815, + -0.034308332949876785, + -24.150232315063477 + ], + [ + 0.03746085241436958, + 0.060310740023851395, + 0.9974763989448547, + -40.95600891113281 + ], + [ + -0.05028301477432251, + -0.9967989325523376, + 0.06215818226337433, + -19.22552490234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2255, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_442266702", + "mask_path": "../../mask/hdr_front_02255.png" + }, + { + "file_path": "../../rgb/hdr_front_02256.png", + "transform_matrix": [ + [ + 0.9980911016464233, + -0.05019828677177429, + -0.03597494587302208, + -24.15226173400879 + ], + [ + 0.03888259083032608, + 0.05820236727595329, + 0.9975473880767822, + -41.012542724609375 + ], + [ + -0.04798133671283722, + -0.9970419406890869, + 0.06004311144351959, + -19.218488693237305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2256, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_542266607", + "mask_path": "../../mask/hdr_front_02256.png" + }, + { + "file_path": "../../rgb/hdr_front_02258.png", + "transform_matrix": [ + [ + 0.9985687732696533, + -0.04373714327812195, + -0.030782731249928474, + -24.149208068847656 + ], + [ + 0.033022645860910416, + 0.0514489971101284, + 0.9981295466423035, + -41.10844802856445 + ], + [ + -0.04207158833742142, + -0.9977174401283264, + 0.052819669246673584, + -19.224374771118164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2258, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_742267131", + "mask_path": "../../mask/hdr_front_02258.png" + }, + { + "file_path": "../../rgb/hdr_front_02259.png", + "transform_matrix": [ + [ + 0.998256266117096, + -0.05007423460483551, + -0.03125401586294174, + -24.148191452026367 + ], + [ + 0.03406229242682457, + 0.05624702200293541, + 0.9978356957435608, + -41.17627716064453 + ], + [ + -0.04820791259407997, + -0.9971604347229004, + 0.05785459280014038, + -19.232072830200195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2259, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_842267274", + "mask_path": "../../mask/hdr_front_02259.png" + }, + { + "file_path": "../../rgb/hdr_front_02260.png", + "transform_matrix": [ + [ + 0.9979411959648132, + -0.05271311104297638, + -0.03653295338153839, + -24.141202926635742 + ], + [ + 0.03960006684064865, + 0.05836435407400131, + 0.9975095987319946, + -41.23088455200195 + ], + [ + -0.05044960975646973, + -0.9969027042388916, + 0.060331638902425766, + -19.240758895874023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2260, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_942267179", + "mask_path": "../../mask/hdr_front_02260.png" + }, + { + "file_path": "../../rgb/hdr_front_02262.png", + "transform_matrix": [ + [ + 0.9969494938850403, + -0.04485005885362625, + -0.06387640535831451, + -24.114225387573242 + ], + [ + 0.06659048050642014, + 0.06188216060400009, + 0.9958596229553223, + -41.339786529541016 + ], + [ + -0.04071154445409775, + -0.9970752596855164, + 0.06467997282743454, + -19.256973266601562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2262, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_142267227", + "mask_path": "../../mask/hdr_front_02262.png" + }, + { + "file_path": "../../rgb/hdr_front_02263.png", + "transform_matrix": [ + [ + 0.9965274930000305, + -0.04047304764389992, + -0.0727667510509491, + -24.103458404541016 + ], + [ + 0.07520120590925217, + 0.06229015067219734, + 0.995220959186554, + -41.39765548706055 + ], + [ + -0.035746973007917404, + -0.9972371459007263, + 0.06511745601892471, + -19.25502586364746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2263, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_242268323", + "mask_path": "../../mask/hdr_front_02263.png" + }, + { + "file_path": "../../rgb/hdr_front_02266.png", + "transform_matrix": [ + [ + 0.9963148236274719, + -0.03304425999522209, + -0.07915050536394119, + -24.075279235839844 + ], + [ + 0.08087105304002762, + 0.05446116253733635, + 0.9952355623245239, + -41.557247161865234 + ], + [ + -0.028576193377375603, + -0.9979690313339233, + 0.05693278834223747, + -19.260465621948242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2266, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_542268037", + "mask_path": "../../mask/hdr_front_02266.png" + }, + { + "file_path": "../../rgb/hdr_front_02267.png", + "transform_matrix": [ + [ + 0.9956968426704407, + -0.041863441467285156, + -0.08267493546009064, + -24.06516456604004 + ], + [ + 0.08494812995195389, + 0.05579431727528572, + 0.9948220252990723, + -41.6319580078125 + ], + [ + -0.03703388199210167, + -0.9975643157958984, + 0.059110451489686966, + -19.26958465576172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2267, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_642267942", + "mask_path": "../../mask/hdr_front_02267.png" + }, + { + "file_path": "../../rgb/hdr_front_02268.png", + "transform_matrix": [ + [ + 0.9954115748405457, + -0.044465988874435425, + -0.0847259908914566, + -24.054931640625 + ], + [ + 0.0871853455901146, + 0.05663814768195152, + 0.9945807456970215, + -41.69390869140625 + ], + [ + -0.0394262857735157, + -0.9974040985107422, + 0.060255054384469986, + -19.274139404296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2268, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_742267608", + "mask_path": "../../mask/hdr_front_02268.png" + }, + { + "file_path": "../../rgb/hdr_front_02269.png", + "transform_matrix": [ + [ + 0.995393693447113, + -0.04199012741446495, + -0.0861869677901268, + -24.041303634643555 + ], + [ + 0.08854436874389648, + 0.05795363709330559, + 0.9943848848342896, + -41.76639938354492 + ], + [ + -0.036759499460458755, + -0.9974358677864075, + 0.061404671519994736, + -19.28691864013672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2269, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_842267990", + "mask_path": "../../mask/hdr_front_02269.png" + }, + { + "file_path": "../../rgb/hdr_front_02270.png", + "transform_matrix": [ + [ + 0.9959325194358826, + -0.04057681933045387, + -0.08044879883527756, + -24.03605842590332 + ], + [ + 0.08275817334651947, + 0.05886925384402275, + 0.9948294162750244, + -41.855682373046875 + ], + [ + -0.035631049424409866, + -0.997440755367279, + 0.06198786944150925, + -19.28978157043457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2270, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_942268610", + "mask_path": "../../mask/hdr_front_02270.png" + }, + { + "file_path": "../../rgb/hdr_front_02271.png", + "transform_matrix": [ + [ + 0.996911346912384, + -0.0381472148001194, + -0.06864665448665619, + -24.035493850708008 + ], + [ + 0.0707278847694397, + 0.05618817359209061, + 0.9959118962287903, + -41.923583984375 + ], + [ + -0.03413413092494011, + -0.9976912140846252, + 0.05871270224452019, + -19.28540802001953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2271, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_42268276", + "mask_path": "../../mask/hdr_front_02271.png" + }, + { + "file_path": "../../rgb/hdr_front_02272.png", + "transform_matrix": [ + [ + 0.9977569580078125, + -0.0413953959941864, + -0.052606064826250076, + -24.0395450592041 + ], + [ + 0.05470234155654907, + 0.051251791417598724, + 0.9971866011619568, + -41.98429870605469 + ], + [ + -0.03858276829123497, + -0.9978275299072266, + 0.05340125784277916, + -19.28900909423828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2272, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_142267465", + "mask_path": "../../mask/hdr_front_02272.png" + }, + { + "file_path": "../../rgb/hdr_front_02273.png", + "transform_matrix": [ + [ + 0.9977485537528992, + -0.051287394016981125, + -0.0432128868997097, + -24.037364959716797 + ], + [ + 0.0458637997508049, + 0.051688261330127716, + 0.9976094961166382, + -42.08631896972656 + ], + [ + -0.04893118888139725, + -0.9973454475402832, + 0.05392412468791008, + -19.30482292175293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2273, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_242267608", + "mask_path": "../../mask/hdr_front_02273.png" + }, + { + "file_path": "../../rgb/hdr_front_02274.png", + "transform_matrix": [ + [ + 0.997316300868988, + -0.06014620140194893, + -0.041743725538253784, + -24.028207778930664 + ], + [ + 0.04507608711719513, + 0.05515627935528755, + 0.9974597692489624, + -42.17591857910156 + ], + [ + -0.05769098550081253, + -0.9966645836830139, + 0.05771941319108009, + -19.315204620361328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2274, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_342268466", + "mask_path": "../../mask/hdr_front_02274.png" + }, + { + "file_path": "../../rgb/hdr_front_02275.png", + "transform_matrix": [ + [ + 0.9971089363098145, + -0.06261254847049713, + -0.043053291738033295, + -24.018354415893555 + ], + [ + 0.046633508056402206, + 0.05688997358083725, + 0.9972907900810242, + -42.24189376831055 + ], + [ + -0.05999361723661423, + -0.9964152574539185, + 0.05964533984661102, + -19.323959350585938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2275, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_442267417", + "mask_path": "../../mask/hdr_front_02275.png" + }, + { + "file_path": "../../rgb/hdr_front_02276.png", + "transform_matrix": [ + [ + 0.9972438216209412, + -0.060669731348752975, + -0.042706042528152466, + -24.019412994384766 + ], + [ + 0.04603073373436928, + 0.0545022077858448, + 0.9974521398544312, + -42.33353805541992 + ], + [ + -0.0581875778734684, + -0.996668815612793, + 0.05714467540383339, + -19.333911895751953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2276, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_542268037", + "mask_path": "../../mask/hdr_front_02276.png" + }, + { + "file_path": "../../rgb/hdr_front_02277.png", + "transform_matrix": [ + [ + 0.9976509213447571, + -0.05856882035732269, + -0.0355294831097126, + -24.025619506835938 + ], + [ + 0.03860136866569519, + 0.052180226892232895, + 0.997891366481781, + -42.44233703613281 + ], + [ + -0.056591376662254333, + -0.9969187378883362, + 0.054318491369485855, + -19.323715209960938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2277, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_642268419", + "mask_path": "../../mask/hdr_front_02277.png" + }, + { + "file_path": "../../rgb/hdr_front_02278.png", + "transform_matrix": [ + [ + 0.9982287287712097, + -0.054197635501623154, + -0.024534454569220543, + -24.031597137451172 + ], + [ + 0.02723950892686844, + 0.049749456346035004, + 0.9983901977539062, + -42.49967575073242 + ], + [ + -0.052889809012413025, + -0.9972901344299316, + 0.05113765969872475, + -19.32143211364746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2278, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_742268085", + "mask_path": "../../mask/hdr_front_02278.png" + }, + { + "file_path": "../../rgb/hdr_front_02280.png", + "transform_matrix": [ + [ + 0.9985805749893188, + -0.052348796278238297, + -0.009822316467761993, + -24.026782989501953 + ], + [ + 0.012220877222716808, + 0.04569749906659126, + 0.9988805651664734, + -42.60377502441406 + ], + [ + -0.051841337233781815, + -0.9975828528404236, + 0.04627238214015961, + -19.323854446411133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2280, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_942269802", + "mask_path": "../../mask/hdr_front_02280.png" + }, + { + "file_path": "../../rgb/hdr_front_02281.png", + "transform_matrix": [ + [ + 0.9980729222297668, + -0.058538053184747696, + -0.02058681659400463, + -24.01337242126465 + ], + [ + 0.02354697324335575, + 0.05033639818429947, + 0.998454749584198, + -42.662227630615234 + ], + [ + -0.0574113205075264, + -0.9970153570175171, + 0.05161779001355171, + -19.335886001586914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2281, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_42267799", + "mask_path": "../../mask/hdr_front_02281.png" + }, + { + "file_path": "../../rgb/hdr_front_02283.png", + "transform_matrix": [ + [ + 0.9973434805870056, + -0.05754886567592621, + -0.04465479776263237, + -23.99334144592285 + ], + [ + 0.047922197729349136, + 0.05670543015003204, + 0.9972402453422546, + -42.748043060302734 + ], + [ + -0.05485786497592926, + -0.9967309832572937, + 0.05931266397237778, + -19.361600875854492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2283, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_242268562", + "mask_path": "../../mask/hdr_front_02283.png" + }, + { + "file_path": "../../rgb/hdr_front_02284.png", + "transform_matrix": [ + [ + 0.9972232580184937, + -0.05596710741519928, + -0.04912855103611946, + -23.988679885864258 + ], + [ + 0.05235963314771652, + 0.05780811980366707, + 0.9969537258148193, + -42.81464767456055 + ], + [ + -0.05295657739043236, + -0.9967577457427979, + 0.06057801470160484, + -19.359703063964844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2284, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_342267990", + "mask_path": "../../mask/hdr_front_02284.png" + }, + { + "file_path": "../../rgb/hdr_front_02285.png", + "transform_matrix": [ + [ + 0.9974752068519592, + -0.05226767063140869, + -0.04807600378990173, + -23.98695945739746 + ], + [ + 0.0508611723780632, + 0.05333089083433151, + 0.9972808957099915, + -42.867671966552734 + ], + [ + -0.04956160485744476, + -0.9972081184387207, + 0.05585463345050812, + -19.346139907836914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2285, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_442269086", + "mask_path": "../../mask/hdr_front_02285.png" + }, + { + "file_path": "../../rgb/hdr_front_02287.png", + "transform_matrix": [ + [ + 0.9980880618095398, + -0.04589299485087395, + -0.041401442140340805, + -23.987821578979492 + ], + [ + 0.04351330175995827, + 0.046015117317438126, + 0.9979925751686096, + -42.951255798339844 + ], + [ + -0.04389577731490135, + -0.9978860020637512, + 0.047924090176820755, + -19.33881187438965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2287, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_642267227", + "mask_path": "../../mask/hdr_front_02287.png" + }, + { + "file_path": "../../rgb/hdr_front_02288.png", + "transform_matrix": [ + [ + 0.9973487257957458, + -0.055034033954143524, + -0.04761172831058502, + -23.98365592956543 + ], + [ + 0.05051228031516075, + 0.05257341265678406, + 0.9973387718200684, + -43.01215744018555 + ], + [ + -0.05238445848226547, + -0.9970995187759399, + 0.055213917046785355, + -19.344539642333984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2288, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_742267370", + "mask_path": "../../mask/hdr_front_02288.png" + }, + { + "file_path": "../../rgb/hdr_front_02289.png", + "transform_matrix": [ + [ + 0.9964490532875061, + -0.062039297074079514, + -0.05692540854215622, + -23.975643157958984 + ], + [ + 0.06054272875189781, + 0.05807637423276901, + 0.9964746832847595, + -43.06128692626953 + ], + [ + -0.05851456895470619, + -0.9963825941085815, + 0.06162617728114128, + -19.361276626586914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2289, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_842267751", + "mask_path": "../../mask/hdr_front_02289.png" + }, + { + "file_path": "../../rgb/hdr_front_02291.png", + "transform_matrix": [ + [ + 0.9954270720481873, + -0.05904793739318848, + -0.07508918642997742, + -23.952043533325195 + ], + [ + 0.07851319760084152, + 0.05797791853547096, + 0.995225727558136, + -43.17404556274414 + ], + [ + -0.05441251024603844, + -0.9965700507164001, + 0.062348827719688416, + -19.378908157348633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2291, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_42267084", + "mask_path": "../../mask/hdr_front_02291.png" + }, + { + "file_path": "../../rgb/hdr_front_02292.png", + "transform_matrix": [ + [ + 0.9953787326812744, + -0.05512911081314087, + -0.07862482219934464, + -23.951271057128906 + ], + [ + 0.08175241202116013, + 0.05697784200310707, + 0.9950226545333862, + -43.250091552734375 + ], + [ + -0.050374835729599, + -0.9968522191047668, + 0.061221472918987274, + -19.372711181640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2292, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_142267465", + "mask_path": "../../mask/hdr_front_02292.png" + }, + { + "file_path": "../../rgb/hdr_front_02295.png", + "transform_matrix": [ + [ + 0.9948640465736389, + -0.04836833104491234, + -0.08891604840755463, + -23.916555404663086 + ], + [ + 0.09126991778612137, + 0.048850804567337036, + 0.9946273565292358, + -43.409488677978516 + ], + [ + -0.04376484453678131, + -0.9976342916488647, + 0.05301448330283165, + -19.378402709960938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2295, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_442267179", + "mask_path": "../../mask/hdr_front_02295.png" + }, + { + "file_path": "../../rgb/hdr_front_02296.png", + "transform_matrix": [ + [ + 0.9929894804954529, + -0.05362839996814728, + -0.10533712804317474, + -23.89619255065918 + ], + [ + 0.10817240923643112, + 0.05303463339805603, + 0.9927164912223816, + -43.46046829223633 + ], + [ + -0.047651272267103195, + -0.9971516132354736, + 0.05846394971013069, + -19.392709732055664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2296, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_542266607", + "mask_path": "../../mask/hdr_front_02296.png" + }, + { + "file_path": "../../rgb/hdr_front_02298.png", + "transform_matrix": [ + [ + 0.9887561202049255, + -0.05462493374943733, + -0.13920290768146515, + -23.8614501953125 + ], + [ + 0.14240030944347382, + 0.05979935824871063, + 0.9880011677742004, + -43.5589485168457 + ], + [ + -0.045645251870155334, + -0.99671471118927, + 0.06690558791160583, + -19.416276931762695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2298, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_742266893", + "mask_path": "../../mask/hdr_front_02298.png" + }, + { + "file_path": "../../rgb/hdr_front_02299.png", + "transform_matrix": [ + [ + 0.9870204329490662, + -0.053944990038871765, + -0.15126323699951172, + -23.846166610717773 + ], + [ + 0.15437060594558716, + 0.05901912972331047, + 0.986248791217804, + -43.63249206542969 + ], + [ + -0.04427574574947357, + -0.9967982769012451, + 0.0665806233882904, + -19.415302276611328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2299, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_842267513", + "mask_path": "../../mask/hdr_front_02299.png" + }, + { + "file_path": "../../rgb/hdr_front_02300.png", + "transform_matrix": [ + [ + 0.9863510727882385, + -0.05244671180844307, + -0.15608000755310059, + -23.836517333984375 + ], + [ + 0.1589222103357315, + 0.05526106804609299, + 0.9857434034347534, + -43.685733795166016 + ], + [ + -0.043073851615190506, + -0.9970935583114624, + 0.06284176558256149, + -19.406551361083984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2300, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_942267179", + "mask_path": "../../mask/hdr_front_02300.png" + }, + { + "file_path": "../../rgb/hdr_front_02302.png", + "transform_matrix": [ + [ + 0.9871910214424133, + -0.04735775664448738, + -0.15235167741775513, + -23.81621551513672 + ], + [ + 0.15461181104183197, + 0.048408202826976776, + 0.9867886304855347, + -43.78248977661133 + ], + [ + -0.0393570251762867, + -0.9977043271064758, + 0.05511021241545677, + -19.4160213470459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2302, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_142267465", + "mask_path": "../../mask/hdr_front_02302.png" + }, + { + "file_path": "../../rgb/hdr_front_02303.png", + "transform_matrix": [ + [ + 0.9849883317947388, + -0.054915349930524826, + -0.16365298628807068, + -23.797346115112305 + ], + [ + 0.16658008098602295, + 0.053777433931827545, + 0.9845603704452515, + -43.84513854980469 + ], + [ + -0.04526663199067116, + -0.9970418214797974, + 0.06211795285344124, + -19.425233840942383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2303, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_242267131", + "mask_path": "../../mask/hdr_front_02303.png" + }, + { + "file_path": "../../rgb/hdr_front_02304.png", + "transform_matrix": [ + [ + 0.9820678234100342, + -0.06121129170060158, + -0.17831498384475708, + -23.782251358032227 + ], + [ + 0.1818242222070694, + 0.05752844735980034, + 0.9816468954086304, + -43.891326904296875 + ], + [ + -0.04982968047261238, + -0.9964655637741089, + 0.06762652099132538, + -19.438411712646484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2304, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_342267990", + "mask_path": "../../mask/hdr_front_02304.png" + }, + { + "file_path": "../../rgb/hdr_front_02306.png", + "transform_matrix": [ + [ + 0.97867351770401, + -0.056379806250333786, + -0.19753322005271912, + -23.75770378112793 + ], + [ + 0.2009727507829666, + 0.06374438107013702, + 0.9775205850601196, + -44.01109313964844 + ], + [ + -0.04252078756690025, + -0.996372401714325, + 0.07371574640274048, + -19.45301055908203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2306, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_542267084", + "mask_path": "../../mask/hdr_front_02306.png" + }, + { + "file_path": "../../rgb/hdr_front_02307.png", + "transform_matrix": [ + [ + 0.9797887206077576, + -0.052595220506191254, + -0.1929970234632492, + -23.75417709350586 + ], + [ + 0.1962323635816574, + 0.0654827281832695, + 0.9783684611320496, + -44.0740966796875 + ], + [ + -0.038819532841444016, + -0.9964666962623596, + 0.07448011636734009, + -19.452016830444336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2307, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_642266273", + "mask_path": "../../mask/hdr_front_02307.png" + }, + { + "file_path": "../../rgb/hdr_front_02309.png", + "transform_matrix": [ + [ + 0.9839297533035278, + -0.05149941146373749, + -0.17096830904483795, + -23.758726119995117 + ], + [ + 0.17386209964752197, + 0.05821579694747925, + 0.9830477833747864, + -44.16857147216797 + ], + [ + -0.04067332297563553, + -0.9969748258590698, + 0.0662340447306633, + -19.458642959594727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2309, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_842267513", + "mask_path": "../../mask/hdr_front_02309.png" + }, + { + "file_path": "../../rgb/hdr_front_02310.png", + "transform_matrix": [ + [ + 0.984399139881134, + -0.056264664977788925, + -0.1667114645242691, + -23.749223709106445 + ], + [ + 0.16992458701133728, + 0.05817350745201111, + 0.9837385416030884, + -44.234092712402344 + ], + [ + -0.04565152898430824, + -0.9967197179794312, + 0.06682669371366501, + -19.45954132080078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2310, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_942267179", + "mask_path": "../../mask/hdr_front_02310.png" + }, + { + "file_path": "../../rgb/hdr_front_02311.png", + "transform_matrix": [ + [ + 0.9834930300712585, + -0.06254769116640091, + -0.16979177296161652, + -23.734283447265625 + ], + [ + 0.17351128160953522, + 0.05978105962276459, + 0.9830158352851868, + -44.29030227661133 + ], + [ + -0.05133502930402756, + -0.9962500333786011, + 0.06964698433876038, + -19.464662551879883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2311, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639033_42267799", + "mask_path": "../../mask/hdr_front_02311.png" + }, + { + "file_path": "../../rgb/hdr_front_02313.png", + "transform_matrix": [ + [ + 0.9812830686569214, + -0.06309252232313156, + -0.1819418966770172, + -23.71528434753418 + ], + [ + 0.1856711506843567, + 0.059341564774513245, + 0.9808184504508972, + -44.40324783325195 + ], + [ + -0.05108559876680374, + -0.9962418675422668, + 0.0699453353881836, + -19.483869552612305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2313, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639033_242267847", + "mask_path": "../../mask/hdr_front_02313.png" + }, + { + "file_path": "../../rgb/hdr_front_02314.png", + "transform_matrix": [ + [ + 0.9807899594306946, + -0.063287153840065, + -0.18451492488384247, + -23.70622444152832 + ], + [ + 0.18818607926368713, + 0.057969048619270325, + 0.9804211854934692, + -44.48675537109375 + ], + [ + -0.05135189741849899, + -0.9963104128837585, + 0.06876522302627563, + -19.479129791259766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2314, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639033_342267751", + "mask_path": "../../mask/hdr_front_02314.png" + }, + { + "file_path": "../../rgb/hdr_front_02317.png", + "transform_matrix": [ + [ + 0.9812294244766235, + -0.051490865647792816, + -0.18584291636943817, + -23.664043426513672 + ], + [ + 0.18852299451828003, + 0.05325915664434433, + 0.9806236028671265, + -44.64094161987305 + ], + [ + -0.04059532284736633, + -0.9972524046897888, + 0.0619666613638401, + -19.488229751586914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2317, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639033_642266988", + "mask_path": "../../mask/hdr_front_02317.png" + }, + { + "file_path": "../../rgb/hdr_front_02318.png", + "transform_matrix": [ + [ + 0.9787278175354004, + -0.05825072526931763, + -0.19672009348869324, + -23.636173248291016 + ], + [ + 0.19989530742168427, + 0.05486147850751877, + 0.9782801866531372, + -44.70587158203125 + ], + [ + -0.04619317129254341, + -0.9967933893203735, + 0.06533849984407425, + -19.496313095092773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2318, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639033_742267847", + "mask_path": "../../mask/hdr_front_02318.png" + }, + { + "file_path": "../../rgb/hdr_front_02321.png", + "transform_matrix": [ + [ + 0.9710204601287842, + -0.05500848591327667, + -0.23257985711097717, + -23.557231903076172 + ], + [ + 0.23572546243667603, + 0.05998237058520317, + 0.9699668288230896, + -44.83986282348633 + ], + [ + -0.03940571844577789, + -0.9966825842857361, + 0.07121100276708603, + -19.52303123474121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2321, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_42267322", + "mask_path": "../../mask/hdr_front_02321.png" + }, + { + "file_path": "../../rgb/hdr_front_02322.png", + "transform_matrix": [ + [ + 0.9701986312866211, + -0.050626903772354126, + -0.2369629442691803, + -23.529163360595703 + ], + [ + 0.23988310992717743, + 0.06259267777204514, + 0.9687818884849548, + -44.89493942260742 + ], + [ + -0.03421427682042122, + -0.9967543482780457, + 0.0728718712925911, + -19.519866943359375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2322, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_142267942", + "mask_path": "../../mask/hdr_front_02322.png" + }, + { + "file_path": "../../rgb/hdr_front_02325.png", + "transform_matrix": [ + [ + 0.9699515104293823, + -0.04838104918599129, + -0.23843933641910553, + -23.467121124267578 + ], + [ + 0.24097409844398499, + 0.055900540202856064, + 0.9689203500747681, + -45.073299407958984 + ], + [ + -0.033548496663570404, + -0.997263491153717, + 0.06587938964366913, + -19.52737808227539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2325, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_442268133", + "mask_path": "../../mask/hdr_front_02325.png" + }, + { + "file_path": "../../rgb/hdr_front_02326.png", + "transform_matrix": [ + [ + 0.9669815897941589, + -0.055924344807863235, + -0.24863432347774506, + -23.440746307373047 + ], + [ + 0.2517164349555969, + 0.057160716503858566, + 0.9661115407943726, + -45.12387466430664 + ], + [ + -0.03981703147292137, + -0.9967975616455078, + 0.06935044378042221, + -19.539411544799805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2326, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_542267084", + "mask_path": "../../mask/hdr_front_02326.png" + }, + { + "file_path": "../../rgb/hdr_front_02328.png", + "transform_matrix": [ + [ + 0.9620761871337891, + -0.056609880179166794, + -0.2668421268463135, + -23.40523910522461 + ], + [ + 0.2699582278728485, + 0.057230740785598755, + 0.9611696600914001, + -45.226104736328125 + ], + [ + -0.03914012759923935, + -0.9967547655105591, + 0.07034263759851456, + -19.553028106689453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2328, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_742266416", + "mask_path": "../../mask/hdr_front_02328.png" + }, + { + "file_path": "../../rgb/hdr_front_02329.png", + "transform_matrix": [ + [ + 0.9610327482223511, + -0.05520089715719223, + -0.2708667814731598, + -23.38896942138672 + ], + [ + 0.27387991547584534, + 0.05723540484905243, + 0.960059404373169, + -45.293067932128906 + ], + [ + -0.03749296814203262, + -0.9968335032463074, + 0.07012352347373962, + -19.551368713378906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2329, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_842267751", + "mask_path": "../../mask/hdr_front_02329.png" + }, + { + "file_path": "../../rgb/hdr_left_02207.png", + "transform_matrix": [ + [ + -0.11002937704324722, + -0.054296769201755524, + 0.9924441576004028, + -24.856191635131836 + ], + [ + -0.9921420216560364, + 0.0658375471830368, + -0.10639390349388123, + -35.27743148803711 + ], + [ + -0.05956324562430382, + -0.9963520169258118, + -0.06111415848135948, + -18.816226959228516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2207, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_142267704", + "mask_path": "../../mask/hdr_left_02207.png" + }, + { + "file_path": "../../rgb/hdr_left_02208.png", + "transform_matrix": [ + [ + -0.10791274905204773, + -0.050384052097797394, + 0.9928827285766602, + -24.844762802124023 + ], + [ + -0.9925015568733215, + 0.06312790513038635, + -0.10466789454221725, + -35.364723205566406 + ], + [ + -0.0574050098657608, + -0.9967328906059265, + -0.05681854858994484, + -18.831275939941406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2208, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_242267847", + "mask_path": "../../mask/hdr_left_02208.png" + }, + { + "file_path": "../../rgb/hdr_left_02209.png", + "transform_matrix": [ + [ + -0.11275194585323334, + -0.047212839126586914, + 0.992500901222229, + -24.84164047241211 + ], + [ + -0.9918144345283508, + 0.06558925658464432, + -0.10955390334129333, + -35.475276947021484 + ], + [ + -0.059925030916929245, + -0.9967291951179504, + -0.05422168970108032, + -18.833580017089844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2209, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_342267274", + "mask_path": "../../mask/hdr_left_02209.png" + }, + { + "file_path": "../../rgb/hdr_left_02210.png", + "transform_matrix": [ + [ + -0.12294229120016098, + -0.04108628258109093, + 0.9915629029273987, + -24.840261459350586 + ], + [ + -0.9905816316604614, + 0.06576545536518097, + -0.12009558826684952, + -35.56119918823242 + ], + [ + -0.060276299715042114, + -0.9969889521598816, + -0.048784662038087845, + -18.8302059173584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2210, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_442267417", + "mask_path": "../../mask/hdr_left_02210.png" + }, + { + "file_path": "../../rgb/hdr_left_02211.png", + "transform_matrix": [ + [ + -0.13530871272087097, + -0.0352291576564312, + 0.9901770353317261, + -24.837732315063477 + ], + [ + -0.9891657829284668, + 0.06223783642053604, + -0.13295619189739227, + -35.61767578125 + ], + [ + -0.05694253742694855, + -0.997439444065094, + -0.04326879605650902, + -18.83913803100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2211, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_542266845", + "mask_path": "../../mask/hdr_left_02211.png" + }, + { + "file_path": "../../rgb/hdr_left_02212.png", + "transform_matrix": [ + [ + -0.14435569941997528, + -0.0378277450799942, + 0.9888025522232056, + -24.831405639648438 + ], + [ + -0.9881856441497803, + 0.05750083550810814, + -0.1420658528804779, + -35.71321105957031 + ], + [ + -0.05148293823003769, + -0.9976286292076111, + -0.045681409537792206, + -18.84196662902832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2212, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_642267465", + "mask_path": "../../mask/hdr_left_02212.png" + }, + { + "file_path": "../../rgb/hdr_left_02213.png", + "transform_matrix": [ + [ + -0.14524772763252258, + -0.044857434928417206, + 0.9883778691291809, + -24.818838119506836 + ], + [ + -0.9880178570747375, + 0.05927087366580963, + -0.14250481128692627, + -35.81194305419922 + ], + [ + -0.052189622074365616, + -0.9972335696220398, + -0.052928902208805084, + -18.84966278076172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2213, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_742268085", + "mask_path": "../../mask/hdr_left_02213.png" + }, + { + "file_path": "../../rgb/hdr_left_02214.png", + "transform_matrix": [ + [ + -0.1421639770269394, + -0.047476962208747864, + 0.9887038469314575, + -24.81161117553711 + ], + [ + -0.9883685111999512, + 0.06130939722061157, + -0.13917168974876404, + -35.88031005859375 + ], + [ + -0.05400938540697098, + -0.9969890713691711, + -0.05564071238040924, + -18.85805320739746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2214, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_842267751", + "mask_path": "../../mask/hdr_left_02214.png" + }, + { + "file_path": "../../rgb/hdr_left_02215.png", + "transform_matrix": [ + [ + -0.13862650096416473, + -0.04374789819121361, + 0.9893779158592224, + -24.803476333618164 + ], + [ + -0.9889125823974609, + 0.05982115864753723, + -0.13591615855693817, + -35.956722259521484 + ], + [ + -0.05323968455195427, + -0.9972500205039978, + -0.05155564099550247, + -18.874977111816406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2215, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_942269325", + "mask_path": "../../mask/hdr_left_02215.png" + }, + { + "file_path": "../../rgb/hdr_left_02216.png", + "transform_matrix": [ + [ + -0.1337747424840927, + -0.042945023626089096, + 0.990080714225769, + -24.797170639038086 + ], + [ + -0.9894015192985535, + 0.06271503120660782, + -0.13096271455287933, + -36.0555419921875 + ], + [ + -0.05646875128149986, + -0.9971070885658264, + -0.05087955668568611, + -18.873716354370117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2216, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_42267799", + "mask_path": "../../mask/hdr_left_02216.png" + }, + { + "file_path": "../../rgb/hdr_left_02217.png", + "transform_matrix": [ + [ + -0.12972143292427063, + -0.040498897433280945, + 0.9907230734825134, + -24.79058074951172 + ], + [ + -0.9899413585662842, + 0.062188707292079926, + -0.1270768940448761, + -36.13261032104492 + ], + [ + -0.056465309113264084, + -0.9972424507141113, + -0.04815874621272087, + -18.86563491821289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2217, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_142269372", + "mask_path": "../../mask/hdr_left_02217.png" + }, + { + "file_path": "../../rgb/hdr_left_02218.png", + "transform_matrix": [ + [ + -0.1273960918188095, + -0.03671230748295784, + 0.9911723136901855, + -24.785127639770508 + ], + [ + -0.9903754591941833, + 0.05921434238553047, + -0.12510040402412415, + -36.186614990234375 + ], + [ + -0.054098889231681824, + -0.9975700974464417, + -0.04390263184905052, + -18.870349884033203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2218, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_242268323", + "mask_path": "../../mask/hdr_left_02218.png" + }, + { + "file_path": "../../rgb/hdr_left_02219.png", + "transform_matrix": [ + [ + -0.12427113205194473, + -0.035204656422138214, + 0.99162358045578, + -24.779560089111328 + ], + [ + -0.9908000230789185, + 0.05837751924991608, + -0.12209539860486984, + -36.26051330566406 + ], + [ + -0.053590189665555954, + -0.9976736903190613, + -0.042135413736104965, + -18.880550384521484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2219, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_342268466", + "mask_path": "../../mask/hdr_left_02219.png" + }, + { + "file_path": "../../rgb/hdr_left_02220.png", + "transform_matrix": [ + [ + -0.11068617552518845, + -0.04160354658961296, + 0.9929842352867126, + -24.764986038208008 + ], + [ + -0.9920680522918701, + 0.0645175576210022, + -0.10788092762231827, + -36.34918212890625 + ], + [ + -0.05957667529582977, + -0.9970489740371704, + -0.048414748162031174, + -18.893712997436523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2220, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_442268371", + "mask_path": "../../mask/hdr_left_02220.png" + }, + { + "file_path": "../../rgb/hdr_left_02221.png", + "transform_matrix": [ + [ + -0.09491922706365585, + -0.04704928398132324, + 0.994372546672821, + -24.748455047607422 + ], + [ + -0.9935430884361267, + 0.0668376237154007, + -0.09167758375406265, + -36.42190933227539 + ], + [ + -0.06214812397956848, + -0.9966539740562439, + -0.05308965593576431, + -18.9057674407959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2221, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_542268037", + "mask_path": "../../mask/hdr_left_02221.png" + }, + { + "file_path": "../../rgb/hdr_left_02222.png", + "transform_matrix": [ + [ + -0.08805520087480545, + -0.046387847512960434, + 0.9950348734855652, + -24.736982345581055 + ], + [ + -0.9942006468772888, + 0.06600185483694077, + -0.08490442484617233, + -36.49467468261719 + ], + [ + -0.061735618859529495, + -0.9967406988143921, + -0.05193062499165535, + -18.910188674926758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2222, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_642267465", + "mask_path": "../../mask/hdr_left_02222.png" + }, + { + "file_path": "../../rgb/hdr_left_02223.png", + "transform_matrix": [ + [ + -0.08945595473051071, + -0.043397121131420135, + 0.9950448274612427, + -24.731868743896484 + ], + [ + -0.993984043598175, + 0.06727620214223862, + -0.08642645925283432, + -36.585357666015625 + ], + [ + -0.06319217383861542, + -0.9967901706695557, + -0.04915429651737213, + -18.91261100769043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2223, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_742269277", + "mask_path": "../../mask/hdr_left_02223.png" + }, + { + "file_path": "../../rgb/hdr_left_02224.png", + "transform_matrix": [ + [ + -0.09640133380889893, + -0.03673260286450386, + 0.9946644902229309, + -24.72918128967285 + ], + [ + -0.9934613704681396, + 0.06495960801839828, + -0.09388578683137894, + -36.67174530029297 + ], + [ + -0.06116434931755066, + -0.9972115755081177, + -0.04275461286306381, + -18.90980339050293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2224, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_842267036", + "mask_path": "../../mask/hdr_left_02224.png" + }, + { + "file_path": "../../rgb/hdr_left_02225.png", + "transform_matrix": [ + [ + -0.10647082328796387, + -0.03119962103664875, + 0.993826150894165, + -24.723861694335938 + ], + [ + -0.9926413297653198, + 0.06131822243332863, + -0.10441890358924866, + -36.73295211791992 + ], + [ + -0.05768182873725891, + -0.9976305365562439, + -0.037498634308576584, + -18.913549423217773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2225, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_942268133", + "mask_path": "../../mask/hdr_left_02225.png" + }, + { + "file_path": "../../rgb/hdr_left_02226.png", + "transform_matrix": [ + [ + -0.11831217259168625, + -0.0343470424413681, + 0.9923822283744812, + -24.712247848510742 + ], + [ + -0.9917008280754089, + 0.05472758039832115, + -0.11633677780628204, + -36.80474090576172 + ], + [ + -0.050314851105213165, + -0.9979104995727539, + -0.040536921471357346, + -18.918560028076172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2226, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_42267799", + "mask_path": "../../mask/hdr_left_02226.png" + }, + { + "file_path": "../../rgb/hdr_left_02227.png", + "transform_matrix": [ + [ + -0.12182436138391495, + -0.03985418751835823, + 0.9917513132095337, + -24.700542449951172 + ], + [ + -0.9912894368171692, + 0.05525989830493927, + -0.11954697221517563, + -36.90782928466797 + ], + [ + -0.050039615482091904, + -0.9976763725280762, + -0.046239037066698074, + -18.927833557128906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2227, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_142267227", + "mask_path": "../../mask/hdr_left_02227.png" + }, + { + "file_path": "../../rgb/hdr_left_02228.png", + "transform_matrix": [ + [ + -0.11902538686990738, + -0.041466835886240005, + 0.9920249581336975, + -24.689573287963867 + ], + [ + -0.9915248155593872, + 0.057362161576747894, + -0.11656761914491653, + -36.98329544067383 + ], + [ + -0.05207099765539169, + -0.9974919557571411, + -0.04794294387102127, + -18.93889808654785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2228, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_242267847", + "mask_path": "../../mask/hdr_left_02228.png" + }, + { + "file_path": "../../rgb/hdr_left_02229.png", + "transform_matrix": [ + [ + -0.11624463647603989, + -0.040216244757175446, + 0.9924061298370361, + -24.68216323852539 + ], + [ + -0.9918408393859863, + 0.057348232716321945, + -0.11385445296764374, + -37.04833221435547 + ], + [ + -0.05233393609523773, + -0.9975439310073853, + -0.04655453935265541, + -18.94918441772461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2229, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_342269659", + "mask_path": "../../mask/hdr_left_02229.png" + }, + { + "file_path": "../../rgb/hdr_left_02230.png", + "transform_matrix": [ + [ + -0.1162928119301796, + -0.03733689710497856, + 0.9925129413604736, + -24.67918586730957 + ], + [ + -0.991737961769104, + 0.05884309858083725, + -0.11398842185735703, + -37.13397979736328 + ], + [ + -0.05414655804634094, + -0.9975688457489014, + -0.0438714399933815, + -18.9539737701416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2230, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_442267894", + "mask_path": "../../mask/hdr_left_02230.png" + }, + { + "file_path": "../../rgb/hdr_left_02231.png", + "transform_matrix": [ + [ + -0.12082592397928238, + -0.031051740050315857, + 0.9921879768371582, + -24.677276611328125 + ], + [ + -0.9911470413208008, + 0.05918549746274948, + -0.11884687095880508, + -37.21882629394531 + ], + [ + -0.05503273010253906, + -0.997763991355896, + -0.03792797774076462, + -18.94879150390625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2231, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_542270660", + "mask_path": "../../mask/hdr_left_02231.png" + }, + { + "file_path": "../../rgb/hdr_left_02232.png", + "transform_matrix": [ + [ + -0.12820711731910706, + -0.026328394189476967, + 0.9913978576660156, + -24.670373916625977 + ], + [ + -0.9902722239494324, + 0.05790013447403908, + -0.1265239268541336, + -37.27867889404297 + ], + [ + -0.05407090112566948, + -0.9979751706123352, + -0.03349548950791359, + -18.950183868408203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2232, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_642267465", + "mask_path": "../../mask/hdr_left_02232.png" + }, + { + "file_path": "../../rgb/hdr_left_02233.png", + "transform_matrix": [ + [ + -0.13864247500896454, + -0.028163010254502296, + 0.9899420142173767, + -24.670799255371094 + ], + [ + -0.9890998005867004, + 0.053997255861759186, + -0.13698837161064148, + -37.34736633300781 + ], + [ + -0.0495961457490921, + -0.9981439113616943, + -0.03534233570098877, + -18.95447540283203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2233, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_742267370", + "mask_path": "../../mask/hdr_left_02233.png" + }, + { + "file_path": "../../rgb/hdr_left_02234.png", + "transform_matrix": [ + [ + -0.14036473631858826, + -0.03647621348500252, + 0.9894277453422546, + -24.66870880126953 + ], + [ + -0.9887621402740479, + 0.057094112038612366, + -0.13816547393798828, + -37.446685791015625 + ], + [ + -0.05145074054598808, + -0.9977023005485535, + -0.04408029094338417, + -18.962509155273438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2234, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_842267990", + "mask_path": "../../mask/hdr_left_02234.png" + }, + { + "file_path": "../../rgb/hdr_left_02235.png", + "transform_matrix": [ + [ + -0.12939465045928955, + -0.04382483661174774, + 0.9906242489814758, + -24.65968132019043 + ], + [ + -0.9901039600372314, + 0.06044043228030205, + -0.12665283679962158, + -37.52519989013672 + ], + [ + -0.054323215037584305, + -0.9972093105316162, + -0.051211804151535034, + -18.97365951538086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2235, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_942267656", + "mask_path": "../../mask/hdr_left_02235.png" + }, + { + "file_path": "../../rgb/hdr_left_02236.png", + "transform_matrix": [ + [ + -0.10752822458744049, + -0.04465688392519951, + 0.9931984543800354, + -24.64479637145996 + ], + [ + -0.9926431775093079, + 0.06074262410402298, + -0.10473696142435074, + -37.60197448730469 + ], + [ + -0.055652257055044174, + -0.9971539974212646, + -0.05085989460349083, + -18.988712310791016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2236, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_42267560", + "mask_path": "../../mask/hdr_left_02236.png" + }, + { + "file_path": "../../rgb/hdr_left_02237.png", + "transform_matrix": [ + [ + -0.07835640758275986, + -0.044427745044231415, + 0.9959350228309631, + -24.63009262084961 + ], + [ + -0.9952114820480347, + 0.062039799988269806, + -0.07553192973136902, + -37.69905090332031 + ], + [ + -0.05843188613653183, + -0.997084379196167, + -0.04907621815800667, + -18.98902130126953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2237, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_142267465", + "mask_path": "../../mask/hdr_left_02237.png" + }, + { + "file_path": "../../rgb/hdr_left_02238.png", + "transform_matrix": [ + [ + -0.051805853843688965, + -0.04212417080998421, + 0.9977682828903198, + -24.62051773071289 + ], + [ + -0.9969643354415894, + 0.06033001095056534, + -0.04921707883477211, + -37.775028228759766 + ], + [ + -0.05812213942408562, + -0.99728924036026, + -0.04512173309922218, + -18.982311248779297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2238, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_242267370", + "mask_path": "../../mask/hdr_left_02238.png" + }, + { + "file_path": "../../rgb/hdr_left_02241.png", + "transform_matrix": [ + [ + -0.016514111310243607, + -0.03945566341280937, + 0.9990849494934082, + -24.59142303466797 + ], + [ + -0.9978575110435486, + 0.06391621381044388, + -0.013969648629426956, + -37.95737075805664 + ], + [ + -0.0633065328001976, + -0.9971750378608704, + -0.04042664170265198, + -19.001163482666016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2241, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_542268753", + "mask_path": "../../mask/hdr_left_02241.png" + }, + { + "file_path": "../../rgb/hdr_left_02242.png", + "transform_matrix": [ + [ + -0.015495669096708298, + -0.044354092329740524, + 0.9988956451416016, + -24.57720184326172 + ], + [ + -0.9977278113365173, + 0.06619531661272049, + -0.012538272887468338, + -38.03836441040039 + ], + [ + -0.06556608527898788, + -0.9968203902244568, + -0.04527904465794563, + -19.0135498046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2242, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_642267704", + "mask_path": "../../mask/hdr_left_02242.png" + }, + { + "file_path": "../../rgb/hdr_left_02243.png", + "transform_matrix": [ + [ + -0.011658187955617905, + -0.043510548770427704, + 0.9989849328994751, + -24.55303192138672 + ], + [ + -0.9979880452156067, + 0.06277157366275787, + -0.008912521414458752, + -38.11138916015625 + ], + [ + -0.06232006847858429, + -0.9970790147781372, + -0.04415480047464371, + -19.017847061157227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2243, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_742267370", + "mask_path": "../../mask/hdr_left_02243.png" + }, + { + "file_path": "../../rgb/hdr_left_02244.png", + "transform_matrix": [ + [ + -0.00916899275034666, + -0.038782984018325806, + 0.9992056488990784, + -24.524879455566406 + ], + [ + -0.9979692697525024, + 0.06334288418292999, + -0.006699057295918465, + -38.198970794677734 + ], + [ + -0.06303275376558304, + -0.9972379803657532, + -0.03928501531481743, + -19.030452728271484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2244, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_842267274", + "mask_path": "../../mask/hdr_left_02244.png" + }, + { + "file_path": "../../rgb/hdr_left_02245.png", + "transform_matrix": [ + [ + -0.013851026073098183, + -0.037922635674476624, + 0.9991846084594727, + -24.50517463684082 + ], + [ + -0.9978740811347961, + 0.06416700035333633, + -0.01139749027788639, + -38.29180145263672 + ], + [ + -0.06368245929479599, + -0.9972183704376221, + -0.03873078525066376, + -19.034698486328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2245, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_942266464", + "mask_path": "../../mask/hdr_left_02245.png" + }, + { + "file_path": "../../rgb/hdr_left_02246.png", + "transform_matrix": [ + [ + -0.023401955142617226, + -0.03377261385321617, + 0.9991555213928223, + -24.490558624267578 + ], + [ + -0.9978833794593811, + 0.061443038284778595, + -0.021295327693223953, + -38.36931228637695 + ], + [ + -0.060671936720609665, + -0.9975390434265137, + -0.03513901308178902, + -19.033363342285156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2246, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_42267560", + "mask_path": "../../mask/hdr_left_02246.png" + }, + { + "file_path": "../../rgb/hdr_left_02247.png", + "transform_matrix": [ + [ + -0.03730619326233864, + -0.03650755435228348, + 0.9986368417739868, + -24.472183227539062 + ], + [ + -0.9979398846626282, + 0.05355770140886307, + -0.03532221540808678, + -38.452579498291016 + ], + [ + -0.05219516158103943, + -0.997897207736969, + -0.03843037411570549, + -19.040552139282227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2247, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_142270565", + "mask_path": "../../mask/hdr_left_02247.png" + }, + { + "file_path": "../../rgb/hdr_left_02248.png", + "transform_matrix": [ + [ + -0.04238656535744667, + -0.0388629175722599, + 0.9983451962471008, + -24.448423385620117 + ], + [ + -0.9977321624755859, + 0.053939126431941986, + -0.04026079550385475, + -38.56342315673828 + ], + [ + -0.05228520557284355, + -0.9977877140045166, + -0.041061073541641235, + -19.052989959716797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2248, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_242267131", + "mask_path": "../../mask/hdr_left_02248.png" + }, + { + "file_path": "../../rgb/hdr_left_02249.png", + "transform_matrix": [ + [ + -0.039744649082422256, + -0.041514765471220016, + 0.9983470439910889, + -24.425966262817383 + ], + [ + -0.9975986480712891, + 0.058365348726511, + -0.03728780895471573, + -38.649600982666016 + ], + [ + -0.05672087520360947, + -0.997431755065918, + -0.04373478144407272, + -19.064218521118164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2249, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_342267990", + "mask_path": "../../mask/hdr_left_02249.png" + }, + { + "file_path": "../../rgb/hdr_left_02250.png", + "transform_matrix": [ + [ + -0.03644023835659027, + -0.039075326174497604, + 0.998571515083313, + -24.402223587036133 + ], + [ + -0.9976450204849243, + 0.05952269211411476, + -0.03407721221446991, + -38.73021697998047 + ], + [ + -0.058106083422899246, + -0.9974619150161743, + -0.04115231707692146, + -19.078161239624023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2250, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_442267656", + "mask_path": "../../mask/hdr_left_02250.png" + }, + { + "file_path": "../../rgb/hdr_left_02251.png", + "transform_matrix": [ + [ + -0.03990771248936653, + -0.03879072889685631, + 0.9984501004219055, + -24.38965606689453 + ], + [ + -0.9973361492156982, + 0.06260675936937332, + -0.037430863827466965, + -38.837730407714844 + ], + [ + -0.061057742685079575, + -0.9972842335700989, + -0.041185881942510605, + -19.08330535888672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2251, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_542267799", + "mask_path": "../../mask/hdr_left_02251.png" + }, + { + "file_path": "../../rgb/hdr_left_02252.png", + "transform_matrix": [ + [ + -0.04933550953865051, + -0.035404451191425323, + 0.9981545805931091, + -24.382783889770508 + ], + [ + -0.9968499541282654, + 0.0638798400759697, + -0.04700522497296333, + -38.929603576660156 + ], + [ + -0.062097758054733276, + -0.9973294138908386, + -0.03844447061419487, + -19.081100463867188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2252, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_642267942", + "mask_path": "../../mask/hdr_left_02252.png" + }, + { + "file_path": "../../rgb/hdr_left_02253.png", + "transform_matrix": [ + [ + -0.06078093498945236, + -0.03197232633829117, + 0.9976389408111572, + -24.37548828125 + ], + [ + -0.996366024017334, + 0.06169093772768974, + -0.05872629955410957, + -38.992584228515625 + ], + [ + -0.05966766178607941, + -0.9975830912590027, + -0.0356057733297348, + -19.087095260620117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2253, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_742267131", + "mask_path": "../../mask/hdr_left_02253.png" + }, + { + "file_path": "../../rgb/hdr_left_02254.png", + "transform_matrix": [ + [ + -0.07122895866632462, + -0.03738651052117348, + 0.9967590570449829, + -24.36153793334961 + ], + [ + -0.9959230422973633, + 0.05811893939971924, + -0.06898927688598633, + -39.08917236328125 + ], + [ + -0.05535131320357323, + -0.9976094365119934, + -0.041373830288648605, + -19.09766960144043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2254, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_842267990", + "mask_path": "../../mask/hdr_left_02254.png" + }, + { + "file_path": "../../rgb/hdr_left_02255.png", + "transform_matrix": [ + [ + -0.0730753168463707, + -0.0459948405623436, + 0.9962652921676636, + -24.34774398803711 + ], + [ + -0.9957151412963867, + 0.060124076902866364, + -0.07025919109582901, + -39.19307327270508 + ], + [ + -0.05666796490550041, + -0.9971306920051575, + -0.05019133910536766, + -19.10806655883789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2255, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_942267417", + "mask_path": "../../mask/hdr_left_02255.png" + }, + { + "file_path": "../../rgb/hdr_left_02256.png", + "transform_matrix": [ + [ + -0.0696832537651062, + -0.050339922308921814, + 0.9962981939315796, + -24.335773468017578 + ], + [ + -0.9958770275115967, + 0.06165628507733345, + -0.0665384829044342, + -39.25934600830078 + ], + [ + -0.05807850509881973, + -0.9968271851539612, + -0.05442877113819122, + -19.11389923095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2256, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_42267799", + "mask_path": "../../mask/hdr_left_02256.png" + }, + { + "file_path": "../../rgb/hdr_left_02257.png", + "transform_matrix": [ + [ + -0.06706735491752625, + -0.05076444521546364, + 0.9964561462402344, + -24.322542190551758 + ], + [ + -0.9960362911224365, + 0.061888452619314194, + -0.06388618052005768, + -39.33061218261719 + ], + [ + -0.05842598155140877, + -0.9967913031578064, + -0.05471392720937729, + -19.11761474609375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2257, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_142268419", + "mask_path": "../../mask/hdr_left_02257.png" + }, + { + "file_path": "../../rgb/hdr_left_02258.png", + "transform_matrix": [ + [ + -0.07056625932455063, + -0.047445956617593765, + 0.9963781833648682, + -24.318206787109375 + ], + [ + -0.9954996109008789, + 0.06668867915868759, + -0.06732840090990067, + -39.422889709472656 + ], + [ + -0.06325266510248184, + -0.9966452121734619, + -0.05193839594721794, + -19.122886657714844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2258, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_242266416", + "mask_path": "../../mask/hdr_left_02258.png" + }, + { + "file_path": "../../rgb/hdr_left_02259.png", + "transform_matrix": [ + [ + -0.07967634499073029, + -0.0429765060544014, + 0.9958939552307129, + -24.316884994506836 + ], + [ + -0.9947377443313599, + 0.06798192113637924, + -0.07665016502141953, + -39.49699020385742 + ], + [ + -0.06440860778093338, + -0.9967605471611023, + -0.048166897147893906, + -19.123943328857422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2259, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_342267274", + "mask_path": "../../mask/hdr_left_02259.png" + }, + { + "file_path": "../../rgb/hdr_left_02260.png", + "transform_matrix": [ + [ + -0.09220434725284576, + -0.04200330004096031, + 0.9948537349700928, + -24.316598892211914 + ], + [ + -0.9938410520553589, + 0.06555686146020889, + -0.08934266120195389, + -39.550132751464844 + ], + [ + -0.06146680563688278, + -0.9969644546508789, + -0.047789230942726135, + -19.127681732177734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2260, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_442268610", + "mask_path": "../../mask/hdr_left_02260.png" + }, + { + "file_path": "../../rgb/hdr_left_02261.png", + "transform_matrix": [ + [ + -0.10511456429958344, + -0.04541783034801483, + 0.9934223890304565, + -24.31440544128418 + ], + [ + -0.9928098917007446, + 0.06231759861111641, + -0.10220068693161011, + -39.62358856201172 + ], + [ + -0.05726596340537071, + -0.9970224499702454, + -0.05164175480604172, + -19.136110305786133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2261, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_542267560", + "mask_path": "../../mask/hdr_left_02261.png" + }, + { + "file_path": "../../rgb/hdr_left_02262.png", + "transform_matrix": [ + [ + -0.10909686982631683, + -0.05379568412899971, + 0.9925743937492371, + -24.312313079833984 + ], + [ + -0.9924201369285583, + 0.06272181868553162, + -0.10568050295114517, + -39.71426010131836 + ], + [ + -0.05657091736793518, + -0.9965802431106567, + -0.06023068353533745, + -19.14055633544922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2262, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_642266750", + "mask_path": "../../mask/hdr_left_02262.png" + }, + { + "file_path": "../../rgb/hdr_left_02263.png", + "transform_matrix": [ + [ + -0.10901588201522827, + -0.05743461474776268, + 0.992379367351532, + -24.30876922607422 + ], + [ + -0.9924302697181702, + 0.0630815401673317, + -0.10537058860063553, + -39.78340148925781 + ], + [ + -0.05654890090227127, + -0.9963544011116028, + -0.06387673318386078, + -19.148040771484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2263, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_742267847", + "mask_path": "../../mask/hdr_left_02263.png" + }, + { + "file_path": "../../rgb/hdr_left_02264.png", + "transform_matrix": [ + [ + -0.10826382040977478, + -0.05547928810119629, + 0.9925729632377625, + -24.299718856811523 + ], + [ + -0.9925102591514587, + 0.06286634504795074, + -0.104743093252182, + -39.8487434387207 + ], + [ + -0.05658835172653198, + -0.996478796005249, + -0.06186990067362785, + -19.157258987426758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2264, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_842267990", + "mask_path": "../../mask/hdr_left_02264.png" + }, + { + "file_path": "../../rgb/hdr_left_02265.png", + "transform_matrix": [ + [ + -0.11034934967756271, + -0.05247794836759567, + 0.9925063848495483, + -24.298337936401367 + ], + [ + -0.9921764135360718, + 0.06447897106409073, + -0.10690338164567947, + -39.9439697265625 + ], + [ + -0.05838571861386299, + -0.9965383410453796, + -0.059182584285736084, + -19.158456802368164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2265, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_942269802", + "mask_path": "../../mask/hdr_left_02265.png" + }, + { + "file_path": "../../rgb/hdr_left_02266.png", + "transform_matrix": [ + [ + -0.11947786808013916, + -0.04708101600408554, + 0.9917199611663818, + -24.304960250854492 + ], + [ + -0.9911583065986633, + 0.06371627002954483, + -0.1163853332400322, + -40.02362823486328 + ], + [ + -0.05770915374159813, + -0.9968569278717041, + -0.05427742376923561, + -19.15561866760254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2266, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_42267560", + "mask_path": "../../mask/hdr_left_02266.png" + }, + { + "file_path": "../../rgb/hdr_left_02267.png", + "transform_matrix": [ + [ + -0.13137900829315186, + -0.041383326053619385, + 0.9904680848121643, + -24.304237365722656 + ], + [ + -0.9897903800010681, + 0.06117702275514603, + -0.12873303890228271, + -40.072479248046875 + ], + [ + -0.05526648461818695, + -0.9972686767578125, + -0.04899819940328598, + -19.162132263183594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2267, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_142266988", + "mask_path": "../../mask/hdr_left_02267.png" + }, + { + "file_path": "../../rgb/hdr_left_02268.png", + "transform_matrix": [ + [ + -0.14350087940692902, + -0.0405120775103569, + 0.9888206720352173, + -24.301029205322266 + ], + [ + -0.988429844379425, + 0.055470313876867294, + -0.14117154479026794, + -40.13495635986328 + ], + [ + -0.04913102835416794, + -0.9976381659507751, + -0.04800338298082352, + -19.164892196655273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2268, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_242268085", + "mask_path": "../../mask/hdr_left_02268.png" + }, + { + "file_path": "../../rgb/hdr_left_02269.png", + "transform_matrix": [ + [ + -0.14552880823612213, + -0.0459229052066803, + 0.988287627696991, + -24.292600631713867 + ], + [ + -0.9881489872932434, + 0.05603388696908951, + -0.14290465414524078, + -40.21672439575195 + ], + [ + -0.04881499707698822, + -0.9973722100257874, + -0.053533218801021576, + -19.16737937927246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2269, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_342267751", + "mask_path": "../../mask/hdr_left_02269.png" + }, + { + "file_path": "../../rgb/hdr_left_02270.png", + "transform_matrix": [ + [ + -0.14346611499786377, + -0.05046972632408142, + 0.9883674383163452, + -24.285781860351562 + ], + [ + -0.9884058833122253, + 0.05747152492403984, + -0.14053699374198914, + -40.27479934692383 + ], + [ + -0.04971012473106384, + -0.9970706701278687, + -0.05812979117035866, + -19.1759033203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2270, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_442267417", + "mask_path": "../../mask/hdr_left_02270.png" + }, + { + "file_path": "../../rgb/hdr_left_02272.png", + "transform_matrix": [ + [ + -0.14244069159030914, + -0.04309896007180214, + 0.9888646006584167, + -24.270315170288086 + ], + [ + -0.9882090091705322, + 0.06287316232919693, + -0.13960596919059753, + -40.38664245605469 + ], + [ + -0.05615616962313652, + -0.9970905780792236, + -0.051546480506658554, + -19.192737579345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2272, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_642267227", + "mask_path": "../../mask/hdr_left_02272.png" + }, + { + "file_path": "../../rgb/hdr_left_02273.png", + "transform_matrix": [ + [ + -0.14798590540885925, + -0.041042227298021317, + 0.9881374835968018, + -24.268634796142578 + ], + [ + -0.987223207950592, + 0.06581587344408035, + -0.14511533081531525, + -40.45222854614258 + ], + [ + -0.059079259634017944, + -0.9969874024391174, + -0.05025765299797058, + -19.19186782836914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2273, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_742266654", + "mask_path": "../../mask/hdr_left_02273.png" + }, + { + "file_path": "../../rgb/hdr_left_02276.png", + "transform_matrix": [ + [ + -0.17614899575710297, + -0.036889541894197464, + 0.9836719632148743, + -24.271163940429688 + ], + [ + -0.9829564094543457, + 0.06000407040119171, + -0.17377059161663055, + -40.624507904052734 + ], + [ + -0.0526140034198761, + -0.9975162744522095, + -0.046830471605062485, + -19.187997817993164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2276, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_42263984", + "mask_path": "../../mask/hdr_left_02276.png" + }, + { + "file_path": "../../rgb/hdr_left_02277.png", + "transform_matrix": [ + [ + -0.17428094148635864, + -0.04158172011375427, + 0.9838176369667053, + -24.266990661621094 + ], + [ + -0.9832884073257446, + 0.060749683529138565, + -0.17161956429481506, + -40.68873596191406 + ], + [ + -0.05263037234544754, + -0.9972865581512451, + -0.051474329084157944, + -19.196422576904297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2277, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_142266750", + "mask_path": "../../mask/hdr_left_02277.png" + }, + { + "file_path": "../../rgb/hdr_left_02278.png", + "transform_matrix": [ + [ + -0.16478510200977325, + -0.04254007339477539, + 0.9854117631912231, + -24.2601318359375 + ], + [ + -0.9848597645759583, + 0.06161601468920708, + -0.1620328426361084, + -40.741058349609375 + ], + [ + -0.053824253380298615, + -0.9971930384635925, + -0.05204940214753151, + -19.203004837036133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2278, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_242267131", + "mask_path": "../../mask/hdr_left_02278.png" + }, + { + "file_path": "../../rgb/hdr_left_02279.png", + "transform_matrix": [ + [ + -0.15332439541816711, + -0.040989961475133896, + 0.9873253703117371, + -24.254186630249023 + ], + [ + -0.9866477847099304, + 0.061894677579402924, + -0.1506495326757431, + -40.80219650268555 + ], + [ + -0.054935064166784286, + -0.9972406029701233, + -0.04993261396884918, + -19.221525192260742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2279, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_342267274", + "mask_path": "../../mask/hdr_left_02279.png" + }, + { + "file_path": "../../rgb/hdr_left_02280.png", + "transform_matrix": [ + [ + -0.1471407562494278, + -0.03935987874865532, + 0.9883320927619934, + -24.25539779663086 + ], + [ + -0.9875435829162598, + 0.062155429273843765, + -0.14454804360866547, + -40.880958557128906 + ], + [ + -0.055740807205438614, + -0.9972901940345764, + -0.04801519215106964, + -19.216577529907227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2280, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_442266702", + "mask_path": "../../mask/hdr_left_02280.png" + }, + { + "file_path": "../../rgb/hdr_left_02281.png", + "transform_matrix": [ + [ + -0.14550384879112244, + -0.037075225263834, + 0.9886627197265625, + -24.2575626373291 + ], + [ + -0.9878786206245422, + 0.060066092759370804, + -0.1431359350681305, + -40.9376335144043 + ], + [ + -0.05407830700278282, + -0.9975056648254395, + -0.04536566510796547, + -19.209945678710938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2281, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_542266607", + "mask_path": "../../mask/hdr_left_02281.png" + }, + { + "file_path": "../../rgb/hdr_left_02283.png", + "transform_matrix": [ + [ + -0.15067262947559357, + -0.030601292848587036, + 0.9881100058555603, + -24.254140853881836 + ], + [ + -0.9874153733253479, + 0.05323680117726326, + -0.14891798794269562, + -41.03289794921875 + ], + [ + -0.04804672673344612, + -0.9981129765510559, + -0.03823751583695412, + -19.217010498046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2283, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_742267131", + "mask_path": "../../mask/hdr_left_02283.png" + }, + { + "file_path": "../../rgb/hdr_left_02284.png", + "transform_matrix": [ + [ + -0.15017618238925934, + -0.03694258630275726, + 0.9879687428474426, + -24.253135681152344 + ], + [ + -0.9872968196868896, + 0.05804772302508354, + -0.14790348708629608, + -41.100852966308594 + ], + [ + -0.051885396242141724, + -0.9976301193237305, + -0.04519068822264671, + -19.223678588867188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2284, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_842267274", + "mask_path": "../../mask/hdr_left_02284.png" + }, + { + "file_path": "../../rgb/hdr_left_02285.png", + "transform_matrix": [ + [ + -0.14493729174137115, + -0.03959256410598755, + 0.9886483550071716, + -24.24653434753418 + ], + [ + -0.987970769405365, + 0.06023747846484184, + -0.14242562651634216, + -41.15605163574219 + ], + [ + -0.053914688527584076, + -0.9973985552787781, + -0.0478469543159008, + -19.2319393157959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2285, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_942267179", + "mask_path": "../../mask/hdr_left_02285.png" + }, + { + "file_path": "../../rgb/hdr_left_02287.png", + "transform_matrix": [ + [ + -0.11783703416585922, + -0.03178045526146889, + 0.9925242066383362, + -24.221607208251953 + ], + [ + -0.9912213683128357, + 0.06410881131887436, + -0.11562959104776382, + -41.26784896850586 + ], + [ + -0.05995478853583336, + -0.9974367618560791, + -0.039055850356817245, + -19.248807907104492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2287, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_142267227", + "mask_path": "../../mask/hdr_left_02287.png" + }, + { + "file_path": "../../rgb/hdr_left_02288.png", + "transform_matrix": [ + [ + -0.10900097340345383, + -0.027421480044722557, + 0.9936633706092834, + -24.211496353149414 + ], + [ + -0.9921506643295288, + 0.06462950259447098, + -0.10705147683620453, + -41.32665252685547 + ], + [ + -0.06128443777561188, + -0.9975325465202332, + -0.03425091132521629, + -19.247337341308594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2288, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_242268323", + "mask_path": "../../mask/hdr_left_02288.png" + }, + { + "file_path": "../../rgb/hdr_left_02291.png", + "transform_matrix": [ + [ + -0.10265657305717468, + -0.02000482752919197, + 0.9945156574249268, + -24.183792114257812 + ], + [ + -0.9932206273078918, + 0.05687601864337921, + -0.10137881338596344, + -41.48683547973633 + ], + [ + -0.05453602224588394, + -0.9981808662414551, + -0.025707902386784554, + -19.254159927368164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2291, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_542268037", + "mask_path": "../../mask/hdr_left_02291.png" + }, + { + "file_path": "../../rgb/hdr_left_02292.png", + "transform_matrix": [ + [ + -0.09911137819290161, + -0.02883617766201496, + 0.994658350944519, + -24.173900604248047 + ], + [ + -0.9935470819473267, + 0.058262281119823456, + -0.09731156378984451, + -41.56199264526367 + ], + [ + -0.05514497309923172, + -0.9978848099708557, + -0.0344245545566082, + -19.262239456176758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2292, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_642267942", + "mask_path": "../../mask/hdr_left_02292.png" + }, + { + "file_path": "../../rgb/hdr_left_02293.png", + "transform_matrix": [ + [ + -0.09705228358507156, + -0.03144504502415657, + 0.9947824478149414, + -24.16380500793457 + ], + [ + -0.9937117695808411, + 0.05913522467017174, + -0.09507856518030167, + -41.62419128417969 + ], + [ + -0.055836934596300125, + -0.9977546334266663, + -0.03698651120066643, + -19.266456604003906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2293, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_742267608", + "mask_path": "../../mask/hdr_left_02293.png" + }, + { + "file_path": "../../rgb/hdr_left_02294.png", + "transform_matrix": [ + [ + -0.09560299664735794, + -0.02897162176668644, + 0.9949977993965149, + -24.150285720825195 + ], + [ + -0.9937602877616882, + 0.06046826392412186, + -0.09372340142726898, + -41.696834564208984 + ], + [ + -0.057450465857982635, + -0.9977496266365051, + -0.03457179293036461, + -19.2794189453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2294, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_842267990", + "mask_path": "../../mask/hdr_left_02294.png" + }, + { + "file_path": "../../rgb/hdr_left_02295.png", + "transform_matrix": [ + [ + -0.10133858025074005, + -0.027543531730771065, + 0.9944705963134766, + -24.144641876220703 + ], + [ + -0.9931464791297913, + 0.06130806729197502, + -0.09950561821460724, + -41.78548812866211 + ], + [ + -0.05822833999991417, + -0.9977388381958008, + -0.033567629754543304, + -19.282350540161133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2295, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_942268610", + "mask_path": "../../mask/hdr_left_02295.png" + }, + { + "file_path": "../../rgb/hdr_left_02296.png", + "transform_matrix": [ + [ + -0.11311378329992294, + -0.02508518472313881, + 0.9932652115821838, + -24.14324188232422 + ], + [ + -0.9920430183410645, + 0.0584699809551239, + -0.1114979162812233, + -41.852073669433594 + ], + [ + -0.05527925491333008, + -0.9979739785194397, + -0.03149934113025665, + -19.278390884399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2296, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_42268276", + "mask_path": "../../mask/hdr_left_02296.png" + }, + { + "file_path": "../../rgb/hdr_left_02297.png", + "transform_matrix": [ + [ + -0.12905438244342804, + -0.028300123289227486, + 0.9912335872650146, + -24.146116256713867 + ], + [ + -0.9904137849807739, + 0.053324345499277115, + -0.1274252086877823, + -41.911048889160156 + ], + [ + -0.04925073683261871, + -0.9981762170791626, + -0.03491056337952614, + -19.28195571899414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2297, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_142267465", + "mask_path": "../../mask/hdr_left_02297.png" + }, + { + "file_path": "../../rgb/hdr_left_02298.png", + "transform_matrix": [ + [ + -0.13832761347293854, + -0.038178592920303345, + 0.9896503686904907, + -24.143203735351562 + ], + [ + -0.9892278909683228, + 0.05364474654197693, + -0.13619905710220337, + -42.01212692260742 + ], + [ + -0.04788965359330177, + -0.9978299736976624, + -0.045187875628471375, + -19.296667098999023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2298, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_242267608", + "mask_path": "../../mask/hdr_left_02298.png" + }, + { + "file_path": "../../rgb/hdr_left_02299.png", + "transform_matrix": [ + [ + -0.13972721993923187, + -0.04704032838344574, + 0.9890719652175903, + -24.133895874023438 + ], + [ + -0.9889251589775085, + 0.057101864367723465, + -0.1369907110929489, + -42.101654052734375 + ], + [ + -0.05003376305103302, + -0.9972595572471619, + -0.05449804663658142, + -19.30584716796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2299, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_342268466", + "mask_path": "../../mask/hdr_left_02299.png" + }, + { + "file_path": "../../rgb/hdr_left_02300.png", + "transform_matrix": [ + [ + -0.13841094076633453, + -0.049510978162288666, + 0.9891365766525269, + -24.124128341674805 + ], + [ + -0.9890344142913818, + 0.05885572358965874, + -0.13545063138008118, + -42.16780090332031 + ], + [ + -0.051510050892829895, + -0.9970380663871765, + -0.057114340364933014, + -19.314212799072266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2300, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_442267417", + "mask_path": "../../mask/hdr_left_02300.png" + }, + { + "file_path": "../../rgb/hdr_left_02301.png", + "transform_matrix": [ + [ + -0.13876965641975403, + -0.04756607860326767, + 0.9891816973686218, + -24.125171661376953 + ], + [ + -0.9890928268432617, + 0.056460436433553696, + -0.13604222238063812, + -42.259376525878906 + ], + [ + -0.049378640949726105, + -0.9972711205482483, + -0.05488226190209389, + -19.324548721313477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2301, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_542268037", + "mask_path": "../../mask/hdr_left_02301.png" + }, + { + "file_path": "../../rgb/hdr_left_02302.png", + "transform_matrix": [ + [ + -0.14589343965053558, + -0.045450225472450256, + 0.9882557392120361, + -24.130849838256836 + ], + [ + -0.9881884455680847, + 0.054041244089603424, + -0.14339813590049744, + -42.36738204956055 + ], + [ + -0.04688908904790878, + -0.9975038170814514, + -0.052797649055719376, + -19.314741134643555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2302, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_642268419", + "mask_path": "../../mask/hdr_left_02302.png" + }, + { + "file_path": "../../rgb/hdr_left_02303.png", + "transform_matrix": [ + [ + -0.15679502487182617, + -0.041056856513023376, + 0.9867773652076721, + -24.13601303100586 + ], + [ + -0.9866310954093933, + 0.05146146938204765, + -0.1546306163072586, + -42.42351531982422 + ], + [ + -0.044432368129491806, + -0.9978306889533997, + -0.048576872795820236, + -19.31308937072754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2303, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_742268085", + "mask_path": "../../mask/hdr_left_02303.png" + }, + { + "file_path": "../../rgb/hdr_left_02305.png", + "transform_matrix": [ + [ + -0.17132075130939484, + -0.039183542132377625, + 0.9844357967376709, + -24.130069732666016 + ], + [ + -0.9844094514846802, + 0.047212399542331696, + -0.16943694651126862, + -42.526039123535156 + ], + [ + -0.03983842954039574, + -0.998116135597229, + -0.04666111245751381, + -19.316003799438477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2305, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_942269802", + "mask_path": "../../mask/hdr_left_02305.png" + }, + { + "file_path": "../../rgb/hdr_left_02306.png", + "transform_matrix": [ + [ + -0.160665363073349, + -0.04539358243346214, + 0.9859645366668701, + -24.117464065551758 + ], + [ + -0.9860238432884216, + 0.05199973285198212, + -0.15828095376491547, + -42.58568572998047 + ], + [ + -0.044084951281547546, + -0.9976149201393127, + -0.05311371013522148, + -19.32703971862793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2306, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_42267799", + "mask_path": "../../mask/hdr_left_02306.png" + }, + { + "file_path": "../../rgb/hdr_left_02308.png", + "transform_matrix": [ + [ + -0.13685950636863708, + -0.04444681853055954, + 0.9895927906036377, + -24.099258422851562 + ], + [ + -0.9892186522483826, + 0.05868813022971153, + -0.13417184352874756, + -42.67409133911133 + ], + [ + -0.052113842219114304, + -0.9972863793373108, + -0.05199964717030525, + -19.35240936279297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2308, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_242268562", + "mask_path": "../../mask/hdr_left_02308.png" + }, + { + "file_path": "../../rgb/hdr_left_02309.png", + "transform_matrix": [ + [ + -0.13243207335472107, + -0.04287286475300789, + 0.9902645349502563, + -24.094938278198242 + ], + [ + -0.9897361397743225, + 0.05984887480735779, + -0.12977030873298645, + -42.74116897583008 + ], + [ + -0.05370258539915085, + -0.9972863793373108, + -0.05035873502492905, + -19.35060691833496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2309, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_342267990", + "mask_path": "../../mask/hdr_left_02309.png" + }, + { + "file_path": "../../rgb/hdr_left_02310.png", + "transform_matrix": [ + [ + -0.13349904119968414, + -0.03916900232434273, + 0.9902746081352234, + -24.093154907226562 + ], + [ + -0.9898033142089844, + 0.05535271391272545, + -0.13124610483646393, + -42.79401779174805 + ], + [ + -0.04967360943555832, + -0.9976983666419983, + -0.046159133315086365, + -19.337766647338867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2310, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_442269086", + "mask_path": "../../mask/hdr_left_02310.png" + }, + { + "file_path": "../../rgb/hdr_left_02312.png", + "transform_matrix": [ + [ + -0.14015045762062073, + -0.032777730375528336, + 0.9895875453948975, + -24.09354591369629 + ], + [ + -0.9892001748085022, + 0.04794161394238472, + -0.1385076642036438, + -42.876800537109375 + ], + [ + -0.04290245100855827, + -0.99831223487854, + -0.039142776280641556, + -19.331645965576172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2312, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_642267227", + "mask_path": "../../mask/hdr_left_02312.png" + }, + { + "file_path": "../../rgb/hdr_left_02313.png", + "transform_matrix": [ + [ + -0.13394305109977722, + -0.04193615913391113, + 0.9901013374328613, + -24.089805603027344 + ], + [ + -0.989799976348877, + 0.054590776562690735, + -0.13159003853797913, + -42.9384651184082 + ], + [ + -0.048532020300626755, + -0.997627854347229, + -0.04882045462727547, + -19.335926055908203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2313, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_742267370", + "mask_path": "../../mask/hdr_left_02313.png" + }, + { + "file_path": "../../rgb/hdr_left_02314.png", + "transform_matrix": [ + [ + -0.12464655190706253, + -0.04896533489227295, + 0.9909922480583191, + -24.08244514465332 + ], + [ + -0.9907455444335938, + 0.06022441387176514, + -0.12163981795310974, + -42.988685607910156 + ], + [ + -0.05372579023241997, + -0.9969831705093384, + -0.05601895600557327, + -19.351526260375977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2314, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_842267751", + "mask_path": "../../mask/hdr_left_02314.png" + }, + { + "file_path": "../../rgb/hdr_left_02316.png", + "transform_matrix": [ + [ + -0.10658689588308334, + -0.04601241275668144, + 0.9932382106781006, + -24.06017303466797 + ], + [ + -0.9927709698677063, + 0.060361348092556, + -0.10374047607183456, + -43.103389739990234 + ], + [ + -0.055179841816425323, + -0.9971155524253845, + -0.05211351811885834, + -19.369522094726562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2316, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_42267084", + "mask_path": "../../mask/hdr_left_02316.png" + }, + { + "file_path": "../../rgb/hdr_left_02317.png", + "transform_matrix": [ + [ + -0.10308635979890823, + -0.042099371552467346, + 0.9937810301780701, + -24.059669494628906 + ], + [ + -0.9931614398956299, + 0.05940381810069084, + -0.10050558298826218, + -43.17978286743164 + ], + [ + -0.054803166538476944, + -0.9973459243774414, + -0.04793519526720047, + -19.363828659057617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2317, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_142267465", + "mask_path": "../../mask/hdr_left_02317.png" + }, + { + "file_path": "../../rgb/hdr_left_02320.png", + "transform_matrix": [ + [ + -0.09284690022468567, + -0.03535996749997139, + 0.9950523376464844, + -24.025707244873047 + ], + [ + -0.9945260286331177, + 0.05140251666307449, + -0.09097115695476532, + -43.3401985168457 + ], + [ + -0.047931455075740814, + -0.9980518817901611, + -0.039938971400260925, + -19.370847702026367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2320, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_442267179", + "mask_path": "../../mask/hdr_left_02320.png" + }, + { + "file_path": "../../rgb/hdr_left_02321.png", + "transform_matrix": [ + [ + -0.0763775110244751, + -0.040666621178388596, + 0.9962493181228638, + -24.006454467773438 + ], + [ + -0.9956912994384766, + 0.055806372314691544, + -0.0740567296743393, + -43.39305877685547 + ], + [ + -0.0525854229927063, + -0.9976131319999695, + -0.04475374519824982, + -19.38432502746582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2321, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_542266607", + "mask_path": "../../mask/hdr_left_02321.png" + }, + { + "file_path": "../../rgb/hdr_left_02323.png", + "transform_matrix": [ + [ + -0.04230888932943344, + -0.04176494851708412, + 0.9982312321662903, + -23.973957061767578 + ], + [ + -0.9972254037857056, + 0.0630156472325325, + -0.0396297387778759, + -43.49541473388672 + ], + [ + -0.06124905124306679, + -0.9971383213996887, + -0.04431518539786339, + -19.40743064880371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2323, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_742266893", + "mask_path": "../../mask/hdr_left_02323.png" + }, + { + "file_path": "../../rgb/hdr_left_02324.png", + "transform_matrix": [ + [ + -0.030131176114082336, + -0.04112435504794121, + 0.9986995458602905, + -23.95944595336914 + ], + [ + -0.9976720213890076, + 0.06239102780818939, + -0.027531059458851814, + -43.5703239440918 + ], + [ + -0.06117771193385124, + -0.9972042441368103, + -0.042908526957035065, + -19.4066219329834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2324, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_842267513", + "mask_path": "../../mask/hdr_left_02324.png" + }, + { + "file_path": "../../rgb/hdr_left_02325.png", + "transform_matrix": [ + [ + -0.02526726759970188, + -0.03964158892631531, + 0.998894453048706, + -23.95010757446289 + ], + [ + -0.9980130195617676, + 0.058692656457424164, + -0.022915730252861977, + -43.62407684326172 + ], + [ + -0.057719357311725616, + -0.9974887371063232, + -0.04104582220315933, + -19.39828872680664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2325, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_942267179", + "mask_path": "../../mask/hdr_left_02325.png" + }, + { + "file_path": "../../rgb/hdr_left_02327.png", + "transform_matrix": [ + [ + -0.02906707301735878, + -0.034536927938461304, + 0.9989805817604065, + -23.929590225219727 + ], + [ + -0.9982861876487732, + 0.051784954965114594, + -0.027256567031145096, + -43.720314025878906 + ], + [ + -0.050790801644325256, + -0.9980608820915222, + -0.03598297759890556, + -19.408754348754883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2327, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_142267465", + "mask_path": "../../mask/hdr_left_02327.png" + }, + { + "file_path": "../../rgb/hdr_left_02328.png", + "transform_matrix": [ + [ + -0.01758197322487831, + -0.04213827848434448, + 0.9989570379257202, + -23.911396026611328 + ], + [ + -0.9982414841651917, + 0.05730857700109482, + -0.015151972882449627, + -43.78436279296875 + ], + [ + -0.05661033093929291, + -0.9974669218063354, + -0.043071769177913666, + -19.416805267333984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2328, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_242267131", + "mask_path": "../../mask/hdr_left_02328.png" + }, + { + "file_path": "../../rgb/hdr_left_02329.png", + "transform_matrix": [ + [ + -0.0026570840273052454, + -0.04849212244153023, + 0.9988201260566711, + -23.89716911315918 + ], + [ + -0.9981220364570618, + 0.06125641241669655, + 0.000318735430482775, + -43.832340240478516 + ], + [ + -0.06119958311319351, + -0.9969434142112732, + -0.04856381192803383, + -19.4290771484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2329, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_342267990", + "mask_path": "../../mask/hdr_left_02329.png" + }, + { + "file_path": "../../rgb/hdr_left_02331.png", + "transform_matrix": [ + [ + 0.01687595620751381, + -0.043731965124607086, + 0.9989007115364075, + -23.87378692626953 + ], + [ + -0.9975075125694275, + 0.06771881133317947, + 0.0198171716183424, + -43.95439147949219 + ], + [ + -0.06851101666688919, + -0.9967455267906189, + -0.042480144649744034, + -19.443944931030273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2331, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_542267084", + "mask_path": "../../mask/hdr_left_02331.png" + }, + { + "file_path": "../../rgb/hdr_left_02332.png", + "transform_matrix": [ + [ + 0.012226937338709831, + -0.039926838129758835, + 0.9991278052330017, + -23.870010375976562 + ], + [ + -0.9974766969680786, + 0.06939561665058136, + 0.014979912899434566, + -44.016841888427734 + ], + [ + -0.06993318349123001, + -0.9967899322509766, + -0.03897758945822716, + -19.44327163696289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2332, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_642266273", + "mask_path": "../../mask/hdr_left_02332.png" + }, + { + "file_path": "../../rgb/hdr_left_02334.png", + "transform_matrix": [ + [ + -0.010183217003941536, + -0.03874654695391655, + 0.999197244644165, + -23.87324333190918 + ], + [ + -0.9980557560920715, + 0.061840564012527466, + -0.007773516234010458, + -44.10865783691406 + ], + [ + -0.06148971617221832, + -0.9973337054252625, + -0.03930094465613365, + -19.450359344482422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2334, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_842267513", + "mask_path": "../../mask/hdr_left_02334.png" + }, + { + "file_path": "../../rgb/hdr_left_02335.png", + "transform_matrix": [ + [ + -0.01447240263223648, + -0.043499402701854706, + 0.9989486336708069, + -23.86345672607422 + ], + [ + -0.9980223774909973, + 0.061747271567583084, + -0.011770164594054222, + -44.1737174987793 + ], + [ + -0.06117034703493118, + -0.9971435070037842, + -0.044307008385658264, + -19.450700759887695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2335, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_942267179", + "mask_path": "../../mask/hdr_left_02335.png" + }, + { + "file_path": "../../rgb/hdr_left_02336.png", + "transform_matrix": [ + [ + -0.011302396655082703, + -0.049798015505075455, + 0.9986953735351562, + -23.848674774169922 + ], + [ + -0.9979549646377563, + 0.06340101361274719, + -0.00813264399766922, + -44.23035430908203 + ], + [ + -0.06291330605745316, + -0.9967449903488159, + -0.05041275545954704, + -19.455015182495117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2336, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639033_42267799", + "mask_path": "../../mask/hdr_left_02336.png" + }, + { + "file_path": "../../rgb/hdr_left_02338.png", + "transform_matrix": [ + [ + 0.0010449396213516593, + -0.05038847401738167, + 0.9987291097640991, + -23.83041000366211 + ], + [ + -0.997996985912323, + 0.06311899423599243, + 0.004228674340993166, + -44.34471893310547 + ], + [ + -0.06325184553861618, + -0.9967331886291504, + -0.05022159218788147, + -19.474224090576172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2338, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639033_242267847", + "mask_path": "../../mask/hdr_left_02338.png" + }, + { + "file_path": "../../rgb/hdr_left_02339.png", + "transform_matrix": [ + [ + 0.0036639671307057142, + -0.05059308558702469, + 0.9987125992774963, + -23.821502685546875 + ], + [ + -0.998066782951355, + 0.061779238283634186, + 0.006791224703192711, + -44.42852020263672 + ], + [ + -0.062043286859989166, + -0.996806800365448, + -0.050268907099962234, + -19.46954917907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2339, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639033_342267751", + "mask_path": "../../mask/hdr_left_02339.png" + }, + { + "file_path": "../../rgb/hdr_left_02342.png", + "transform_matrix": [ + [ + 0.004934399388730526, + -0.03879384696483612, + 0.9992350935935974, + -23.77945899963379 + ], + [ + -0.9983442425727844, + 0.05707447975873947, + 0.007145850453525782, + -44.58272933959961 + ], + [ + -0.05730803310871124, + -0.9976160526275635, + -0.03844798728823662, + -19.48029136657715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2342, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639033_642266988", + "mask_path": "../../mask/hdr_left_02342.png" + }, + { + "file_path": "../../rgb/hdr_left_02343.png", + "transform_matrix": [ + [ + 0.016059478744864464, + -0.04560089856386185, + 0.9988306164741516, + -23.752199172973633 + ], + [ + -0.998092532157898, + 0.05882351100444794, + 0.018733177334070206, + -44.649009704589844 + ], + [ + -0.05960896983742714, + -0.997226357460022, + -0.044569242745637894, + -19.48753547668457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2343, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639033_742267847", + "mask_path": "../../mask/hdr_left_02343.png" + }, + { + "file_path": "../../rgb/hdr_left_02346.png", + "transform_matrix": [ + [ + 0.05273384228348732, + -0.04250936582684517, + 0.9977034330368042, + -23.6752986907959 + ], + [ + -0.9963843822479248, + 0.06440534442663193, + 0.05540824681520462, + -44.787330627441406 + ], + [ + -0.06661278754472733, + -0.997018039226532, + -0.0389593280851841, + -19.514484405517578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2346, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_42267322", + "mask_path": "../../mask/hdr_left_02346.png" + }, + { + "file_path": "../../rgb/hdr_left_02347.png", + "transform_matrix": [ + [ + 0.0572095587849617, + -0.03814496845006943, + 0.9976332187652588, + -23.647485733032227 + ], + [ + -0.9959619641304016, + 0.0670686662197113, + 0.05967814102768898, + -44.84292221069336 + ], + [ + -0.06918635219335556, + -0.9970189929008484, + -0.03415396437048912, + -19.511720657348633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2347, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_142267942", + "mask_path": "../../mask/hdr_left_02347.png" + }, + { + "file_path": "../../rgb/hdr_left_02350.png", + "transform_matrix": [ + [ + 0.05871465057134628, + -0.03590457886457443, + 0.997628927230835, + -23.585533142089844 + ], + [ + -0.9963206052780151, + 0.06039169803261757, + 0.060811128467321396, + -45.02138900756836 + ], + [ + -0.06243189424276352, + -0.9975288510322571, + -0.03222658857703209, + -19.519855499267578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2350, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_442268133", + "mask_path": "../../mask/hdr_left_02350.png" + }, + { + "file_path": "../../rgb/hdr_left_02351.png", + "transform_matrix": [ + [ + 0.06925070285797119, + -0.04350024834275246, + 0.9966503977775574, + -23.559667587280273 + ], + [ + -0.9954984188079834, + 0.06178966909646988, + 0.07186757028102875, + -45.07328796386719 + ], + [ + -0.06470895558595657, + -0.9971409440040588, + -0.0390254408121109, + -19.530969619750977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2351, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_542267084", + "mask_path": "../../mask/hdr_left_02351.png" + }, + { + "file_path": "../../rgb/hdr_left_02353.png", + "transform_matrix": [ + [ + 0.08804302662611008, + -0.0442751869559288, + 0.9951322078704834, + -23.525096893310547 + ], + [ + -0.9939404726028442, + 0.06209362670779228, + 0.09070026129484177, + -45.17778015136719 + ], + [ + -0.06580714136362076, + -0.997087836265564, + -0.03853999078273773, + -19.54457664489746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2353, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_742266416", + "mask_path": "../../mask/hdr_left_02353.png" + }, + { + "file_path": "../../rgb/hdr_left_02354.png", + "transform_matrix": [ + [ + 0.09219527989625931, + -0.042885567992925644, + 0.9948169589042664, + -23.509037017822266 + ], + [ + -0.9935585260391235, + 0.06214851886034012, + 0.0947578027844429, + -45.245235443115234 + ], + [ + -0.06589014083147049, + -0.9971451759338379, + -0.0368795171380043, + -19.54310417175293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2354, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_842267751", + "mask_path": "../../mask/hdr_left_02354.png" + }, + { + "file_path": "../../rgb/hdr_right_02194.png", + "transform_matrix": [ + [ + -0.23534512519836426, + -0.06352326273918152, + -0.9698337316513062, + -24.64978790283203 + ], + [ + 0.969110906124115, + 0.06036575138568878, + -0.23912359774112701, + -35.26438522338867 + ], + [ + 0.07373465597629547, + -0.9961529970169067, + 0.04735430330038071, + -18.827655792236328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2194, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_142267704", + "mask_path": "../../mask/hdr_right_02194.png" + }, + { + "file_path": "../../rgb/hdr_right_02195.png", + "transform_matrix": [ + [ + -0.23747219145298004, + -0.05960092321038246, + -0.9695641994476318, + -24.63833999633789 + ], + [ + 0.968851625919342, + 0.05763912573456764, + -0.2408408373594284, + -35.351314544677734 + ], + [ + 0.07023917138576508, + -0.99655681848526, + 0.044056762009859085, + -18.841901779174805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2195, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_242267847", + "mask_path": "../../mask/hdr_right_02195.png" + }, + { + "file_path": "../../rgb/hdr_right_02196.png", + "transform_matrix": [ + [ + -0.2327832132577896, + -0.05645774304866791, + -0.9708885550498962, + -24.63512420654297 + ], + [ + 0.9698804020881653, + 0.06014671176671982, + -0.23603904247283936, + -35.462886810302734 + ], + [ + 0.07172197848558426, + -0.9965916275978088, + 0.040756117552518845, + -18.84358787536621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2196, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_342267274", + "mask_path": "../../mask/hdr_right_02196.png" + }, + { + "file_path": "../../rgb/hdr_right_02197.png", + "transform_matrix": [ + [ + -0.2228652536869049, + -0.05038902908563614, + -0.9735460877418518, + -24.633573532104492 + ], + [ + 0.972318708896637, + 0.06042134761810303, + -0.22571155428886414, + -35.55100631713867 + ], + [ + 0.07019635289907455, + -0.9969003796577454, + 0.03552837297320366, + -18.839092254638672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2197, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_442267417", + "mask_path": "../../mask/hdr_right_02197.png" + }, + { + "file_path": "../../rgb/hdr_right_02198.png", + "transform_matrix": [ + [ + -0.2107498198747635, + -0.04459988698363304, + -0.9765221476554871, + -24.630887985229492 + ], + [ + 0.9753646850585938, + 0.05701347440481186, + -0.21310393512248993, + -35.61016082763672 + ], + [ + 0.06517933309078217, + -0.9973767399787903, + 0.03148557245731354, + -18.847015380859375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2198, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_542266845", + "mask_path": "../../mask/hdr_right_02198.png" + }, + { + "file_path": "../../rgb/hdr_right_02199.png", + "transform_matrix": [ + [ + -0.2017848640680313, + -0.047244708985090256, + -0.9782897233963013, + -24.624528884887695 + ], + [ + 0.9775366187095642, + 0.052361272275447845, + -0.204158216714859, + -35.70759582519531 + ], + [ + 0.06086989492177963, + -0.9975100159645081, + 0.03561772033572197, + -18.850526809692383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2199, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_642267465", + "mask_path": "../../mask/hdr_right_02199.png" + }, + { + "file_path": "../../rgb/hdr_right_02200.png", + "transform_matrix": [ + [ + -0.20082338154315948, + -0.05427608639001846, + -0.9781227111816406, + -24.612022399902344 + ], + [ + 0.9775341153144836, + 0.05413605645298958, + -0.2037065327167511, + -35.80642318725586 + ], + [ + 0.06400810182094574, + -0.997057318687439, + 0.042184941470623016, + -18.859678268432617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2200, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_742268085", + "mask_path": "../../mask/hdr_right_02200.png" + }, + { + "file_path": "../../rgb/hdr_right_02201.png", + "transform_matrix": [ + [ + -0.20384147763252258, + -0.05687842518091202, + -0.9773502349853516, + -24.604839324951172 + ], + [ + 0.9767329096794128, + 0.056143585592508316, + -0.20698007941246033, + -35.87409591674805 + ], + [ + 0.06664465367794037, + -0.9968012571334839, + 0.04411063343286514, + -18.868558883666992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2201, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_842267751", + "mask_path": "../../mask/hdr_right_02201.png" + }, + { + "file_path": "../../rgb/hdr_right_02202.png", + "transform_matrix": [ + [ + -0.20738503336906433, + -0.05313261225819588, + -0.9768154621124268, + -24.596689224243164 + ], + [ + 0.9761289954185486, + 0.054623980075120926, + -0.21021048724651337, + -35.949825286865234 + ], + [ + 0.06452657282352448, + -0.9970923662185669, + 0.04053609073162079, + -18.884674072265625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2202, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_942269325", + "mask_path": "../../mask/hdr_right_02202.png" + }, + { + "file_path": "../../rgb/hdr_right_02203.png", + "transform_matrix": [ + [ + -0.2121829390525818, + -0.05230461061000824, + -0.9758291244506836, + -24.590408325195312 + ], + [ + 0.9749075770378113, + 0.05747200548648834, + -0.21506305038928986, + -36.047611236572266 + ], + [ + 0.06733165681362152, + -0.9969760179519653, + 0.038797587156295776, + -18.883163452148438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2203, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_42267799", + "mask_path": "../../mask/hdr_right_02203.png" + }, + { + "file_path": "../../rgb/hdr_right_02204.png", + "transform_matrix": [ + [ + -0.21620453894138336, + -0.049838073551654816, + -0.9750752449035645, + -24.583826065063477 + ], + [ + 0.9740875959396362, + 0.05690887197852135, + -0.21889427304267883, + -36.12386703491211 + ], + [ + 0.0663997083902359, + -0.9971346855163574, + 0.03624269738793373, + -18.874526977539062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2204, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_142269372", + "mask_path": "../../mask/hdr_right_02204.png" + }, + { + "file_path": "../../rgb/hdr_right_02205.png", + "transform_matrix": [ + [ + -0.21853181719779968, + -0.046040598303079605, + -0.9747431874275208, + -24.578357696533203 + ], + [ + 0.9738120436668396, + 0.05391491577029228, + -0.22086963057518005, + -36.17745590209961 + ], + [ + 0.06272216886281967, + -0.9974836111068726, + 0.03305275738239288, + -18.878456115722656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2205, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_242268323", + "mask_path": "../../mask/hdr_right_02205.png" + }, + { + "file_path": "../../rgb/hdr_right_02206.png", + "transform_matrix": [ + [ + -0.22161851823329926, + -0.04451680928468704, + -0.974116861820221, + -24.572805404663086 + ], + [ + 0.9731833338737488, + 0.05304960533976555, + -0.2238304615020752, + -36.250728607177734 + ], + [ + 0.06164073199033737, + -0.9975991249084473, + 0.03156623989343643, + -18.88831329345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2206, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_342268466", + "mask_path": "../../mask/hdr_right_02206.png" + }, + { + "file_path": "../../rgb/hdr_right_02207.png", + "transform_matrix": [ + [ + -0.23487244546413422, + -0.050839632749557495, + -0.9706957936286926, + -24.558435440063477 + ], + [ + 0.9695445895195007, + 0.05905907601118088, + -0.23768708109855652, + -36.33644485473633 + ], + [ + 0.06941231340169907, + -0.9969590306282043, + 0.035419952124357224, + -18.90254783630371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2207, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_442268371", + "mask_path": "../../mask/hdr_right_02207.png" + }, + { + "file_path": "../../rgb/hdr_right_02208.png", + "transform_matrix": [ + [ + -0.2501838803291321, + -0.056195568293333054, + -0.9665661454200745, + -24.542179107666016 + ], + [ + 0.9654101133346558, + 0.061230387538671494, + -0.2534445524215698, + -36.40580749511719 + ], + [ + 0.07342568039894104, + -0.9965404272079468, + 0.038932908326387405, + -18.91546630859375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2208, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_542268037", + "mask_path": "../../mask/hdr_right_02208.png" + }, + { + "file_path": "../../rgb/hdr_right_02209.png", + "transform_matrix": [ + [ + -0.2568599581718445, + -0.05549570173025131, + -0.9648540019989014, + -24.530811309814453 + ], + [ + 0.9637147784233093, + 0.0603322759270668, + -0.2600267827510834, + -36.477169036865234 + ], + [ + 0.07264221459627151, + -0.9966344237327576, + 0.037985075265169144, + -18.919666290283203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2209, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_642267465", + "mask_path": "../../mask/hdr_right_02209.png" + }, + { + "file_path": "../../rgb/hdr_right_02210.png", + "transform_matrix": [ + [ + -0.25553733110427856, + -0.05251424387097359, + -0.96537184715271, + -24.52564239501953 + ], + [ + 0.9640343189239502, + 0.06162101402878761, + -0.25853532552719116, + -36.56816864013672 + ], + [ + 0.07306399941444397, + -0.9967171549797058, + 0.03487906977534294, + -18.921470642089844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2210, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_742269277", + "mask_path": "../../mask/hdr_right_02210.png" + }, + { + "file_path": "../../rgb/hdr_right_02211.png", + "transform_matrix": [ + [ + -0.24885818362236023, + -0.045891519635915756, + -0.9674521088600159, + -24.522781372070312 + ], + [ + 0.966080904006958, + 0.05937197059392929, + -0.25132182240486145, + -36.65610122680664 + ], + [ + 0.06897308677434921, + -0.9971804618835449, + 0.02955971471965313, + -18.91742706298828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2211, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_842267036", + "mask_path": "../../mask/hdr_right_02211.png" + }, + { + "file_path": "../../rgb/hdr_right_02212.png", + "transform_matrix": [ + [ + -0.23908968269824982, + -0.040416423231363297, + -0.9701559543609619, + -24.517276763916016 + ], + [ + 0.9688923358917236, + 0.05582651495933533, + -0.24110396206378937, + -36.7194938659668 + ], + [ + 0.06390499323606491, + -0.9976221323013306, + 0.02581162191927433, + -18.92022132873535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2212, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639021_942268133", + "mask_path": "../../mask/hdr_right_02212.png" + }, + { + "file_path": "../../rgb/hdr_right_02213.png", + "transform_matrix": [ + [ + -0.22747604548931122, + -0.043627429753541946, + -0.972805917263031, + -24.50554656982422 + ], + [ + 0.9720538854598999, + 0.049344632774591446, + -0.22951315343379974, + -36.79375076293945 + ], + [ + 0.058015819638967514, + -0.9978285431861877, + 0.03118349239230156, + -18.926111221313477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2213, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_42267799", + "mask_path": "../../mask/hdr_right_02213.png" + }, + { + "file_path": "../../rgb/hdr_right_02214.png", + "transform_matrix": [ + [ + -0.2239765077829361, + -0.049151431769132614, + -0.9733544588088989, + -24.493852615356445 + ], + [ + 0.9727641344070435, + 0.049907136708498, + -0.22636084258556366, + -36.89751052856445 + ], + [ + 0.0597032830119133, + -0.9975437521934509, + 0.03663472831249237, + -18.93655776977539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2214, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_142267227", + "mask_path": "../../mask/hdr_right_02214.png" + }, + { + "file_path": "../../rgb/hdr_right_02215.png", + "transform_matrix": [ + [ + -0.22670592367649078, + -0.05074833333492279, + -0.9726402163505554, + -24.482927322387695 + ], + [ + 0.9719753861427307, + 0.051982179284095764, + -0.22926317155361176, + -36.972354888916016 + ], + [ + 0.06219468265771866, + -0.9973577260971069, + 0.037541463971138, + -18.947900772094727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2215, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_242267847", + "mask_path": "../../mask/hdr_right_02215.png" + }, + { + "file_path": "../../rgb/hdr_right_02216.png", + "transform_matrix": [ + [ + -0.22944596409797668, + -0.049483202397823334, + -0.9720628261566162, + -24.475534439086914 + ], + [ + 0.9713467359542847, + 0.05194292217493057, + -0.23192110657691956, + -37.036827087402344 + ], + [ + 0.06196797639131546, + -0.9974233508110046, + 0.03614725545048714, + -18.95789337158203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2216, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_342269659", + "mask_path": "../../mask/hdr_right_02216.png" + }, + { + "file_path": "../../rgb/hdr_right_02217.png", + "transform_matrix": [ + [ + -0.22942815721035004, + -0.046605248004198074, + -0.9722092747688293, + -24.472532272338867 + ], + [ + 0.9713003635406494, + 0.053439512848854065, + -0.2317754179239273, + -37.12250518798828 + ], + [ + 0.06275633722543716, + -0.99748295545578, + 0.03300716355443001, + -18.962072372436523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2217, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_442267894", + "mask_path": "../../mask/hdr_right_02217.png" + }, + { + "file_path": "../../rgb/hdr_right_02218.png", + "transform_matrix": [ + [ + -0.2250366061925888, + -0.040346819907426834, + -0.9735146760940552, + -24.470523834228516 + ], + [ + 0.9724035859107971, + 0.05382741242647171, + -0.22701062262058258, + -37.20836639404297 + ], + [ + 0.06156092882156372, + -0.9977348446846008, + 0.027120256796479225, + -18.955646514892578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2218, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_542270660", + "mask_path": "../../mask/hdr_right_02218.png" + }, + { + "file_path": "../../rgb/hdr_right_02219.png", + "transform_matrix": [ + [ + -0.21781404316425323, + -0.03566443920135498, + -0.9753384590148926, + -24.463518142700195 + ], + [ + 0.9741966724395752, + 0.052613671869039536, + -0.2194829136133194, + -37.26981735229492 + ], + [ + 0.059143878519535065, + -0.9979778528213501, + 0.0232841819524765, + -18.956167221069336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2219, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_642267465", + "mask_path": "../../mask/hdr_right_02219.png" + }, + { + "file_path": "../../rgb/hdr_right_02220.png", + "transform_matrix": [ + [ + -0.20751388370990753, + -0.0375535674393177, + -0.9775110483169556, + -24.463878631591797 + ], + [ + 0.9766526222229004, + 0.04880841448903084, + -0.2092067450284958, + -37.3406867980957 + ], + [ + 0.05556722357869148, + -0.9981019496917725, + 0.026548366993665695, + -18.96099281311035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2220, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_742267370", + "mask_path": "../../mask/hdr_right_02220.png" + }, + { + "file_path": "../../rgb/hdr_right_02221.png", + "transform_matrix": [ + [ + -0.20574542880058289, + -0.04587295278906822, + -0.9775298833847046, + -24.461841583251953 + ], + [ + 0.9767464995384216, + 0.05191737040877342, + -0.20801690220832825, + -37.44025421142578 + ], + [ + 0.06029312685132027, + -0.9975972175598145, + 0.03412448242306709, + -18.97074317932129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2221, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_842267990", + "mask_path": "../../mask/hdr_right_02221.png" + }, + { + "file_path": "../../rgb/hdr_right_02222.png", + "transform_matrix": [ + [ + -0.21648836135864258, + -0.05316086858510971, + -0.9748368263244629, + -24.452960968017578 + ], + [ + 0.9740903377532959, + 0.05515601113438606, + -0.21933041512966156, + -37.5163688659668 + ], + [ + 0.06542789936065674, + -0.9970614910125732, + 0.03984285145998001, + -18.98324966430664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2222, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639022_942267656", + "mask_path": "../../mask/hdr_right_02222.png" + }, + { + "file_path": "../../rgb/hdr_right_02223.png", + "transform_matrix": [ + [ + -0.2379235327243805, + -0.05387432500720024, + -0.9697885513305664, + -24.438316345214844 + ], + [ + 0.9690008163452148, + 0.05525366589426994, + -0.24079972505569458, + -37.58857727050781 + ], + [ + 0.06655729562044144, + -0.9970178008079529, + 0.03905811905860901, + -18.998184204101562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2223, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_42267560", + "mask_path": "../../mask/hdr_right_02223.png" + }, + { + "file_path": "../../rgb/hdr_right_02224.png", + "transform_matrix": [ + [ + -0.2662777304649353, + -0.05348106101155281, + -0.962411642074585, + -24.424074172973633 + ], + [ + 0.9614548683166504, + 0.05628347024321556, + -0.26914069056510925, + -37.67959976196289 + ], + [ + 0.06856179237365723, + -0.9969813823699951, + 0.03643259406089783, + -18.998031616210938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2224, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_142267465", + "mask_path": "../../mask/hdr_right_02224.png" + }, + { + "file_path": "../../rgb/hdr_right_02225.png", + "transform_matrix": [ + [ + -0.2918533980846405, + -0.05102258548140526, + -0.9551011919975281, + -24.41505241394043 + ], + [ + 0.9541190266609192, + 0.0543365478515625, + -0.29445600509643555, + -37.75014877319336 + ], + [ + 0.06692080199718475, + -0.9972181916236877, + 0.032823313027620316, + -18.99052619934082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2225, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_242267370", + "mask_path": "../../mask/hdr_right_02225.png" + }, + { + "file_path": "../../rgb/hdr_right_02228.png", + "transform_matrix": [ + [ + -0.3254682421684265, + -0.048138536512851715, + -0.9443269371986389, + -24.386919021606445 + ], + [ + 0.9429441094398499, + 0.05761413276195526, + -0.3279285728931427, + -37.925262451171875 + ], + [ + 0.07019256800413132, + -0.9971776604652405, + 0.02664037235081196, + -19.008237838745117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2228, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_542268753", + "mask_path": "../../mask/hdr_right_02228.png" + }, + { + "file_path": "../../rgb/hdr_right_02229.png", + "transform_matrix": [ + [ + -0.3263762295246124, + -0.05302850529551506, + -0.9437512159347534, + -24.37277603149414 + ], + [ + 0.9423409700393677, + 0.059881653636693954, + -0.329253226518631, + -38.00596237182617 + ], + [ + 0.07397319376468658, + -0.9967958927154541, + 0.030426982790231705, + -19.021535873413086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2229, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_642267704", + "mask_path": "../../mask/hdr_right_02229.png" + }, + { + "file_path": "../../rgb/hdr_right_02230.png", + "transform_matrix": [ + [ + -0.3300112783908844, + -0.052161093801259995, + -0.9425348043441772, + -24.348722457885742 + ], + [ + 0.9413378834724426, + 0.0564252994954586, + -0.33271488547325134, + -38.078243255615234 + ], + [ + 0.07053757458925247, + -0.9970433115959167, + 0.030480220913887024, + -19.02571678161621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2230, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_742267370", + "mask_path": "../../mask/hdr_right_02230.png" + }, + { + "file_path": "../../rgb/hdr_right_02231.png", + "transform_matrix": [ + [ + -0.3324117064476013, + -0.04741968587040901, + -0.9419416189193726, + -24.320606231689453 + ], + [ + 0.9405667781829834, + 0.05697769299149513, + -0.33479487895965576, + -38.16537094116211 + ], + [ + 0.06954552978277206, + -0.997248649597168, + 0.02566133625805378, + -19.037302017211914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2231, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_842267274", + "mask_path": "../../mask/hdr_right_02231.png" + }, + { + "file_path": "../../rgb/hdr_right_02232.png", + "transform_matrix": [ + [ + -0.3280007541179657, + -0.04658931866288185, + -0.9435279369354248, + -24.30074119567871 + ], + [ + 0.9420828819274902, + 0.057842716574668884, + -0.3303545415401459, + -38.2591667175293 + ], + [ + 0.06996721029281616, + -0.9972379803657532, + 0.02491854503750801, + -19.041412353515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2232, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639023_942266464", + "mask_path": "../../mask/hdr_right_02232.png" + }, + { + "file_path": "../../rgb/hdr_right_02233.png", + "transform_matrix": [ + [ + -0.31900009512901306, + -0.04250072315335274, + -0.9468013048171997, + -24.28579330444336 + ], + [ + 0.9454601407051086, + 0.055203843861818314, + -0.3210262060165405, + -38.33869934082031 + ], + [ + 0.06591090559959412, + -0.9975700974464417, + 0.022572707384824753, + -19.039451599121094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2233, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_42267560", + "mask_path": "../../mask/hdr_right_02233.png" + }, + { + "file_path": "../../rgb/hdr_right_02234.png", + "transform_matrix": [ + [ + -0.30576175451278687, + -0.04532048478722572, + -0.9510289430618286, + -24.267040252685547 + ], + [ + 0.9502742290496826, + 0.04743904247879982, + -0.30777978897094727, + -38.424835205078125 + ], + [ + 0.059064630419015884, + -0.997845470905304, + 0.028561847284436226, + -19.047607421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2234, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_142270565", + "mask_path": "../../mask/hdr_right_02234.png" + }, + { + "file_path": "../../rgb/hdr_right_02235.png", + "transform_matrix": [ + [ + -0.3008940815925598, + -0.04770588502287865, + -0.952463686466217, + -24.243165969848633 + ], + [ + 0.951765239238739, + 0.04786418378353119, + -0.3030708432197571, + -38.53669357299805 + ], + [ + 0.06004716083407402, + -0.9977139830589294, + 0.031002754345536232, + -19.06058120727539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2235, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_242267131", + "mask_path": "../../mask/hdr_right_02235.png" + }, + { + "file_path": "../../rgb/hdr_right_02236.png", + "transform_matrix": [ + [ + -0.3033863604068756, + -0.05034060403704643, + -0.9515368938446045, + -24.220802307128906 + ], + [ + 0.9506391882896423, + 0.052265483886003494, + -0.30586519837379456, + -38.62226104736328 + ], + [ + 0.06512998044490814, + -0.9973636269569397, + 0.031999118626117706, + -19.07219886779785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2236, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_342267990", + "mask_path": "../../mask/hdr_right_02236.png" + }, + { + "file_path": "../../rgb/hdr_right_02237.png", + "transform_matrix": [ + [ + -0.3065614700317383, + -0.04788197576999664, + -0.9506458044052124, + -24.197126388549805 + ], + [ + 0.9495909810066223, + 0.05339489132165909, + -0.3089107573032379, + -38.70222091674805 + ], + [ + 0.06555087864398956, + -0.997424840927124, + 0.029099473729729652, + -19.0855655670166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2237, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_442267656", + "mask_path": "../../mask/hdr_right_02237.png" + }, + { + "file_path": "../../rgb/hdr_right_02238.png", + "transform_matrix": [ + [ + -0.3032597601413727, + -0.04761865735054016, + -0.9517173767089844, + -24.18446159362793 + ], + [ + 0.9504544138908386, + 0.05650956556200981, + -0.3056847155094147, + -38.810428619384766 + ], + [ + 0.06833742558956146, + -0.9972658753395081, + 0.02812228724360466, + -19.090614318847656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2238, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_542267799", + "mask_path": "../../mask/hdr_right_02238.png" + }, + { + "file_path": "../../rgb/hdr_right_02239.png", + "transform_matrix": [ + [ + -0.29428631067276, + -0.04429067671298981, + -0.9546905159950256, + -24.177316665649414 + ], + [ + 0.9532679915428162, + 0.05786791816353798, + -0.29653245210647583, + -38.90427017211914 + ], + [ + 0.06837957352399826, + -0.9973412752151489, + 0.025191154330968857, + -19.087812423706055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2239, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_642267942", + "mask_path": "../../mask/hdr_right_02239.png" + }, + { + "file_path": "../../rgb/hdr_right_02240.png", + "transform_matrix": [ + [ + -0.28334110975265503, + -0.0409279428422451, + -0.9581455588340759, + -24.169723510742188 + ], + [ + 0.9568052887916565, + 0.055782899260520935, + -0.28532758355140686, + -38.969661712646484 + ], + [ + 0.06512600928544998, + -0.997603714466095, + 0.023354487493634224, + -19.093313217163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2240, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_742267131", + "mask_path": "../../mask/hdr_right_02240.png" + }, + { + "file_path": "../../rgb/hdr_right_02241.png", + "transform_matrix": [ + [ + -0.2732366919517517, + -0.046401459723711014, + -0.9608270525932312, + -24.155593872070312 + ], + [ + 0.9598792791366577, + 0.052302081137895584, + -0.27549299597740173, + -39.06836700439453 + ], + [ + 0.06303653866052628, + -0.9975526928901672, + 0.03024894930422306, + -19.105215072631836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2241, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_842267990", + "mask_path": "../../mask/hdr_right_02241.png" + }, + { + "file_path": "../../rgb/hdr_right_02242.png", + "transform_matrix": [ + [ + -0.27135950326919556, + -0.055016931146383286, + -0.9609044194221497, + -24.141843795776367 + ], + [ + 0.9601233005523682, + 0.0543193444609642, + -0.27424898743629456, + -39.17253112792969 + ], + [ + 0.06728403270244598, + -0.9970067739486694, + 0.03808297589421272, + -19.117366790771484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2242, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639024_942267417", + "mask_path": "../../mask/hdr_right_02242.png" + }, + { + "file_path": "../../rgb/hdr_right_02243.png", + "transform_matrix": [ + [ + -0.27457278966903687, + -0.0593402273952961, + -0.9597336053848267, + -24.12999153137207 + ], + [ + 0.9590108394622803, + 0.05581847205758095, + -0.2778172492980957, + -39.238037109375 + ], + [ + 0.07005660980939865, + -0.996675968170166, + 0.04158168286085129, + -19.124013900756836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2243, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_42267799", + "mask_path": "../../mask/hdr_right_02243.png" + }, + { + "file_path": "../../rgb/hdr_right_02244.png", + "transform_matrix": [ + [ + -0.27708694338798523, + -0.059749260544776917, + -0.9589853882789612, + -24.116817474365234 + ], + [ + 0.9582563638687134, + 0.05602682754397392, + -0.28036704659461975, + -39.30875778198242 + ], + [ + 0.07048062980175018, + -0.9966398477554321, + 0.041730813682079315, + -19.127777099609375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2244, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_142268419", + "mask_path": "../../mask/hdr_right_02244.png" + }, + { + "file_path": "../../rgb/hdr_right_02245.png", + "transform_matrix": [ + [ + -0.2737610638141632, + -0.05645279586315155, + -0.9601396918296814, + -24.11237335205078 + ], + [ + 0.9589413404464722, + 0.060859791934490204, + -0.27699771523475647, + -39.40174865722656 + ], + [ + 0.07407117635011673, + -0.9965486526489258, + 0.037473876029253006, + -19.13231086730957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2245, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_242266416", + "mask_path": "../../mask/hdr_right_02245.png" + }, + { + "file_path": "../../rgb/hdr_right_02246.png", + "transform_matrix": [ + [ + -0.265018492937088, + -0.0520380400121212, + -0.9628382325172424, + -24.11082649230957 + ], + [ + 0.9614096283912659, + 0.062237899750471115, + -0.26798900961875916, + -39.477779388427734 + ], + [ + 0.07387063652276993, + -0.9967038035392761, + 0.033535681664943695, + -19.132558822631836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2246, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_342267274", + "mask_path": "../../mask/hdr_right_02246.png" + }, + { + "file_path": "../../rgb/hdr_right_02247.png", + "transform_matrix": [ + [ + -0.25288429856300354, + -0.05113654583692551, + -0.9661442041397095, + -24.110313415527344 + ], + [ + 0.964889645576477, + 0.05992773920297623, + -0.2557278275489807, + -39.533546447753906 + ], + [ + 0.0709758773446083, + -0.9968920350074768, + 0.034186337143182755, + -19.136323928833008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2247, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_442268610", + "mask_path": "../../mask/hdr_right_02247.png" + }, + { + "file_path": "../../rgb/hdr_right_02248.png", + "transform_matrix": [ + [ + -0.24027110636234283, + -0.0546216256916523, + -0.9691678285598755, + -24.10796546936035 + ], + [ + 0.9682971239089966, + 0.056805700063705444, + -0.24325676262378693, + -39.60966873168945 + ], + [ + 0.06834133714437485, + -0.9968899488449097, + 0.03924119472503662, + -19.14568519592285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2248, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_542267560", + "mask_path": "../../mask/hdr_right_02248.png" + }, + { + "file_path": "../../rgb/hdr_right_02249.png", + "transform_matrix": [ + [ + -0.23626455664634705, + -0.0630173310637474, + -0.9696432948112488, + -24.105915069580078 + ], + [ + 0.969119131565094, + 0.05724228546023369, + -0.2398570477962494, + -39.70106506347656 + ], + [ + 0.07061974704265594, + -0.9963695406913757, + 0.04754699394106865, + -19.15190887451172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2249, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_642266750", + "mask_path": "../../mask/hdr_right_02249.png" + }, + { + "file_path": "../../rgb/hdr_right_02250.png", + "transform_matrix": [ + [ + -0.2362854778766632, + -0.06665385514497757, + -0.9693949222564697, + -24.1024169921875 + ], + [ + 0.969024121761322, + 0.0575992614030838, + -0.24015550315380096, + -39.770137786865234 + ], + [ + 0.071843720972538, + -0.9961122274398804, + 0.05097932368516922, + -19.160139083862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2250, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_742267847", + "mask_path": "../../mask/hdr_right_02250.png" + }, + { + "file_path": "../../rgb/hdr_right_02251.png", + "transform_matrix": [ + [ + -0.23705238103866577, + -0.06469547003507614, + -0.969340443611145, + -24.093351364135742 + ], + [ + 0.9688845872879028, + 0.057378169149160385, + -0.24077042937278748, + -39.835350036621094 + ], + [ + 0.07119572907686234, + -0.9962541460990906, + 0.04908080771565437, + -19.168943405151367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2251, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_842267990", + "mask_path": "../../mask/hdr_right_02251.png" + }, + { + "file_path": "../../rgb/hdr_right_02252.png", + "transform_matrix": [ + [ + -0.2350599318742752, + -0.061707139015197754, + -0.9700201153755188, + -24.091907501220703 + ], + [ + 0.969312846660614, + 0.05901140347123146, + -0.23864251375198364, + -39.9310302734375 + ], + [ + 0.0719681978225708, + -0.9963483214378357, + 0.04594230279326439, + -19.169530868530273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2252, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639025_942269802", + "mask_path": "../../mask/hdr_right_02252.png" + }, + { + "file_path": "../../rgb/hdr_right_02253.png", + "transform_matrix": [ + [ + -0.22619403898715973, + -0.05636247992515564, + -0.972450315952301, + -24.09836769104004 + ], + [ + 0.9715884923934937, + 0.05833671614527702, + -0.2293747216463089, + -40.012657165527344 + ], + [ + 0.06965768337249756, + -0.996704638004303, + 0.04156572371721268, + -19.16571617126465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2253, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_42267560", + "mask_path": "../../mask/hdr_right_02253.png" + }, + { + "file_path": "../../rgb/hdr_right_02254.png", + "transform_matrix": [ + [ + -0.21456217765808105, + -0.05073092132806778, + -0.9753919839859009, + -24.09747886657715 + ], + [ + 0.9745075702667236, + 0.05591243878006935, + -0.2172756791114807, + -40.064083099365234 + ], + [ + 0.06555914133787155, + -0.9971460103988647, + 0.03744097799062729, + -19.17123794555664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2254, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_142266988", + "mask_path": "../../mask/hdr_right_02254.png" + }, + { + "file_path": "../../rgb/hdr_right_02255.png", + "transform_matrix": [ + [ + -0.20260293781757355, + -0.049923546612262726, + -0.9779876470565796, + -24.094179153442383 + ], + [ + 0.9774547219276428, + 0.05032161995768547, + -0.20506130158901215, + -40.129150390625 + ], + [ + 0.05945129692554474, + -0.9974845051765442, + 0.03860269859433174, + -19.174009323120117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2255, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_242268085", + "mask_path": "../../mask/hdr_right_02255.png" + }, + { + "file_path": "../../rgb/hdr_right_02256.png", + "transform_matrix": [ + [ + -0.2005317062139511, + -0.05534253269433975, + -0.978122889995575, + -24.085796356201172 + ], + [ + 0.977783739566803, + 0.05090184882283211, + -0.20334221422672272, + -40.211280822753906 + ], + [ + 0.061041735112667084, + -0.9971690773963928, + 0.0439055934548378, + -19.177637100219727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2256, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_342267751", + "mask_path": "../../mask/hdr_right_02256.png" + }, + { + "file_path": "../../rgb/hdr_right_02257.png", + "transform_matrix": [ + [ + -0.2025120109319687, + -0.05987650528550148, + -0.977447509765625, + -24.079036712646484 + ], + [ + 0.9772219061851501, + 0.05231742188334465, + -0.20567011833190918, + -40.268863677978516 + ], + [ + 0.06345234811306, + -0.9968338012695312, + 0.04791773110628128, + -19.18706703186035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2257, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_442267417", + "mask_path": "../../mask/hdr_right_02257.png" + }, + { + "file_path": "../../rgb/hdr_right_02259.png", + "transform_matrix": [ + [ + -0.20362254977226257, + -0.05250383913516998, + -0.977640688419342, + -24.06349754333496 + ], + [ + 0.9767360687255859, + 0.057712018489837646, + -0.2065335214138031, + -40.38051986694336 + ], + [ + 0.06726542115211487, + -0.996951699256897, + 0.0395309254527092, + -19.202333450317383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2259, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_642267227", + "mask_path": "../../mask/hdr_right_02259.png" + }, + { + "file_path": "../../rgb/hdr_right_02260.png", + "transform_matrix": [ + [ + -0.19815561175346375, + -0.05047664791345596, + -0.9788700342178345, + -24.061769485473633 + ], + [ + 0.9776982069015503, + 0.06070820242166519, + -0.20104888081550598, + -40.447261810302734 + ], + [ + 0.06957370787858963, + -0.996878445148468, + 0.03732126206159592, + -19.201095581054688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2260, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639026_742266654", + "mask_path": "../../mask/hdr_right_02260.png" + }, + { + "file_path": "../../rgb/hdr_right_02263.png", + "transform_matrix": [ + [ + -0.17014604806900024, + -0.04646700620651245, + -0.9843226671218872, + -24.064220428466797 + ], + [ + 0.983445942401886, + 0.05517023801803589, + -0.1725989282131195, + -40.625545501708984 + ], + [ + 0.06232547387480736, + -0.9973950982093811, + 0.036310795694589615, + -19.196752548217773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2263, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_42263984", + "mask_path": "../../mask/hdr_right_02263.png" + }, + { + "file_path": "../../rgb/hdr_right_02264.png", + "transform_matrix": [ + [ + -0.1719662994146347, + -0.051148150116205215, + -0.9837741255760193, + -24.060089111328125 + ], + [ + 0.9830264449119568, + 0.05589520186185837, + -0.17474167048931122, + -40.68932342529297 + ], + [ + 0.06392597407102585, + -0.9971256852149963, + 0.04066789150238037, + -19.206125259399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2264, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_142266750", + "mask_path": "../../mask/hdr_right_02264.png" + }, + { + "file_path": "../../rgb/hdr_right_02265.png", + "transform_matrix": [ + [ + -0.18143920600414276, + -0.052059054374694824, + -0.9820233583450317, + -24.05323600769043 + ], + [ + 0.9812354445457458, + 0.05666906014084816, + -0.18429775536060333, + -40.739627838134766 + ], + [ + 0.06524470448493958, + -0.9970348477363586, + 0.04080020263791084, + -19.212783813476562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2265, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_242267131", + "mask_path": "../../mask/hdr_right_02265.png" + }, + { + "file_path": "../../rgb/hdr_right_02266.png", + "transform_matrix": [ + [ + -0.19286023080348969, + -0.050451748073101044, + -0.9799283146858215, + -24.047300338745117 + ], + [ + 0.9790332317352295, + 0.05683846026659012, + -0.1956103891134262, + -40.79838180541992 + ], + [ + 0.06556650251150131, + -0.997107744216919, + 0.03843206167221069, + -19.230833053588867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2266, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_342267274", + "mask_path": "../../mask/hdr_right_02266.png" + }, + { + "file_path": "../../rgb/hdr_right_02267.png", + "transform_matrix": [ + [ + -0.1990111917257309, + -0.04879062995314598, + -0.9787819385528564, + -24.048521041870117 + ], + [ + 0.9777944087982178, + 0.05704104155302048, + -0.20165382325649261, + -40.8758659362793 + ], + [ + 0.06566955894231796, + -0.9971789717674255, + 0.0363554023206234, + -19.2254638671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2267, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_442266702", + "mask_path": "../../mask/hdr_right_02267.png" + }, + { + "file_path": "../../rgb/hdr_right_02268.png", + "transform_matrix": [ + [ + -0.20065556466579437, + -0.04649841785430908, + -0.9785577654838562, + -24.05067253112793 + ], + [ + 0.9776210784912109, + 0.05493754521012306, + -0.20307396352291107, + -40.93224334716797 + ], + [ + 0.06320217996835709, + -0.9974064826965332, + 0.03443430736660957, + -19.218351364135742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2268, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_542266607", + "mask_path": "../../mask/hdr_right_02268.png" + }, + { + "file_path": "../../rgb/hdr_right_02270.png", + "transform_matrix": [ + [ + -0.19558818638324738, + -0.0400533601641655, + -0.9798679351806641, + -24.047176361083984 + ], + [ + 0.9791370630264282, + 0.04816127568483353, + -0.1974109560251236, + -41.02871322631836 + ], + [ + 0.05509865656495094, + -0.9980361461639404, + 0.029797954484820366, + -19.224170684814453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2270, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_742267131", + "mask_path": "../../mask/hdr_right_02270.png" + }, + { + "file_path": "../../rgb/hdr_right_02271.png", + "transform_matrix": [ + [ + -0.19602642953395844, + -0.04638988524675369, + -0.9795006513595581, + -24.04622459411621 + ], + [ + 0.9786944389343262, + 0.052963972091674805, + -0.198373481631279, + -41.096458435058594 + ], + [ + 0.06108076870441437, + -0.9975183606147766, + 0.03501918911933899, + -19.23212432861328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2271, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_842267274", + "mask_path": "../../mask/hdr_right_02271.png" + }, + { + "file_path": "../../rgb/hdr_right_02272.png", + "transform_matrix": [ + [ + -0.20119106769561768, + -0.049011845141649246, + -0.9783251285552979, + -24.039670944213867 + ], + [ + 0.9774658679962158, + 0.05510222911834717, + -0.2037748545408249, + -41.1505126953125 + ], + [ + 0.06389528512954712, + -0.9972770810127258, + 0.036821331828832626, + -19.240856170654297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2272, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639027_942267179", + "mask_path": "../../mask/hdr_right_02272.png" + }, + { + "file_path": "../../rgb/hdr_right_02274.png", + "transform_matrix": [ + [ + -0.2279631346464157, + -0.04105915501713753, + -0.9728037118911743, + -24.014892578125 + ], + [ + 0.9713910818099976, + 0.05872233957052231, + -0.23011061549186707, + -41.2567253112793 + ], + [ + 0.06657345592975616, + -0.997429609298706, + 0.026497971266508102, + -19.255720138549805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2274, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_142267227", + "mask_path": "../../mask/hdr_right_02274.png" + }, + { + "file_path": "../../rgb/hdr_right_02275.png", + "transform_matrix": [ + [ + -0.23664404451847076, + -0.03665338084101677, + -0.9709048867225647, + -24.004852294921875 + ], + [ + 0.9693396091461182, + 0.05916336178779602, + -0.23849605023860931, + -41.313743591308594 + ], + [ + 0.0661836713552475, + -0.9975751638412476, + 0.02152891829609871, + -19.25322151184082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2275, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_242268323", + "mask_path": "../../mask/hdr_right_02275.png" + }, + { + "file_path": "../../rgb/hdr_right_02278.png", + "transform_matrix": [ + [ + -0.24287539720535278, + -0.029203664511442184, + -0.9696177840232849, + -23.97718620300293 + ], + [ + 0.9683858752250671, + 0.05135473236441612, + -0.24411353468894958, + -41.47273635864258 + ], + [ + 0.05692347511649132, + -0.9982534050941467, + 0.015807615593075752, + -19.25853729248047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2278, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_542268037", + "mask_path": "../../mask/hdr_right_02278.png" + }, + { + "file_path": "../../rgb/hdr_right_02279.png", + "transform_matrix": [ + [ + -0.24628406763076782, + -0.03801292926073074, + -0.9684519171714783, + -23.9674015045166 + ], + [ + 0.9673093557357788, + 0.052703890949487686, + -0.24806220829486847, + -41.547054290771484 + ], + [ + 0.06047075614333153, + -0.9978864192962646, + 0.023790134117007256, + -19.268373489379883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2279, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_642267942", + "mask_path": "../../mask/hdr_right_02279.png" + }, + { + "file_path": "../../rgb/hdr_right_02280.png", + "transform_matrix": [ + [ + -0.24827004969120026, + -0.040609464049339294, + -0.9678393006324768, + -23.957353591918945 + ], + [ + 0.9667050242424011, + 0.05355655401945114, + -0.250226229429245, + -41.608787536621094 + ], + [ + 0.06199569255113602, + -0.9977387189865112, + 0.025960881263017654, + -19.273090362548828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2280, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_742267608", + "mask_path": "../../mask/hdr_right_02280.png" + }, + { + "file_path": "../../rgb/hdr_right_02281.png", + "transform_matrix": [ + [ + -0.24969814717769623, + -0.03812871128320694, + -0.9675726890563965, + -23.943838119506836 + ], + [ + 0.9662923812866211, + 0.05487756431102753, + -0.2515302896499634, + -41.68115234375 + ], + [ + 0.06268856674432755, + -0.9977648258209229, + 0.023140661418437958, + -19.285503387451172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2281, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_842267990", + "mask_path": "../../mask/hdr_right_02281.png" + }, + { + "file_path": "../../rgb/hdr_right_02282.png", + "transform_matrix": [ + [ + -0.2441224306821823, + -0.03673306852579117, + -0.9690485596656799, + -23.938100814819336 + ], + [ + 0.9676908850669861, + 0.05577092245221138, + -0.24589447677135468, + -41.7710075378418 + ], + [ + 0.06307718902826309, + -0.9977676272392273, + 0.021931322291493416, + -19.2882022857666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2282, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639028_942268610", + "mask_path": "../../mask/hdr_right_02282.png" + }, + { + "file_path": "../../rgb/hdr_right_02283.png", + "transform_matrix": [ + [ + -0.23263491690158844, + -0.03434025123715401, + -0.9719576835632324, + -23.936532974243164 + ], + [ + 0.9707363247871399, + 0.053043071180582047, + -0.23421664535999298, + -41.84008026123047 + ], + [ + 0.059598684310913086, + -0.9980015754699707, + 0.02099565975368023, + -19.283924102783203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2283, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_42268276", + "mask_path": "../../mask/hdr_right_02283.png" + }, + { + "file_path": "../../rgb/hdr_right_02284.png", + "transform_matrix": [ + [ + -0.21696771681308746, + -0.03764009103178978, + -0.9754528403282166, + -23.939266204833984 + ], + [ + 0.974622905254364, + 0.048044975847005844, + -0.21863701939582825, + -41.90237045288086 + ], + [ + 0.055095124989748, + -0.9981357455253601, + 0.026260677725076675, + -19.28839683532715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2284, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_142267465", + "mask_path": "../../mask/hdr_right_02284.png" + }, + { + "file_path": "../../rgb/hdr_right_02285.png", + "transform_matrix": [ + [ + -0.20774157345294952, + -0.04756404832005501, + -0.9770267009735107, + -23.936363220214844 + ], + [ + 0.9765025973320007, + 0.04844832420349121, + -0.20998872816562653, + -42.00528335571289 + ], + [ + 0.05732321739196777, + -0.9976925253868103, + 0.03638168424367905, + -19.305252075195312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2285, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_242267608", + "mask_path": "../../mask/hdr_right_02285.png" + }, + { + "file_path": "../../rgb/hdr_right_02286.png", + "transform_matrix": [ + [ + -0.20625624060630798, + -0.05642930790781975, + -0.976869523525238, + -23.927133560180664 + ], + [ + 0.9764989018440247, + 0.05191399157047272, + -0.20917680859565735, + -42.09497833251953 + ], + [ + 0.06251689046621323, + -0.9970560073852539, + 0.0443955734372139, + -19.31625747680664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2286, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_342268466", + "mask_path": "../../mask/hdr_right_02286.png" + }, + { + "file_path": "../../rgb/hdr_right_02287.png", + "transform_matrix": [ + [ + -0.20752327144145966, + -0.0588919036090374, + -0.9764558672904968, + -23.917402267456055 + ], + [ + 0.9760815501213074, + 0.053653817623853683, + -0.21067969501018524, + -42.160804748535156 + ], + [ + 0.06479791551828384, + -0.9968215227127075, + 0.04634889215230942, + -19.325105667114258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2287, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_442267417", + "mask_path": "../../mask/hdr_right_02287.png" + }, + { + "file_path": "../../rgb/hdr_right_02288.png", + "transform_matrix": [ + [ + -0.20719541609287262, + -0.05694980546832085, + -0.9766405820846558, + -23.918420791625977 + ], + [ + 0.9763309359550476, + 0.05126337334513664, + -0.21011899411678314, + -42.25250244140625 + ], + [ + 0.06203213334083557, + -0.9970600605010986, + 0.044980328530073166, + -19.33506202697754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2288, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_542268037", + "mask_path": "../../mask/hdr_right_02288.png" + }, + { + "file_path": "../../rgb/hdr_right_02289.png", + "transform_matrix": [ + [ + -0.20017659664154053, + -0.054871950298547745, + -0.978222131729126, + -23.92403793334961 + ], + [ + 0.9779829978942871, + 0.04891330003738403, + -0.2028713822364807, + -42.36204147338867 + ], + [ + 0.05898002162575722, + -0.9972946047782898, + 0.04387253150343895, + -19.324914932250977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2289, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_642268419", + "mask_path": "../../mask/hdr_right_02289.png" + }, + { + "file_path": "../../rgb/hdr_right_02290.png", + "transform_matrix": [ + [ + -0.18941111862659454, + -0.05053626000881195, + -0.9805965423583984, + -23.92911720275879 + ], + [ + 0.9803434014320374, + 0.04644014313817024, + -0.19175554811954498, + -42.42052459716797 + ], + [ + 0.055229656398296356, + -0.9976418614387512, + 0.04074660688638687, + -19.32248878479004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2290, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_742268085", + "mask_path": "../../mask/hdr_right_02290.png" + }, + { + "file_path": "../../rgb/hdr_right_02292.png", + "transform_matrix": [ + [ + -0.17495229840278625, + -0.04873637855052948, + -0.9833700060844421, + -23.923141479492188 + ], + [ + 0.9832934141159058, + 0.04233274608850479, + -0.17703670263290405, + -42.526153564453125 + ], + [ + 0.0502568781375885, + -0.9979142546653748, + 0.040515948086977005, + -19.325172424316406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2292, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639029_942269802", + "mask_path": "../../mask/hdr_right_02292.png" + }, + { + "file_path": "../../rgb/hdr_right_02293.png", + "transform_matrix": [ + [ + -0.18550921976566315, + -0.054890651255846024, + -0.9811083078384399, + -23.910602569580078 + ], + [ + 0.9810196757316589, + 0.04701362922787666, + -0.18812274932861328, + -42.58346176147461 + ], + [ + 0.05645163729786873, + -0.9973849654197693, + 0.04512734338641167, + -19.33737564086914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2293, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_42267799", + "mask_path": "../../mask/hdr_right_02293.png" + }, + { + "file_path": "../../rgb/hdr_right_02295.png", + "transform_matrix": [ + [ + -0.2091214656829834, + -0.053821973502635956, + -0.9764074087142944, + -23.892488479614258 + ], + [ + 0.9758180975914001, + 0.0534740686416626, + -0.2119428515434265, + -42.66682434082031 + ], + [ + 0.06361966580152512, + -0.9971176385879517, + 0.04133787006139755, + -19.36223793029785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2295, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_242268562", + "mask_path": "../../mask/hdr_right_02295.png" + }, + { + "file_path": "../../rgb/hdr_right_02296.png", + "transform_matrix": [ + [ + -0.2135075181722641, + -0.052225399762392044, + -0.9755446314811707, + -23.88818359375 + ], + [ + 0.9748063683509827, + 0.05459362268447876, + -0.21626856923103333, + -42.73298645019531 + ], + [ + 0.06455322355031967, + -0.99714195728302, + 0.03925350308418274, + -19.360044479370117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2296, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_342267990", + "mask_path": "../../mask/hdr_right_02296.png" + }, + { + "file_path": "../../rgb/hdr_right_02297.png", + "transform_matrix": [ + [ + -0.21249645948410034, + -0.048528701066970825, + -0.9759560823440552, + -23.8863582611084 + ], + [ + 0.9753589630126953, + 0.05010996386408806, + -0.21485811471939087, + -42.78614044189453 + ], + [ + 0.05933191254734993, + -0.9975640177726746, + 0.036684706807136536, + -19.346487045288086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2297, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_442269086", + "mask_path": "../../mask/hdr_right_02297.png" + }, + { + "file_path": "../../rgb/hdr_right_02299.png", + "transform_matrix": [ + [ + -0.20598983764648438, + -0.042174678295850754, + -0.9776449203491211, + -23.88665008544922 + ], + [ + 0.9772464632987976, + 0.04276552423834801, + -0.20775075256824493, + -42.87043380737305 + ], + [ + 0.05057131126523018, + -0.9981945753097534, + 0.0324057973921299, + -19.33917236328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2299, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_642267227", + "mask_path": "../../mask/hdr_right_02299.png" + }, + { + "file_path": "../../rgb/hdr_right_02300.png", + "transform_matrix": [ + [ + -0.2120286226272583, + -0.05129706487059593, + -0.9759162664413452, + -23.883031845092773 + ], + [ + 0.9754707217216492, + 0.0493510439991951, + -0.21452584862709045, + -42.930660247802734 + ], + [ + 0.0591670386493206, + -0.9974633455276489, + 0.03957495093345642, + -19.345230102539062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2300, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_742267370", + "mask_path": "../../mask/hdr_right_02300.png" + }, + { + "file_path": "../../rgb/hdr_right_02301.png", + "transform_matrix": [ + [ + -0.22109311819076538, + -0.058273691684007645, + -0.973510205745697, + -23.875822067260742 + ], + [ + 0.9729824066162109, + 0.054892830550670624, + -0.22425909340381622, + -42.97880935668945 + ], + [ + 0.06650713831186295, + -0.9967902898788452, + 0.04456285759806633, + -19.362119674682617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2301, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639030_842267751", + "mask_path": "../../mask/hdr_right_02301.png" + }, + { + "file_path": "../../rgb/hdr_right_02303.png", + "transform_matrix": [ + [ + -0.23882614076137543, + -0.055224061012268066, + -0.9694908261299133, + -23.85371971130371 + ], + [ + 0.9687798023223877, + 0.05486303195357323, + -0.24177606403827667, + -43.089786529541016 + ], + [ + 0.06654106825590134, + -0.9969655275344849, + 0.04039723426103592, + -19.3792667388916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2303, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_42267084", + "mask_path": "../../mask/hdr_right_02303.png" + }, + { + "file_path": "../../rgb/hdr_right_02304.png", + "transform_matrix": [ + [ + -0.24228961765766144, + -0.05129339173436165, + -0.9688471555709839, + -23.85322380065918 + ], + [ + 0.9680402278900146, + 0.05387527123093605, + -0.2449401170015335, + -43.165504455566406 + ], + [ + 0.0647607073187828, + -0.9972293972969055, + 0.036600641906261444, + -19.37273406982422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2304, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_142267465", + "mask_path": "../../mask/hdr_right_02304.png" + }, + { + "file_path": "../../rgb/hdr_right_02307.png", + "transform_matrix": [ + [ + -0.2523273527622223, + -0.04449942708015442, + -0.9666182398796082, + -23.819351196289062 + ], + [ + 0.9660449624061584, + 0.04578378424048424, + -0.25428542494773865, + -43.323936462402344 + ], + [ + 0.05557100102305412, + -0.9979597330093384, + 0.031435947865247726, + -19.378360748291016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2307, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_442267179", + "mask_path": "../../mask/hdr_right_02307.png" + }, + { + "file_path": "../../rgb/hdr_right_02308.png", + "transform_matrix": [ + [ + -0.26823341846466064, + -0.049710121005773544, + -0.9620705842971802, + -23.800437927246094 + ], + [ + 0.9613831043243408, + 0.050034649670124054, + -0.2706269919872284, + -43.37329864501953 + ], + [ + 0.06158977374434471, + -0.9975095987319946, + 0.03436950594186783, + -19.392658233642578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2308, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_542266607", + "mask_path": "../../mask/hdr_right_02308.png" + }, + { + "file_path": "../../rgb/hdr_right_02310.png", + "transform_matrix": [ + [ + -0.3009372651576996, + -0.050606269389390945, + -0.9523002505302429, + -23.768726348876953 + ], + [ + 0.9511018991470337, + 0.05693802610039711, + -0.3035843074321747, + -43.468563079833984 + ], + [ + 0.06958536803722382, + -0.9970942735671997, + 0.03099694289267063, + -19.415369033813477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2310, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_742266893", + "mask_path": "../../mask/hdr_right_02310.png" + }, + { + "file_path": "../../rgb/hdr_right_02311.png", + "transform_matrix": [ + [ + -0.31254202127456665, + -0.049891404807567596, + -0.9485928416252136, + -23.754547119140625 + ], + [ + 0.9473918676376343, + 0.056206680834293365, + -0.3151025176048279, + -43.54098892211914 + ], + [ + 0.06903817504644394, + -0.9971718788146973, + 0.02969975769519806, + -19.414278030395508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2311, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_842267513", + "mask_path": "../../mask/hdr_right_02311.png" + }, + { + "file_path": "../../rgb/hdr_right_02312.png", + "transform_matrix": [ + [ + -0.3171759247779846, + -0.04837911203503609, + -0.9471319317817688, + -23.745336532592773 + ], + [ + 0.9461262226104736, + 0.05246669799089432, + -0.3195191025733948, + -43.59379196166992 + ], + [ + 0.06515094637870789, + -0.9974501132965088, + 0.029131578281521797, + -19.405685424804688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2312, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639031_942267179", + "mask_path": "../../mask/hdr_right_02312.png" + }, + { + "file_path": "../../rgb/hdr_right_02314.png", + "transform_matrix": [ + [ + -0.31361761689186096, + -0.043299928307533264, + -0.9485616087913513, + -23.72466468811035 + ], + [ + 0.9478424787521362, + 0.04559490829706192, + -0.3154611587524414, + -43.690914154052734 + ], + [ + 0.05690902844071388, + -0.998021125793457, + 0.026742149144411087, + -19.415359497070312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2314, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_142267465", + "mask_path": "../../mask/hdr_right_02314.png" + }, + { + "file_path": "../../rgb/hdr_right_02315.png", + "transform_matrix": [ + [ + -0.3244292140007019, + -0.05082676559686661, + -0.9445434808731079, + -23.706884384155273 + ], + [ + 0.9436877965927124, + 0.05101456120610237, + -0.32688042521476746, + -43.75248718261719 + ], + [ + 0.06479974836111069, + -0.9974037408828735, + 0.03141398727893829, + -19.424652099609375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2315, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_242267131", + "mask_path": "../../mask/hdr_right_02315.png" + }, + { + "file_path": "../../rgb/hdr_right_02316.png", + "transform_matrix": [ + [ + -0.33843156695365906, + -0.057083070278167725, + -0.9392581582069397, + -23.693212509155273 + ], + [ + 0.9383094906806946, + 0.054830096662044525, + -0.34142205119132996, + -43.797306060791016 + ], + [ + 0.07098902761936188, + -0.9968626499176025, + 0.0350053533911705, + -19.43788719177246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2316, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_342267990", + "mask_path": "../../mask/hdr_right_02316.png" + }, + { + "file_path": "../../rgb/hdr_right_02318.png", + "transform_matrix": [ + [ + -0.35680511593818665, + -0.05219823867082596, + -0.932719349861145, + -23.67049217224121 + ], + [ + 0.9310995936393738, + 0.0611286461353302, + -0.35960647463798523, + -43.91539001464844 + ], + [ + 0.07578670978546143, + -0.9967640042304993, + 0.026790743693709373, + -19.451255798339844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2318, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_542267084", + "mask_path": "../../mask/hdr_right_02318.png" + }, + { + "file_path": "../../rgb/hdr_right_02319.png", + "transform_matrix": [ + [ + -0.35250070691108704, + -0.048425182700157166, + -0.9345577955245972, + -23.66650390625 + ], + [ + 0.9327262043952942, + 0.0628470927476883, + -0.35506632924079895, + -43.978824615478516 + ], + [ + 0.07592839002609253, + -0.9968476891517639, + 0.02301379293203354, + -19.449817657470703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2319, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_642266273", + "mask_path": "../../mask/hdr_right_02319.png" + }, + { + "file_path": "../../rgb/hdr_right_02321.png", + "transform_matrix": [ + [ + -0.3314553499221802, + -0.04738970100879669, + -0.942280113697052, + -23.668935775756836 + ], + [ + 0.9410099387168884, + 0.05548412725329399, + -0.3337990343570709, + -44.07527542114258 + ], + [ + 0.0681002214550972, + -0.9973343014717102, + 0.026203671470284462, + -19.45726776123047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2321, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_842267513", + "mask_path": "../../mask/hdr_right_02321.png" + }, + { + "file_path": "../../rgb/hdr_right_02322.png", + "transform_matrix": [ + [ + -0.3273535668849945, + -0.05216773971915245, + -0.9434608221054077, + -23.6590576171875 + ], + [ + 0.9423419237136841, + 0.05542537197470665, + -0.33002999424934387, + -44.14115524291992 + ], + [ + 0.06950856745243073, + -0.9970990419387817, + 0.031016159802675247, + -19.458641052246094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2322, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639032_942267179", + "mask_path": "../../mask/hdr_right_02322.png" + }, + { + "file_path": "../../rgb/hdr_right_02323.png", + "transform_matrix": [ + [ + -0.3302665054798126, + -0.058443423360586166, + -0.9420766234397888, + -23.64444351196289 + ], + [ + 0.9410426616668701, + 0.05704822018742561, + -0.3334431052207947, + -44.19704818725586 + ], + [ + 0.07323136180639267, + -0.9966593980789185, + 0.036156632006168365, + -19.464141845703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2323, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639033_42267799", + "mask_path": "../../mask/hdr_right_02323.png" + }, + { + "file_path": "../../rgb/hdr_right_02325.png", + "transform_matrix": [ + [ + -0.3418863117694855, + -0.058954719454050064, + -0.937890350818634, + -23.626604080200195 + ], + [ + 0.9368637800216675, + 0.05665980279445648, + -0.3450736999511719, + -44.30888748168945 + ], + [ + 0.0734843984246254, + -0.9966513514518738, + 0.035861339420080185, + -19.483299255371094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2325, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639033_242267847", + "mask_path": "../../mask/hdr_right_02325.png" + }, + { + "file_path": "../../rgb/hdr_right_02326.png", + "transform_matrix": [ + [ + -0.3443431854248047, + -0.0591423325240612, + -0.9369791746139526, + -23.6177921295166 + ], + [ + 0.9360508918762207, + 0.055297669023275375, + -0.34749239683151245, + -44.39216613769531 + ], + [ + 0.07236427068710327, + -0.9967167973518372, + 0.03631884977221489, + -19.47867774963379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2326, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639033_342267751", + "mask_path": "../../mask/hdr_right_02326.png" + }, + { + "file_path": "../../rgb/hdr_right_02329.png", + "transform_matrix": [ + [ + -0.34567883610725403, + -0.04734008386731148, + -0.9371579885482788, + -23.575674057006836 + ], + [ + 0.9361761808395386, + 0.050588350743055344, + -0.34787213802337646, + -44.54629898071289 + ], + [ + 0.06387757509946823, + -0.9975970387458801, + 0.02683134377002716, + -19.487171173095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2329, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639033_642266988", + "mask_path": "../../mask/hdr_right_02329.png" + }, + { + "file_path": "../../rgb/hdr_right_02330.png", + "transform_matrix": [ + [ + -0.3560195565223694, + -0.054071713238954544, + -0.9329128265380859, + -23.548892974853516 + ], + [ + 0.9319916367530823, + 0.052239399403333664, + -0.3586958050727844, + -44.6102180480957 + ], + [ + 0.06813011318445206, + -0.9971696138381958, + 0.03179613873362541, + -19.49558448791504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2330, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639033_742267847", + "mask_path": "../../mask/hdr_right_02330.png" + }, + { + "file_path": "../../rgb/hdr_right_02333.png", + "transform_matrix": [ + [ + -0.39009901881217957, + -0.05073478817939758, + -0.9193742275238037, + -23.473501205444336 + ], + [ + 0.9178904294967651, + 0.05751698464155197, + -0.39264342188835144, + -44.74110412597656 + ], + [ + 0.07280030846595764, + -0.9970545172691345, + 0.024131665006279945, + -19.521142959594727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2333, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_42267322", + "mask_path": "../../mask/hdr_right_02333.png" + }, + { + "file_path": "../../rgb/hdr_right_02334.png", + "transform_matrix": [ + [ + -0.39426857233047485, + -0.046341247856616974, + -0.9178261160850525, + -23.44585609436035 + ], + [ + 0.9160449504852295, + 0.06014620140194893, + -0.39654022455215454, + -44.79583740234375 + ], + [ + 0.07357992231845856, + -0.9971132874488831, + 0.018736908212304115, + -19.517309188842773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2334, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_142267942", + "mask_path": "../../mask/hdr_right_02334.png" + }, + { + "file_path": "../../rgb/hdr_right_02337.png", + "transform_matrix": [ + [ + -0.3956748843193054, + -0.04409126937389374, + -0.9173316955566406, + -23.383953094482422 + ], + [ + 0.9159746766090393, + 0.053457584232091904, + -0.3976590037345886, + -44.97406768798828 + ], + [ + 0.06657162308692932, + -0.997596263885498, + 0.019234666600823402, + -19.525285720825195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2337, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_442268133", + "mask_path": "../../mask/hdr_right_02337.png" + }, + { + "file_path": "../../rgb/hdr_right_02338.png", + "transform_matrix": [ + [ + -0.40526852011680603, + -0.05161033198237419, + -0.9127397537231445, + -23.35866355895996 + ], + [ + 0.9114339351654053, + 0.05476582050323486, + -0.40778544545173645, + -45.02373504638672 + ], + [ + 0.07103288918733597, + -0.9971646070480347, + 0.024844538420438766, + -19.537710189819336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2338, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_542267084", + "mask_path": "../../mask/hdr_right_02338.png" + }, + { + "file_path": "../../rgb/hdr_right_02340.png", + "transform_matrix": [ + [ + -0.42241761088371277, + -0.052251316606998444, + -0.9048940539360046, + -23.325061798095703 + ], + [ + 0.9035451412200928, + 0.0549180693924427, + -0.4249590337276459, + -45.12443542480469 + ], + [ + 0.07189970463514328, + -0.9971227645874023, + 0.024013064801692963, + -19.551177978515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2340, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_742266416", + "mask_path": "../../mask/hdr_right_02340.png" + }, + { + "file_path": "../../rgb/hdr_right_02341.png", + "transform_matrix": [ + [ + -0.42620882391929626, + -0.0508323572576046, + -0.9031955599784851, + -23.3092098236084 + ], + [ + 0.9018018245697021, + 0.05494057759642601, + -0.42864322662353516, + -45.191078186035156 + ], + [ + 0.07141103595495224, + -0.9971948266029358, + 0.02242455631494522, + -19.54936408996582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2341, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639034_842267751", + "mask_path": "../../mask/hdr_right_02341.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/ec3e2dcc/mesh.ply b/2024-11-03-13-59-54/splats/ec3e2dcc/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..fd0cc8238d2937fe0bd1ef80ab557353e79304be --- /dev/null +++ b/2024-11-03-13-59-54/splats/ec3e2dcc/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09dffd394bf11e90e1926925840b01ef224c265d90be6513cf964c52228a5b8f +size 32650928 diff --git a/2024-11-03-13-59-54/splats/ec3e2dcc/mesh_filled_decimated.ply b/2024-11-03-13-59-54/splats/ec3e2dcc/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..aa511edb6c3ce6fcf335660a72e64580ff0ca016 --- /dev/null +++ b/2024-11-03-13-59-54/splats/ec3e2dcc/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28ce57bfc4ae41367323dad3d6258be7de837026b2623e7550d75d3264238a85 +size 1578778 diff --git a/2024-11-03-13-59-54/splats/ec3e2dcc/splatfacto/config.yml b/2024-11-03-13-59-54/splats/ec3e2dcc/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..227f8a87c5701534c645434b555dd7111a95556e --- /dev/null +++ b/2024-11-03-13-59-54/splats/ec3e2dcc/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-03-13-59-54_nerfstudio +- slices +- slice_ec3e2dcc +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-03-13-59-54_nerfstudio + - slices + - slice_ec3e2dcc + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-03-13-59-54/splats/ec3e2dcc/splatfacto/dataparser_transforms.json b/2024-11-03-13-59-54/splats/ec3e2dcc/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e854f435bc5568f87365018f61708f4ab1873166 --- /dev/null +++ b/2024-11-03-13-59-54/splats/ec3e2dcc/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + 0.5621527433395386, + 0.8263128399848938, + 0.03451651707291603, + 39.98490524291992 + ], + [ + 0.8263128399848938, + -0.5594319105148315, + -0.06514016538858414, + 2.7976632118225098 + ], + [ + -0.03451651707291603, + 0.06514016538858414, + -0.997279167175293, + -17.30348014831543 + ] + ], + "scale": 0.25401008893221266 +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/splats/ec3e2dcc/splatfacto/splat.ply b/2024-11-03-13-59-54/splats/ec3e2dcc/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..7fa0798dfbdc058ac40d58ef42921703e5426d31 --- /dev/null +++ b/2024-11-03-13-59-54/splats/ec3e2dcc/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4929ada767411b4f5e1b61ad92d22a0508cb73843e9e672cd4c0594454b560c0 +size 293059722 diff --git a/2024-11-03-13-59-54/splats/ec3e2dcc/transforms.json b/2024-11-03-13-59-54/splats/ec3e2dcc/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e109e9301722d22e36d3cd5e4e02367ec748904d --- /dev/null +++ b/2024-11-03-13-59-54/splats/ec3e2dcc/transforms.json @@ -0,0 +1,13236 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_02077.png", + "transform_matrix": [ + [ + 0.9852373003959656, + -0.030548399314284325, + -0.16844652593135834, + -25.993648529052734 + ], + [ + 0.17010611295700073, + 0.06393399834632874, + 0.9833495616912842, + -25.33989715576172 + ], + [ + -0.019270293414592743, + -0.9974864721298218, + 0.06818661838769913, + -18.093782424926758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2077, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_642269134", + "mask_path": "../../mask/hdr_front_02077.png" + }, + { + "file_path": "../../rgb/hdr_front_02078.png", + "transform_matrix": [ + [ + 0.9850331544876099, + -0.026600101962685585, + -0.17029979825019836, + -25.970369338989258 + ], + [ + 0.17177453637123108, + 0.06980512291193008, + 0.9826600551605225, + -25.439523696899414 + ], + [ + -0.01425105705857277, + -0.9972059726715088, + 0.07332959026098251, + -18.097856521606445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2078, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_742267608", + "mask_path": "../../mask/hdr_front_02078.png" + }, + { + "file_path": "../../rgb/hdr_front_02079.png", + "transform_matrix": [ + [ + 0.9868320822715759, + -0.019283711910247803, + -0.16059386730194092, + -25.957984924316406 + ], + [ + 0.16158311069011688, + 0.07277946919202805, + 0.9841718077659607, + -25.540210723876953 + ], + [ + -0.007290546782314777, + -0.9971616268157959, + 0.07493704557418823, + -18.09433937072754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2079, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_842267513", + "mask_path": "../../mask/hdr_front_02079.png" + }, + { + "file_path": "../../rgb/hdr_front_02080.png", + "transform_matrix": [ + [ + 0.9886274337768555, + -0.017751041799783707, + -0.14933419227600098, + -25.943225860595703 + ], + [ + 0.1502082794904709, + 0.06836270540952682, + 0.9862880110740662, + -25.626771926879883 + ], + [ + -0.007298750802874565, + -0.9975026249885559, + 0.07025159895420074, + -18.086868286132812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2080, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_942267417", + "mask_path": "../../mask/hdr_front_02080.png" + }, + { + "file_path": "../../rgb/hdr_front_02081.png", + "transform_matrix": [ + [ + 0.989359974861145, + -0.02739732712507248, + -0.14288513362407684, + -25.92137336730957 + ], + [ + 0.1444118320941925, + 0.0656963661313057, + 0.9873343706130981, + -25.751909255981445 + ], + [ + -0.017663290724158287, + -0.9974635243415833, + 0.06895384937524796, + -18.102750778198242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2081, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_42267322", + "mask_path": "../../mask/hdr_front_02081.png" + }, + { + "file_path": "../../rgb/hdr_front_02082.png", + "transform_matrix": [ + [ + 0.9890351295471191, + -0.033715106546878815, + -0.1437799036502838, + -25.896713256835938 + ], + [ + 0.14577758312225342, + 0.0671192854642868, + 0.9870380163192749, + -25.860563278198242 + ], + [ + -0.023627685382962227, + -0.9971751570701599, + 0.07129823416471481, + -18.123987197875977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2082, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_142267465", + "mask_path": "../../mask/hdr_front_02082.png" + }, + { + "file_path": "../../rgb/hdr_front_02083.png", + "transform_matrix": [ + [ + 0.9885877370834351, + -0.03204206004738808, + -0.14719897508621216, + -25.870746612548828 + ], + [ + 0.14905065298080444, + 0.06621500849723816, + 0.9866100549697876, + -25.943445205688477 + ], + [ + -0.02186623588204384, + -0.9972907900810242, + 0.0702352374792099, + -18.13591766357422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2083, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_242267608", + "mask_path": "../../mask/hdr_front_02083.png" + }, + { + "file_path": "../../rgb/hdr_front_02084.png", + "transform_matrix": [ + [ + 0.9891096353530884, + -0.030936989933252335, + -0.1438925415277481, + -25.853809356689453 + ], + [ + 0.14578086137771606, + 0.07141166925430298, + 0.9867361783981323, + -26.05369758605957 + ], + [ + -0.020251039415597916, + -0.996967077255249, + 0.07514400035142899, + -18.139989852905273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2084, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_342267036", + "mask_path": "../../mask/hdr_front_02084.png" + }, + { + "file_path": "../../rgb/hdr_front_02085.png", + "transform_matrix": [ + [ + 0.9903094172477722, + -0.02865002304315567, + -0.13589125871658325, + -25.843730926513672 + ], + [ + 0.13767223060131073, + 0.0738338902592659, + 0.9877221584320068, + -26.16057586669922 + ], + [ + -0.018264882266521454, + -0.9968588948249817, + 0.0770627111196518, + -18.142122268676758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2085, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_442267656", + "mask_path": "../../mask/hdr_front_02085.png" + }, + { + "file_path": "../../rgb/hdr_front_02086.png", + "transform_matrix": [ + [ + 0.9916991591453552, + -0.02509751170873642, + -0.12610723078250885, + -25.832622528076172 + ], + [ + 0.12757757306098938, + 0.0698070228099823, + 0.9893690347671509, + -26.24348258972168 + ], + [ + -0.016027525067329407, + -0.9972447752952576, + 0.07242944836616516, + -18.14692497253418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2086, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_542267322", + "mask_path": "../../mask/hdr_front_02086.png" + }, + { + "file_path": "../../rgb/hdr_front_02087.png", + "transform_matrix": [ + [ + 0.9924579858779907, + -0.03264903277158737, + -0.1181575357913971, + -25.817415237426758 + ], + [ + 0.12010817229747772, + 0.06619444489479065, + 0.9905516505241394, + -26.35447120666504 + ], + [ + -0.0245191790163517, + -0.9972724914550781, + 0.06961660832166672, + -18.155611038208008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2087, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_642267465", + "mask_path": "../../mask/hdr_front_02087.png" + }, + { + "file_path": "../../rgb/hdr_front_02088.png", + "transform_matrix": [ + [ + 0.9921682476997375, + -0.04312806576490402, + -0.11722647398710251, + -25.801223754882812 + ], + [ + 0.11999216675758362, + 0.06838639825582504, + 0.9904167652130127, + -26.4704647064209 + ], + [ + -0.03469805791974068, + -0.9967262744903564, + 0.07302583009004593, + -18.170194625854492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2088, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_742268323", + "mask_path": "../../mask/hdr_front_02088.png" + }, + { + "file_path": "../../rgb/hdr_front_02089.png", + "transform_matrix": [ + [ + 0.9916146993637085, + -0.0454556979238987, + -0.12097200751304626, + -25.781728744506836 + ], + [ + 0.12392069399356842, + 0.06889530271291733, + 0.9898975491523743, + -26.558549880981445 + ], + [ + -0.03666207194328308, + -0.9965878129005432, + 0.07395048439502716, + -18.178539276123047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2089, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_842268466", + "mask_path": "../../mask/hdr_front_02089.png" + }, + { + "file_path": "../../rgb/hdr_front_02090.png", + "transform_matrix": [ + [ + 0.991517186164856, + -0.0422319732606411, + -0.12292295694351196, + -25.764392852783203 + ], + [ + 0.12563204765319824, + 0.06895943731069565, + 0.989677369594574, + -26.655426025390625 + ], + [ + -0.03331932798027992, + -0.9967252016067505, + 0.07368015497922897, + -18.195613861083984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2090, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_942268610", + "mask_path": "../../mask/hdr_front_02090.png" + }, + { + "file_path": "../../rgb/hdr_front_02091.png", + "transform_matrix": [ + [ + 0.9924870133399963, + -0.03884177654981613, + -0.11602142453193665, + -25.758420944213867 + ], + [ + 0.11856352537870407, + 0.07122255116701126, + 0.9903888702392578, + -26.77450180053711 + ], + [ + -0.03020511567592621, + -0.9967038631439209, + 0.07529266923666, + -18.19486427307129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2091, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_42268514", + "mask_path": "../../mask/hdr_front_02091.png" + }, + { + "file_path": "../../rgb/hdr_front_02092.png", + "transform_matrix": [ + [ + 0.993877649307251, + -0.033342499285936356, + -0.10533488541841507, + -25.751134872436523 + ], + [ + 0.10748936235904694, + 0.07126118242740631, + 0.9916490912437439, + -26.867128372192383 + ], + [ + -0.02555776573717594, + -0.9969002604484558, + 0.07440885901451111, + -18.19424057006836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2092, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_142267942", + "mask_path": "../../mask/hdr_front_02092.png" + }, + { + "file_path": "../../rgb/hdr_front_02093.png", + "transform_matrix": [ + [ + 0.9950328469276428, + -0.03571654483675957, + -0.09291847050189972, + -25.7440185546875 + ], + [ + 0.0951741561293602, + 0.06773005425930023, + 0.9931538701057434, + -26.948698043823242 + ], + [ + -0.029178647324442863, + -0.9970642328262329, + 0.07079292833805084, + -18.199811935424805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2093, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_242267608", + "mask_path": "../../mask/hdr_front_02093.png" + }, + { + "file_path": "../../rgb/hdr_front_02094.png", + "transform_matrix": [ + [ + 0.9951227903366089, + -0.045536503195762634, + -0.08750489354133606, + -25.733448028564453 + ], + [ + 0.09046010673046112, + 0.0674869492650032, + 0.9936109185218811, + -27.071880340576172 + ], + [ + -0.03934013098478317, + -0.996680498123169, + 0.07127703726291656, + -18.215505599975586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2094, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_342268943", + "mask_path": "../../mask/hdr_front_02094.png" + }, + { + "file_path": "../../rgb/hdr_front_02095.png", + "transform_matrix": [ + [ + 0.9946858882904053, + -0.05303148925304413, + -0.08824717253446579, + -25.718647003173828 + ], + [ + 0.09183758497238159, + 0.06958361715078354, + 0.9933398365974426, + -27.174840927124023 + ], + [ + -0.04653773084282875, + -0.9961655735969543, + 0.07408413290977478, + -18.230304718017578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2095, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_442267656", + "mask_path": "../../mask/hdr_front_02095.png" + }, + { + "file_path": "../../rgb/hdr_front_02096.png", + "transform_matrix": [ + [ + 0.9944046139717102, + -0.05251982808113098, + -0.09165698289871216, + -25.70254898071289 + ], + [ + 0.09516017138957977, + 0.0686158835887909, + 0.9930943846702576, + -27.260927200317383 + ], + [ + -0.04586802050471306, + -0.9962598085403442, + 0.07322975248098373, + -18.244770050048828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2096, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_542268276", + "mask_path": "../../mask/hdr_front_02096.png" + }, + { + "file_path": "../../rgb/hdr_front_02097.png", + "transform_matrix": [ + [ + 0.9948469996452332, + -0.04951988905668259, + -0.08847106993198395, + -25.692138671875 + ], + [ + 0.09184623509645462, + 0.07063315808773041, + 0.99326491355896, + -27.38098907470703 + ], + [ + -0.042937375605106354, + -0.9962724447250366, + 0.07481740415096283, + -18.24860954284668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2097, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_642267465", + "mask_path": "../../mask/hdr_front_02097.png" + }, + { + "file_path": "../../rgb/hdr_front_02098.png", + "transform_matrix": [ + [ + 0.9959563612937927, + -0.04370719939470291, + -0.07849009335041046, + -25.691701889038086 + ], + [ + 0.08145438879728317, + 0.07077097147703171, + 0.9941613078117371, + -27.4931640625 + ], + [ + -0.03789718821644783, + -0.9965345859527588, + 0.07404494285583496, + -18.245975494384766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2098, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_742268323", + "mask_path": "../../mask/hdr_front_02098.png" + }, + { + "file_path": "../../rgb/hdr_front_02099.png", + "transform_matrix": [ + [ + 0.9970239996910095, + -0.03891829773783684, + -0.06654688715934753, + -25.69011116027832 + ], + [ + 0.06903184205293655, + 0.06643782556056976, + 0.9953997135162354, + -27.57707977294922 + ], + [ + -0.03431802988052368, + -0.9970312714576721, + 0.06892670691013336, + -18.2468204498291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2099, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_842267751", + "mask_path": "../../mask/hdr_front_02099.png" + }, + { + "file_path": "../../rgb/hdr_front_02100.png", + "transform_matrix": [ + [ + 0.997255802154541, + -0.04367809370160103, + -0.05977567657828331, + -25.678546905517578 + ], + [ + 0.06258417665958405, + 0.06604454666376114, + 0.9958520531654358, + -27.699398040771484 + ], + [ + -0.03954906389117241, + -0.9968602657318115, + 0.06859686970710754, + -18.257266998291016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2100, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_942267894", + "mask_path": "../../mask/hdr_front_02100.png" + }, + { + "file_path": "../../rgb/hdr_front_02101.png", + "transform_matrix": [ + [ + 0.9969011545181274, + -0.0506584532558918, + -0.06018037721514702, + -25.663131713867188 + ], + [ + 0.06360752880573273, + 0.0690043643116951, + 0.9955865144729614, + -27.814966201782227 + ], + [ + -0.04628215730190277, + -0.9963293671607971, + 0.07201278954744339, + -18.275224685668945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2101, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_42267084", + "mask_path": "../../mask/hdr_front_02101.png" + }, + { + "file_path": "../../rgb/hdr_front_02102.png", + "transform_matrix": [ + [ + 0.9965831637382507, + -0.05220952257514, + -0.06400242447853088, + -25.646799087524414 + ], + [ + 0.06746640801429749, + 0.06753045320510864, + 0.9954336285591125, + -27.900772094726562 + ], + [ + -0.04764899984002113, + -0.9963502883911133, + 0.07082211226224899, + -18.287099838256836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2102, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_142266988", + "mask_path": "../../mask/hdr_front_02102.png" + }, + { + "file_path": "../../rgb/hdr_front_02103.png", + "transform_matrix": [ + [ + 0.9967182278633118, + -0.049884479492902756, + -0.06375084817409515, + -25.640056610107422 + ], + [ + 0.06702931970357895, + 0.0670701265335083, + 0.9954941868782043, + -28.00220489501953 + ], + [ + -0.04538392648100853, + -0.9965004324913025, + 0.07019375264644623, + -18.30010986328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2103, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_242267370", + "mask_path": "../../mask/hdr_front_02103.png" + }, + { + "file_path": "../../rgb/hdr_front_02104.png", + "transform_matrix": [ + [ + 0.9974085092544556, + -0.04552414268255234, + -0.05571148544549942, + -25.642818450927734 + ], + [ + 0.058720726519823074, + 0.0676824301481247, + 0.9959774613380432, + -28.112348556518555 + ], + [ + -0.041570328176021576, + -0.9966678023338318, + 0.070180244743824, + -18.292055130004883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2104, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_342267990", + "mask_path": "../../mask/hdr_front_02104.png" + }, + { + "file_path": "../../rgb/hdr_front_02105.png", + "transform_matrix": [ + [ + 0.9981652498245239, + -0.040149953216314316, + -0.045320164412260056, + -25.64140510559082 + ], + [ + 0.04793276637792587, + 0.06669449806213379, + 0.9966214299201965, + -28.192296981811523 + ], + [ + -0.036991700530052185, + -0.9969652891159058, + 0.06849663704633713, + -18.28785514831543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2105, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_442267179", + "mask_path": "../../mask/hdr_front_02105.png" + }, + { + "file_path": "../../rgb/hdr_front_02106.png", + "transform_matrix": [ + [ + 0.9985462427139282, + -0.041704777628183365, + -0.034148093312978745, + -25.640274047851562 + ], + [ + 0.03672455996274948, + 0.06266099959611893, + 0.9973589181900024, + -28.26673126220703 + ], + [ + -0.03945488482713699, + -0.9971631765365601, + 0.06410149484872818, + -18.290075302124023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2106, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_542267799", + "mask_path": "../../mask/hdr_front_02106.png" + }, + { + "file_path": "../../rgb/hdr_front_02107.png", + "transform_matrix": [ + [ + 0.998167872428894, + -0.04973097890615463, + -0.03446260839700699, + -25.634788513183594 + ], + [ + 0.037481941282749176, + 0.061115726828575134, + 0.9974266290664673, + -28.383182525634766 + ], + [ + -0.047496795654296875, + -0.9968910217285156, + 0.06286776810884476, + -18.302093505859375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2107, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_642267942", + "mask_path": "../../mask/hdr_front_02107.png" + }, + { + "file_path": "../../rgb/hdr_front_02108.png", + "transform_matrix": [ + [ + 0.9974343776702881, + -0.05711432918906212, + -0.04315764084458351, + -25.62445640563965 + ], + [ + 0.046641796827316284, + 0.06114598736166954, + 0.9970384240150452, + -28.48450469970703 + ], + [ + -0.0543062686920166, + -0.9964934587478638, + 0.06365301460027695, + -18.31694984436035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2108, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_742268085", + "mask_path": "../../mask/hdr_front_02108.png" + }, + { + "file_path": "../../rgb/hdr_front_02109.png", + "transform_matrix": [ + [ + 0.996972382068634, + -0.05710970237851143, + -0.05276874080300331, + -25.61449432373047 + ], + [ + 0.056145407259464264, + 0.05923176184296608, + 0.9966640472412109, + -28.562732696533203 + ], + [ + -0.05379360541701317, + -0.9966093301773071, + 0.06225888058543205, + -18.330183029174805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2109, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_842267751", + "mask_path": "../../mask/hdr_front_02109.png" + }, + { + "file_path": "../../rgb/hdr_front_02110.png", + "transform_matrix": [ + [ + 0.9971638917922974, + -0.04932300001382828, + -0.05684604495763779, + -25.614450454711914 + ], + [ + 0.05993543937802315, + 0.06359902024269104, + 0.9961742162704468, + -28.67127227783203 + ], + [ + -0.045518942177295685, + -0.9967559576034546, + 0.06637485325336456, + -18.336994171142578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2110, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_942267656", + "mask_path": "../../mask/hdr_front_02110.png" + }, + { + "file_path": "../../rgb/hdr_front_02111.png", + "transform_matrix": [ + [ + 0.9973863363265991, + -0.04203672707080841, + -0.0587654747068882, + -25.61157989501953 + ], + [ + 0.06139014661312103, + 0.06414149701595306, + 0.9960507750511169, + -28.77448081970215 + ], + [ + -0.03810140863060951, + -0.9970550537109375, + 0.0665544867515564, + -18.33192253112793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2111, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_42267322", + "mask_path": "../../mask/hdr_front_02111.png" + }, + { + "file_path": "../../rgb/hdr_front_02112.png", + "transform_matrix": [ + [ + 0.9974217414855957, + -0.03922102227807045, + -0.060095738619565964, + -25.60205078125 + ], + [ + 0.062442343682050705, + 0.06163455918431282, + 0.9961436986923218, + -28.845277786254883 + ], + [ + -0.03536579757928848, + -0.997327983379364, + 0.06392470002174377, + -18.336353302001953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2112, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_142268180", + "mask_path": "../../mask/hdr_front_02112.png" + }, + { + "file_path": "../../rgb/hdr_front_02113.png", + "transform_matrix": [ + [ + 0.9973182082176208, + -0.03972114622592926, + -0.06146940588951111, + -25.595760345458984 + ], + [ + 0.06376366317272186, + 0.059335652738809586, + 0.9961994886398315, + -28.924701690673828 + ], + [ + -0.035922858864068985, + -0.9974475502967834, + 0.06170929595828056, + -18.35420799255371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2113, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_242267370", + "mask_path": "../../mask/hdr_front_02113.png" + }, + { + "file_path": "../../rgb/hdr_front_02114.png", + "transform_matrix": [ + [ + 0.9962348341941833, + -0.046438347548246384, + -0.0732104703783989, + -25.578989028930664 + ], + [ + 0.07608763128519058, + 0.06355372071266174, + 0.995073676109314, + -29.035839080810547 + ], + [ + -0.04155677929520607, + -0.9968973994255066, + 0.06684781610965729, + -18.362098693847656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2114, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_342267274", + "mask_path": "../../mask/hdr_front_02114.png" + }, + { + "file_path": "../../rgb/hdr_front_02115.png", + "transform_matrix": [ + [ + 0.9950745105743408, + -0.049696944653987885, + -0.08577205240726471, + -25.560176849365234 + ], + [ + 0.0889303907752037, + 0.06527151167392731, + 0.9938969612121582, + -29.123077392578125 + ], + [ + -0.04379516839981079, + -0.9966292977333069, + 0.0693695917725563, + -18.368061065673828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2115, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_442267417", + "mask_path": "../../mask/hdr_front_02115.png" + }, + { + "file_path": "../../rgb/hdr_front_02116.png", + "transform_matrix": [ + [ + 0.9947596192359924, + -0.045628372579813004, + -0.09149449318647385, + -25.541311264038086 + ], + [ + 0.09429789334535599, + 0.0636259987950325, + 0.9935088753700256, + -29.1998233795166 + ], + [ + -0.039510760456323624, + -0.9969301819801331, + 0.0675952285528183, + -18.372669219970703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2116, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_542267799", + "mask_path": "../../mask/hdr_front_02116.png" + }, + { + "file_path": "../../rgb/hdr_front_02117.png", + "transform_matrix": [ + [ + 0.9953422546386719, + -0.040252260863780975, + -0.08759746700525284, + -25.530672073364258 + ], + [ + 0.09025610983371735, + 0.06982066482305527, + 0.9934682250022888, + -29.299293518066406 + ], + [ + -0.03387322276830673, + -0.9967471957206726, + 0.07312847673892975, + -18.376922607421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2117, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_642266750", + "mask_path": "../../mask/hdr_front_02117.png" + }, + { + "file_path": "../../rgb/hdr_front_02118.png", + "transform_matrix": [ + [ + 0.9964406490325928, + -0.03251558914780617, + -0.07777313888072968, + -25.526554107666016 + ], + [ + 0.07992783188819885, + 0.07127154618501663, + 0.9942494034767151, + -29.39203643798828 + ], + [ + -0.0267855916172266, + -0.9969268441200256, + 0.07361676543951035, + -18.377769470214844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2118, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_742267131", + "mask_path": "../../mask/hdr_front_02118.png" + }, + { + "file_path": "../../rgb/hdr_front_02119.png", + "transform_matrix": [ + [ + 0.9974901676177979, + -0.02593054249882698, + -0.06588561832904816, + -25.519882202148438 + ], + [ + 0.06752873212099075, + 0.06863479316234589, + 0.9953538179397583, + -29.46280860900879 + ], + [ + -0.021288014948368073, + -0.9973047971725464, + 0.07021358609199524, + -18.38178062438965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2119, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_842267036", + "mask_path": "../../mask/hdr_front_02119.png" + }, + { + "file_path": "../../rgb/hdr_front_02120.png", + "transform_matrix": [ + [ + 0.9981074929237366, + -0.030398476868867874, + -0.05345483124256134, + -25.509023666381836 + ], + [ + 0.05531900376081467, + 0.06420743465423584, + 0.9964020848274231, + -29.5667781829834 + ], + [ + -0.026856906712055206, + -0.9974734783172607, + 0.06576753407716751, + -18.389455795288086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2120, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_942267417", + "mask_path": "../../mask/hdr_front_02120.png" + }, + { + "file_path": "../../rgb/hdr_front_02121.png", + "transform_matrix": [ + [ + 0.9979894757270813, + -0.03838339075446129, + -0.050436507910490036, + -25.49300765991211 + ], + [ + 0.052963655441999435, + 0.06795115768909454, + 0.9962818622589111, + -29.676681518554688 + ], + [ + -0.034813448786735535, + -0.9969500303268433, + 0.0698474645614624, + -18.402603149414062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2121, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_42266845", + "mask_path": "../../mask/hdr_front_02121.png" + }, + { + "file_path": "../../rgb/hdr_front_02122.png", + "transform_matrix": [ + [ + 0.9978148937225342, + -0.038209132850170135, + -0.053903430700302124, + -25.47719955444336 + ], + [ + 0.05651868134737015, + 0.07103825360536575, + 0.9958711266517639, + -29.757320404052734 + ], + [ + -0.03422216698527336, + -0.996741533279419, + 0.07304254174232483, + -18.415279388427734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2122, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_142266988", + "mask_path": "../../mask/hdr_front_02122.png" + }, + { + "file_path": "../../rgb/hdr_front_02123.png", + "transform_matrix": [ + [ + 0.9979799389839172, + -0.03149869292974472, + -0.055171407759189606, + -25.469364166259766 + ], + [ + 0.057332828640937805, + 0.07243195176124573, + 0.9957242012023926, + -29.847410202026367 + ], + [ + -0.027367834001779556, + -0.9968758225440979, + 0.07409153878688812, + -18.42634391784668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2123, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_242268323", + "mask_path": "../../mask/hdr_front_02123.png" + }, + { + "file_path": "../../rgb/hdr_front_02124.png", + "transform_matrix": [ + [ + 0.9983471035957336, + -0.030279062688350677, + -0.048848919570446014, + -25.467348098754883 + ], + [ + 0.05101174861192703, + 0.07533606141805649, + 0.9958525896072388, + -29.952457427978516 + ], + [ + -0.026473393663764, + -0.9966984391212463, + 0.07675612717866898, + -18.430015563964844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2124, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_342267274", + "mask_path": "../../mask/hdr_front_02124.png" + }, + { + "file_path": "../../rgb/hdr_front_02125.png", + "transform_matrix": [ + [ + 0.9988958835601807, + -0.025372624397277832, + -0.0395391583442688, + -25.465879440307617 + ], + [ + 0.041340555995702744, + 0.07491365820169449, + 0.9963327646255493, + -30.03557777404785 + ], + [ + -0.02231754921376705, + -0.9968672394752502, + 0.07587985694408417, + -18.42934226989746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2125, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_442267656", + "mask_path": "../../mask/hdr_front_02125.png" + }, + { + "file_path": "../../rgb/hdr_front_02126.png", + "transform_matrix": [ + [ + 0.999317467212677, + -0.0243870560079813, + -0.027746178209781647, + -25.464757919311523 + ], + [ + 0.02938174642622471, + 0.0694873109459877, + 0.9971500635147095, + -30.112533569335938 + ], + [ + -0.022389546036720276, + -0.9972847104072571, + 0.07015641778707504, + -18.431909561157227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2126, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_542267322", + "mask_path": "../../mask/hdr_front_02126.png" + }, + { + "file_path": "../../rgb/hdr_front_02127.png", + "transform_matrix": [ + [ + 0.9992329478263855, + -0.032153334468603134, + -0.022355547174811363, + -25.46383285522461 + ], + [ + 0.02451418898999691, + 0.06838825345039368, + 0.9973575472831726, + -30.22964096069336 + ], + [ + -0.030539514496922493, + -0.9971405267715454, + 0.0691240057349205, + -18.44340705871582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2127, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_642268896", + "mask_path": "../../mask/hdr_front_02127.png" + }, + { + "file_path": "../../rgb/hdr_front_02128.png", + "transform_matrix": [ + [ + 0.9987636208534241, + -0.039521560072898865, + -0.030157238245010376, + -25.453903198242188 + ], + [ + 0.0328553132712841, + 0.06949863582849503, + 0.997040867805481, + -30.327587127685547 + ], + [ + -0.037308719009160995, + -0.9967988729476929, + 0.07071118801832199, + -18.456798553466797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2128, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_742267847", + "mask_path": "../../mask/hdr_front_02128.png" + }, + { + "file_path": "../../rgb/hdr_front_02129.png", + "transform_matrix": [ + [ + 0.997917115688324, + -0.040506958961486816, + -0.05020629242062569, + -25.432830810546875 + ], + [ + 0.052879463881254196, + 0.06786999851465225, + 0.9962918758392334, + -30.402002334594727 + ], + [ + -0.03694925084710121, + -0.9968715310096741, + 0.06987062841653824, + -18.476247787475586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2129, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_842268943", + "mask_path": "../../mask/hdr_front_02129.png" + }, + { + "file_path": "../../rgb/hdr_front_02130.png", + "transform_matrix": [ + [ + 0.9969021081924438, + -0.036494676023721695, + -0.06967178732156754, + -25.420251846313477 + ], + [ + 0.07205476611852646, + 0.06865999847650528, + 0.9950346350669861, + -30.507726669311523 + ], + [ + -0.03152979910373688, + -0.9969724416732788, + 0.07107691466808319, + -18.478818893432617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2130, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_942267894", + "mask_path": "../../mask/hdr_front_02130.png" + }, + { + "file_path": "../../rgb/hdr_front_02131.png", + "transform_matrix": [ + [ + 0.9964158535003662, + -0.029427187517285347, + -0.07930650562047958, + -25.418333053588867 + ], + [ + 0.08113884925842285, + 0.06742362678050995, + 0.9944196939468384, + -30.61618423461914 + ], + [ + -0.023915840312838554, + -0.9972904324531555, + 0.0695696547627449, + -18.47086524963379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2131, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_42268037", + "mask_path": "../../mask/hdr_front_02131.png" + }, + { + "file_path": "../../rgb/hdr_front_02132.png", + "transform_matrix": [ + [ + 0.9962069988250732, + -0.026048654690384865, + -0.0830242782831192, + -25.409303665161133 + ], + [ + 0.08456087112426758, + 0.06481918692588806, + 0.9943076968193054, + -30.692609786987305 + ], + [ + -0.02051881141960621, + -0.9975570440292358, + 0.06677602231502533, + -18.474699020385742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2132, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_142267227", + "mask_path": "../../mask/hdr_front_02132.png" + }, + { + "file_path": "../../rgb/hdr_front_02133.png", + "transform_matrix": [ + [ + 0.9961344003677368, + -0.02918059751391411, + -0.08285192400217056, + -25.3995361328125 + ], + [ + 0.08451873809099197, + 0.061473388224840164, + 0.9945238828659058, + -30.77592658996582 + ], + [ + -0.023927612230181694, + -0.9976820945739746, + 0.0637020692229271, + -18.47734832763672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2133, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_242268085", + "mask_path": "../../mask/hdr_front_02133.png" + }, + { + "file_path": "../../rgb/hdr_front_02134.png", + "transform_matrix": [ + [ + 0.9952475428581238, + -0.03590705245733261, + -0.09051523357629776, + -25.385513305664062 + ], + [ + 0.09265254437923431, + 0.06315827369689941, + 0.9936934113502502, + -30.88931655883789 + ], + [ + -0.029963811859488487, + -0.9973573684692383, + 0.06618501245975494, + -18.489986419677734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2134, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_342267513", + "mask_path": "../../mask/hdr_front_02134.png" + }, + { + "file_path": "../../rgb/hdr_front_02135.png", + "transform_matrix": [ + [ + 0.9944891929626465, + -0.039887022227048874, + -0.0969550758600235, + -25.37216567993164 + ], + [ + 0.09938647598028183, + 0.06431864947080612, + 0.9929680824279785, + -30.976409912109375 + ], + [ + -0.03337051719427109, + -0.9971320033073425, + 0.06792844086885452, + -18.50556755065918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2135, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_442268371", + "mask_path": "../../mask/hdr_front_02135.png" + }, + { + "file_path": "../../rgb/hdr_front_02136.png", + "transform_matrix": [ + [ + 0.9942008852958679, + -0.03665509819984436, + -0.10109838843345642, + -25.35050392150879 + ], + [ + 0.10324160754680634, + 0.062253437936306, + 0.9927061796188354, + -31.054302215576172 + ], + [ + -0.030094021931290627, + -0.9973870515823364, + 0.06567675620317459, + -18.51987648010254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2136, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_542267322", + "mask_path": "../../mask/hdr_front_02136.png" + }, + { + "file_path": "../../rgb/hdr_front_02137.png", + "transform_matrix": [ + [ + 0.9946624040603638, + -0.03303425386548042, + -0.09775173664093018, + -25.33766746520996 + ], + [ + 0.09978055953979492, + 0.06667974591255188, + 0.9927727580070496, + -31.16512107849121 + ], + [ + -0.026277441531419754, + -0.9972274303436279, + 0.06962002068758011, + -18.52171516418457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2137, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_642267942", + "mask_path": "../../mask/hdr_front_02137.png" + }, + { + "file_path": "../../rgb/hdr_front_02138.png", + "transform_matrix": [ + [ + 0.995833694934845, + -0.023827752098441124, + -0.08802011609077454, + -25.3319034576416 + ], + [ + 0.08943942934274673, + 0.06708807498216629, + 0.9937303066253662, + -31.269739151000977 + ], + [ + -0.017773257568478584, + -0.9974625706672668, + 0.068939708173275, + -18.517675399780273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2138, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_742267847", + "mask_path": "../../mask/hdr_front_02138.png" + }, + { + "file_path": "../../rgb/hdr_front_02139.png", + "transform_matrix": [ + [ + 0.9967608451843262, + -0.016856679692864418, + -0.0786365196108818, + -25.320749282836914 + ], + [ + 0.07954506576061249, + 0.06256254762411118, + 0.994866132736206, + -31.351194381713867 + ], + [ + -0.011850436218082905, + -0.9978987574577332, + 0.06370076537132263, + -18.518674850463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2139, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_842267990", + "mask_path": "../../mask/hdr_front_02139.png" + }, + { + "file_path": "../../rgb/hdr_front_02140.png", + "transform_matrix": [ + [ + 0.9967842698097229, + -0.02319166623055935, + -0.07670315355062485, + -25.305904388427734 + ], + [ + 0.07797820121049881, + 0.060266781598329544, + 0.9951318502426147, + -31.468015670776367 + ], + [ + -0.01845611073076725, + -0.9979129433631897, + 0.06188143044710159, + -18.526710510253906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2140, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_942267656", + "mask_path": "../../mask/hdr_front_02140.png" + }, + { + "file_path": "../../rgb/hdr_front_02141.png", + "transform_matrix": [ + [ + 0.9960817694664001, + -0.03262804076075554, + -0.08219709992408752, + -25.283775329589844 + ], + [ + 0.08409810066223145, + 0.06194285675883293, + 0.9945303797721863, + -31.578359603881836 + ], + [ + -0.027358049526810646, + -0.9975462555885315, + 0.06444411724805832, + -18.544172286987305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2141, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_42267799", + "mask_path": "../../mask/hdr_front_02141.png" + }, + { + "file_path": "../../rgb/hdr_front_02142.png", + "transform_matrix": [ + [ + 0.9954402446746826, + -0.03490240499377251, + -0.08877119421958923, + -25.26195526123047 + ], + [ + 0.09077416360378265, + 0.060746267437934875, + 0.9940170645713806, + -31.664379119873047 + ], + [ + -0.02930106595158577, + -0.9975429177284241, + 0.06363753229379654, + -18.555082321166992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2142, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_142267704", + "mask_path": "../../mask/hdr_front_02142.png" + }, + { + "file_path": "../../rgb/hdr_front_02143.png", + "transform_matrix": [ + [ + 0.9953626394271851, + -0.033503785729408264, + -0.09017006307840347, + -25.25204849243164 + ], + [ + 0.09215746819972992, + 0.06346521526575089, + 0.9937199354171753, + -31.76313018798828 + ], + [ + -0.027570713311433792, + -0.9974215626716614, + 0.0662585124373436, + -18.560317993164062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2143, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_242267847", + "mask_path": "../../mask/hdr_front_02143.png" + }, + { + "file_path": "../../rgb/hdr_front_02144.png", + "transform_matrix": [ + [ + 0.9959483742713928, + -0.03453972935676575, + -0.08302848786115646, + -25.25092887878418 + ], + [ + 0.08512138575315475, + 0.06433147937059402, + 0.9942916035652161, + -31.86787223815918 + ], + [ + -0.029001209884881973, + -0.9973307251930237, + 0.06701090931892395, + -18.559921264648438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2144, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_342267990", + "mask_path": "../../mask/hdr_front_02144.png" + }, + { + "file_path": "../../rgb/hdr_front_02145.png", + "transform_matrix": [ + [ + 0.9967781901359558, + -0.03295060619711876, + -0.07312622666358948, + -25.24740982055664 + ], + [ + 0.0750628411769867, + 0.061973292380571365, + 0.9952511787414551, + -31.94732093811035 + ], + [ + -0.02826225571334362, + -0.9975337982177734, + 0.06424698978662491, + -18.560564041137695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2145, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_442267179", + "mask_path": "../../mask/hdr_front_02145.png" + }, + { + "file_path": "../../rgb/hdr_front_02146.png", + "transform_matrix": [ + [ + 0.9974508285522461, + -0.03641914203763008, + -0.061362478882074356, + -25.244693756103516 + ], + [ + 0.06340844929218292, + 0.05797038972377777, + 0.996302604675293, + -32.030460357666016 + ], + [ + -0.03272726759314537, + -0.9976537823677063, + 0.060131900012493134, + -18.566049575805664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2146, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_542267322", + "mask_path": "../../mask/hdr_front_02146.png" + }, + { + "file_path": "../../rgb/hdr_front_02147.png", + "transform_matrix": [ + [ + 0.9972432255744934, + -0.046764668077230453, + -0.05761110410094261, + -25.23892593383789 + ], + [ + 0.060530371963977814, + 0.06361518055200577, + 0.9961371421813965, + -32.145668029785156 + ], + [ + -0.04291908070445061, + -0.9968782663345337, + 0.06627049297094345, + -18.580602645874023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2147, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_642267227", + "mask_path": "../../mask/hdr_front_02147.png" + }, + { + "file_path": "../../rgb/hdr_front_02148.png", + "transform_matrix": [ + [ + 0.996660590171814, + -0.054432421922683716, + -0.060866497457027435, + -25.2282657623291 + ], + [ + 0.06447318196296692, + 0.06716115027666092, + 0.9956569075584412, + -32.24180603027344 + ], + [ + -0.05010814964771271, + -0.9962562322616577, + 0.07044630497694016, + -18.595579147338867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2148, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_742266893", + "mask_path": "../../mask/hdr_front_02148.png" + }, + { + "file_path": "../../rgb/hdr_front_02149.png", + "transform_matrix": [ + [ + 0.9960625767707825, + -0.055727794766426086, + -0.06894657015800476, + -25.20983123779297 + ], + [ + 0.0724811926484108, + 0.06411144882440567, + 0.9953071475028992, + -32.32769012451172 + ], + [ + -0.05104599893093109, + -0.9963855743408203, + 0.067898228764534, + -18.6048583984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2149, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_842267036", + "mask_path": "../../mask/hdr_front_02149.png" + }, + { + "file_path": "../../rgb/hdr_front_02150.png", + "transform_matrix": [ + [ + 0.9955351948738098, + -0.05299551412463188, + -0.07810892909765244, + -25.198802947998047 + ], + [ + 0.08154365420341492, + 0.06608247011899948, + 0.9944766759872437, + -32.434078216552734 + ], + [ + -0.04754117131233215, + -0.9964058995246887, + 0.07010886818170547, + -18.607053756713867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2150, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_942266702", + "mask_path": "../../mask/hdr_front_02150.png" + }, + { + "file_path": "../../rgb/hdr_front_02151.png", + "transform_matrix": [ + [ + 0.9952595233917236, + -0.046777695417404175, + -0.08526594936847687, + -25.194177627563477 + ], + [ + 0.08823178708553314, + 0.06550028920173645, + 0.9939441084861755, + -32.52895736694336 + ], + [ + -0.04090947285294533, + -0.9967555403709412, + 0.06931707262992859, + -18.603506088256836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2151, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_42267084", + "mask_path": "../../mask/hdr_front_02151.png" + }, + { + "file_path": "../../rgb/hdr_front_02152.png", + "transform_matrix": [ + [ + 0.99479079246521, + -0.04518565535545349, + -0.09137548506259918, + -25.186111450195312 + ], + [ + 0.09407545626163483, + 0.061752233654260635, + 0.9936481714248657, + -32.59725570678711 + ], + [ + -0.03925599530339241, + -0.9970681667327881, + 0.06568141281604767, + -18.606006622314453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2152, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_142266988", + "mask_path": "../../mask/hdr_front_02152.png" + }, + { + "file_path": "../../rgb/hdr_front_02153.png", + "transform_matrix": [ + [ + 0.9933891296386719, + -0.04562611132860184, + -0.10533884912729263, + -25.17662239074707 + ], + [ + 0.10794764757156372, + 0.05908534303307533, + 0.9923993349075317, + -32.67235565185547 + ], + [ + -0.03905533626675606, + -0.9972097277641296, + 0.06361997127532959, + -18.624217987060547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2153, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_242269039", + "mask_path": "../../mask/hdr_front_02153.png" + }, + { + "file_path": "../../rgb/hdr_front_02154.png", + "transform_matrix": [ + [ + 0.9903362989425659, + -0.04946994036436081, + -0.12956300377845764, + -25.152013778686523 + ], + [ + 0.1325354129076004, + 0.062459055334329605, + 0.9892084002494812, + -32.77638626098633 + ], + [ + -0.04084369167685509, + -0.9968207478523254, + 0.06841199100017548, + -18.636581420898438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2154, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_342266798", + "mask_path": "../../mask/hdr_front_02154.png" + }, + { + "file_path": "../../rgb/hdr_front_02155.png", + "transform_matrix": [ + [ + 0.9863276481628418, + -0.05441249534487724, + -0.15555410087108612, + -25.125307083129883 + ], + [ + 0.1588953137397766, + 0.06367572396993637, + 0.9852399826049805, + -32.8637809753418 + ], + [ + -0.04370433837175369, + -0.9964861869812012, + 0.07145100086927414, + -18.642288208007812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2155, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_442266941", + "mask_path": "../../mask/hdr_front_02155.png" + }, + { + "file_path": "../../rgb/hdr_front_02156.png", + "transform_matrix": [ + [ + 0.9823080897331238, + -0.04957924410700798, + -0.18059022724628448, + -25.096967697143555 + ], + [ + 0.18353025615215302, + 0.06305204331874847, + 0.9809898734092712, + -32.9407844543457 + ], + [ + -0.03725014999508858, + -0.9967780113220215, + 0.07103581726551056, + -18.652488708496094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2156, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_542266607", + "mask_path": "../../mask/hdr_front_02156.png" + }, + { + "file_path": "../../rgb/hdr_front_02157.png", + "transform_matrix": [ + [ + 0.9812043309211731, + -0.038487814366817474, + -0.1890944391489029, + -25.082862854003906 + ], + [ + 0.19132858514785767, + 0.06643682718276978, + 0.9792750477790833, + -33.050235748291016 + ], + [ + -0.025127317756414413, + -0.9970481395721436, + 0.0725519210100174, + -18.656911849975586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2157, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_642266988", + "mask_path": "../../mask/hdr_front_02157.png" + }, + { + "file_path": "../../rgb/hdr_front_02158.png", + "transform_matrix": [ + [ + 0.9830433130264282, + -0.028908951207995415, + -0.18108034133911133, + -25.074352264404297 + ], + [ + 0.18266350030899048, + 0.06756561994552612, + 0.9808511734008789, + -33.15437316894531 + ], + [ + -0.01612056978046894, + -0.9972959756851196, + 0.07170054316520691, + -18.65070152282715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2158, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_742266893", + "mask_path": "../../mask/hdr_front_02158.png" + }, + { + "file_path": "../../rgb/hdr_front_02159.png", + "transform_matrix": [ + [ + 0.985200047492981, + -0.02304760552942753, + -0.16985222697257996, + -25.063961029052734 + ], + [ + 0.17103944718837738, + 0.0671706572175026, + 0.9829717874526978, + -33.2176399230957 + ], + [ + -0.011246060021221638, + -0.9974753260612488, + 0.07011858373880386, + -18.653654098510742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2159, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_842268228", + "mask_path": "../../mask/hdr_front_02159.png" + }, + { + "file_path": "../../rgb/hdr_front_02160.png", + "transform_matrix": [ + [ + 0.986891508102417, + -0.02914351038634777, + -0.1587321013212204, + -25.039527893066406 + ], + [ + 0.16023385524749756, + 0.05966232717037201, + 0.9852743744850159, + -33.32047653198242 + ], + [ + -0.019244028255343437, + -0.9977931380271912, + 0.06355002522468567, + -18.665205001831055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2160, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_942267656", + "mask_path": "../../mask/hdr_front_02160.png" + }, + { + "file_path": "../../rgb/hdr_front_02161.png", + "transform_matrix": [ + [ + 0.9870909452438354, + -0.038140371441841125, + -0.15555323660373688, + -25.012887954711914 + ], + [ + 0.15759648382663727, + 0.05819808319211006, + 0.9857871532440186, + -33.42808151245117 + ], + [ + -0.02854538895189762, + -0.9975761771202087, + 0.06345758587121964, + -18.677780151367188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2161, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_42268514", + "mask_path": "../../mask/hdr_front_02161.png" + }, + { + "file_path": "../../rgb/hdr_front_02162.png", + "transform_matrix": [ + [ + 0.9864878058433533, + -0.04033248871564865, + -0.15879277884960175, + -24.98489761352539 + ], + [ + 0.1609504073858261, + 0.05750616267323494, + 0.985285758972168, + -33.509735107421875 + ], + [ + -0.03060746192932129, + -0.9975301027297974, + 0.06322064250707626, + -18.685321807861328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2162, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_142267704", + "mask_path": "../../mask/hdr_front_02162.png" + }, + { + "file_path": "../../rgb/hdr_front_02163.png", + "transform_matrix": [ + [ + 0.9864181280136108, + -0.03716868907213211, + -0.1599927693605423, + -24.959245681762695 + ], + [ + 0.1619923710823059, + 0.05907703563570976, + 0.9850220680236816, + -33.60232162475586 + ], + [ + -0.027160078287124634, + -0.9975613355636597, + 0.0642957091331482, + -18.691692352294922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2163, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_242268085", + "mask_path": "../../mask/hdr_front_02163.png" + }, + { + "file_path": "../../rgb/hdr_front_02164.png", + "transform_matrix": [ + [ + 0.9876388907432556, + -0.03279118612408638, + -0.15327759087085724, + -24.9396915435791 + ], + [ + 0.15504293143749237, + 0.060614895075559616, + 0.9860464334487915, + -33.70994567871094 + ], + [ + -0.023042725399136543, + -0.9976224899291992, + 0.06494967639446259, + -18.694623947143555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2164, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_342268466", + "mask_path": "../../mask/hdr_front_02164.png" + }, + { + "file_path": "../../rgb/hdr_front_02165.png", + "transform_matrix": [ + [ + 0.9892796277999878, + -0.026263121515512466, + -0.14365269243717194, + -24.92416763305664 + ], + [ + 0.1449875831604004, + 0.059105318039655685, + 0.9876665472984314, + -33.79536819458008 + ], + [ + -0.017448564991354942, + -0.9979062080383301, + 0.062279511243104935, + -18.69671058654785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2165, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_442268133", + "mask_path": "../../mask/hdr_front_02165.png" + }, + { + "file_path": "../../rgb/hdr_front_02166.png", + "transform_matrix": [ + [ + 0.9906097650527954, + -0.027762509882450104, + -0.13387155532836914, + -24.90791130065918 + ], + [ + 0.13521000742912292, + 0.053810734301805496, + 0.98935467004776, + -33.89263916015625 + ], + [ + -0.020263241603970528, + -0.9981651902198792, + 0.05705920234322548, + -18.702442169189453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2166, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_542267322", + "mask_path": "../../mask/hdr_front_02166.png" + }, + { + "file_path": "../../rgb/hdr_front_02167.png", + "transform_matrix": [ + [ + 0.9904670119285583, + -0.03834132105112076, + -0.1323063224554062, + -24.88836669921875 + ], + [ + 0.13437312841415405, + 0.05756649002432823, + 0.9892572164535522, + -34.010684967041016 + ], + [ + -0.03031301498413086, + -0.9976052045822144, + 0.06216975674033165, + -18.718473434448242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2167, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_642267227", + "mask_path": "../../mask/hdr_front_02167.png" + }, + { + "file_path": "../../rgb/hdr_front_02168.png", + "transform_matrix": [ + [ + 0.9896345734596252, + -0.04610257223248482, + -0.13600684702396393, + -24.869230270385742 + ], + [ + 0.13870568573474884, + 0.06151165813207626, + 0.9884214997291565, + -34.09804153442383 + ], + [ + -0.03720276057720184, + -0.9970410466194153, + 0.06726875901222229, + -18.735157012939453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2168, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_742267847", + "mask_path": "../../mask/hdr_front_02168.png" + }, + { + "file_path": "../../rgb/hdr_front_02169.png", + "transform_matrix": [ + [ + 0.9890421032905579, + -0.04674374684691429, + -0.14003834128379822, + -24.85173797607422 + ], + [ + 0.14271174371242523, + 0.05982439965009689, + 0.9879546761512756, + -34.177860260009766 + ], + [ + -0.03780299425125122, + -0.9971139430999756, + 0.0658397376537323, + -18.74955940246582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2169, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_842267513", + "mask_path": "../../mask/hdr_front_02169.png" + }, + { + "file_path": "../../rgb/hdr_front_02170.png", + "transform_matrix": [ + [ + 0.9894329905509949, + -0.048397187143564224, + -0.1366754174232483, + -24.840927124023438 + ], + [ + 0.13959835469722748, + 0.06328407675027847, + 0.9881839156150818, + -34.28386306762695 + ], + [ + -0.03917594254016876, + -0.9968213438987732, + 0.0693715289235115, + -18.74887466430664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2170, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_942267417", + "mask_path": "../../mask/hdr_front_02170.png" + }, + { + "file_path": "../../rgb/hdr_front_02171.png", + "transform_matrix": [ + [ + 0.9908291101455688, + -0.04495643451809883, + -0.12742233276367188, + -24.835800170898438 + ], + [ + 0.13018453121185303, + 0.06506319344043732, + 0.9893526434898376, + -34.37647247314453 + ], + [ + -0.03618726506829262, + -0.9968679547309875, + 0.07031914591789246, + -18.744068145751953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2171, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_42267560", + "mask_path": "../../mask/hdr_front_02171.png" + }, + { + "file_path": "../../rgb/hdr_front_02172.png", + "transform_matrix": [ + [ + 0.9922968745231628, + -0.04199270159006119, + -0.11654869467020035, + -24.828012466430664 + ], + [ + 0.11902176588773727, + 0.062201183289289474, + 0.9909414649009705, + -34.447418212890625 + ], + [ + -0.03436283394694328, + -0.9971798658370972, + 0.06672009080648422, + -18.74884605407715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2172, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_142266511", + "mask_path": "../../mask/hdr_front_02172.png" + }, + { + "file_path": "../../rgb/hdr_front_02173.png", + "transform_matrix": [ + [ + 0.9931955933570862, + -0.04774147644639015, + -0.1062234565615654, + -24.82321548461914 + ], + [ + 0.10899710655212402, + 0.05982821434736252, + 0.9922399520874023, + -34.53483581542969 + ], + [ + -0.04101584106683731, + -0.9970663785934448, + 0.06462478637695312, + -18.756467819213867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2173, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_242265224", + "mask_path": "../../mask/hdr_front_02173.png" + }, + { + "file_path": "../../rgb/hdr_front_02174.png", + "transform_matrix": [ + [ + 0.9928010106086731, + -0.05842394754290581, + -0.10456003248691559, + -24.813873291015625 + ], + [ + 0.10828350484371185, + 0.06468254327774048, + 0.9920135736465454, + -34.636592864990234 + ], + [ + -0.05119413137435913, + -0.9961941838264465, + 0.07054323703050613, + -18.771413803100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2174, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_342264175", + "mask_path": "../../mask/hdr_front_02174.png" + }, + { + "file_path": "../../rgb/hdr_front_02175.png", + "transform_matrix": [ + [ + 0.9921891093254089, + -0.0642404779791832, + -0.10692974179983139, + -24.803604125976562 + ], + [ + 0.1111438199877739, + 0.06605591624975204, + 0.991606593132019, + -34.71536636352539 + ], + [ + -0.056637927889823914, + -0.9957458972930908, + 0.07267989218235016, + -18.78230857849121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2175, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_442263603", + "mask_path": "../../mask/hdr_front_02175.png" + }, + { + "file_path": "../../rgb/hdr_front_02176.png", + "transform_matrix": [ + [ + 0.9919950366020203, + -0.06338289380073547, + -0.1092175841331482, + -24.786067962646484 + ], + [ + 0.1132371723651886, + 0.06372474879026413, + 0.9915223121643066, + -34.80004119873047 + ], + [ + -0.0558856837451458, + -0.9959527254104614, + 0.0703919306397438, + -18.78922462463379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2176, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_542263746", + "mask_path": "../../mask/hdr_front_02176.png" + }, + { + "file_path": "../../rgb/hdr_front_02177.png", + "transform_matrix": [ + [ + 0.9924742579460144, + -0.06335566192865372, + -0.1047903522849083, + -24.77875518798828 + ], + [ + 0.10893893241882324, + 0.06601380556821823, + 0.9918540716171265, + -34.91127395629883 + ], + [ + -0.05592196062207222, + -0.9958053231239319, + 0.07241889089345932, + -18.794452667236328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2177, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_642267227", + "mask_path": "../../mask/hdr_front_02177.png" + }, + { + "file_path": "../../rgb/hdr_front_02178.png", + "transform_matrix": [ + [ + 0.993765652179718, + -0.05967603996396065, + -0.0941736027598381, + -24.78125762939453 + ], + [ + 0.09808031469583511, + 0.06631869822740555, + 0.9929662942886353, + -35.00395965576172 + ], + [ + -0.05301082506775856, + -0.9960123300552368, + 0.07175828516483307, + -18.7912540435791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2178, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_742264032", + "mask_path": "../../mask/hdr_front_02178.png" + }, + { + "file_path": "../../rgb/hdr_front_02179.png", + "transform_matrix": [ + [ + 0.9950965046882629, + -0.05575631186366081, + -0.08169548958539963, + -24.77741050720215 + ], + [ + 0.08521755784749985, + 0.06402157247066498, + 0.9943034052848816, + -35.07017135620117 + ], + [ + -0.05020841956138611, + -0.9963898062705994, + 0.06845905631780624, + -18.799015045166016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2179, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_842263698", + "mask_path": "../../mask/hdr_front_02179.png" + }, + { + "file_path": "../../rgb/hdr_front_02180.png", + "transform_matrix": [ + [ + 0.9958734512329102, + -0.05722614377737045, + -0.07043624669313431, + -24.772850036621094 + ], + [ + 0.07385312765836716, + 0.059965264052152634, + 0.9954646229743958, + -35.15970230102539 + ], + [ + -0.05274287611246109, + -0.9965587258338928, + 0.06394413858652115, + -18.806217193603516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2180, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_942267417", + "mask_path": "../../mask/hdr_front_02180.png" + }, + { + "file_path": "../../rgb/hdr_front_02181.png", + "transform_matrix": [ + [ + 0.9956147074699402, + -0.063776396214962, + -0.06843876093626022, + -24.760595321655273 + ], + [ + 0.07242384552955627, + 0.06242164969444275, + 0.9954187273979187, + -35.26642990112305 + ], + [ + -0.059212155640125275, + -0.9960101842880249, + 0.06676683574914932, + -18.816884994506836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2181, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_42267799", + "mask_path": "../../mask/hdr_front_02181.png" + }, + { + "file_path": "../../rgb/hdr_left_02102.png", + "transform_matrix": [ + [ + -0.01282197330147028, + -0.017776699736714363, + 0.9997597932815552, + -26.108078002929688 + ], + [ + -0.9976512789726257, + 0.06750912219285965, + -0.011594553478062153, + -25.27956771850586 + ], + [ + -0.06728677451610565, + -0.9975603222846985, + -0.018600543960928917, + -18.087541580200195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2102, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_642269134", + "mask_path": "../../mask/hdr_left_02102.png" + }, + { + "file_path": "../../rgb/hdr_left_02103.png", + "transform_matrix": [ + [ + -0.010947663336992264, + -0.013833962380886078, + 0.9998443126678467, + -26.084918975830078 + ], + [ + -0.9972532987594604, + 0.07340080291032791, + -0.009903728030622005, + -25.379413604736328 + ], + [ + -0.073252372443676, + -0.9972066283226013, + -0.014599530957639217, + -18.091724395751953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2103, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_742267608", + "mask_path": "../../mask/hdr_left_02103.png" + }, + { + "file_path": "../../rgb/hdr_left_02104.png", + "transform_matrix": [ + [ + -0.020791571587324142, + -0.006481289863586426, + 0.999762773513794, + -26.071945190429688 + ], + [ + -0.9968838691711426, + 0.07624249160289764, + -0.020237425342202187, + -25.478931427001953 + ], + [ + -0.07609324157238007, + -0.9970682859420776, + -0.008046291768550873, + -18.08879280090332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2104, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_842267513", + "mask_path": "../../mask/hdr_left_02104.png" + }, + { + "file_path": "../../rgb/hdr_left_02105.png", + "transform_matrix": [ + [ + -0.0321844220161438, + -0.004909766837954521, + 0.9994698762893677, + -26.05647850036621 + ], + [ + -0.9969222545623779, + 0.07167892158031464, + -0.031750261783599854, + -25.564163208007812 + ], + [ + -0.07148503512144089, + -0.9974157214164734, + -0.0072015984915196896, + -18.081693649291992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2105, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_942267417", + "mask_path": "../../mask/hdr_left_02105.png" + }, + { + "file_path": "../../rgb/hdr_left_02106.png", + "transform_matrix": [ + [ + -0.03869543969631195, + -0.014536773785948753, + 0.9991453289985657, + -26.03420066833496 + ], + [ + -0.996911883354187, + 0.06893777847290039, + -0.03760595619678497, + -25.688627243041992 + ], + [ + -0.06833217293024063, + -0.997515082359314, + -0.017159458249807358, + -18.096614837646484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2106, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_42267322", + "mask_path": "../../mask/hdr_left_02106.png" + }, + { + "file_path": "../../rgb/hdr_left_02107.png", + "transform_matrix": [ + [ + -0.03778017684817314, + -0.020859498530626297, + 0.9990682601928711, + -26.009584426879883 + ], + [ + -0.9968622922897339, + 0.07037817686796188, + -0.03622733801603317, + -25.797443389892578 + ], + [ + -0.06955691426992416, + -0.9973022937774658, + -0.023452945053577423, + -18.11705207824707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2107, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_142267465", + "mask_path": "../../mask/hdr_left_02107.png" + }, + { + "file_path": "../../rgb/hdr_left_02108.png", + "transform_matrix": [ + [ + -0.03433041274547577, + -0.019197149202227592, + 0.9992260932922363, + -25.983842849731445 + ], + [ + -0.9970375299453735, + 0.06951658427715302, + -0.03291964903473854, + -25.880695343017578 + ], + [ + -0.06883082538843155, + -0.9973961114883423, + -0.02152680605649948, + -18.129247665405273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2108, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_242267608", + "mask_path": "../../mask/hdr_left_02108.png" + }, + { + "file_path": "../../rgb/hdr_left_02109.png", + "transform_matrix": [ + [ + -0.037672534584999084, + -0.01808079704642296, + 0.9991265535354614, + -25.96669578552246 + ], + [ + -0.9965501427650452, + 0.07466982305049896, + -0.03622409328818321, + -25.990596771240234 + ], + [ + -0.07394963502883911, + -0.9970444440841675, + -0.02083142101764679, + -18.133098602294922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2109, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_342267036", + "mask_path": "../../mask/hdr_left_02109.png" + }, + { + "file_path": "../../rgb/hdr_left_02110.png", + "transform_matrix": [ + [ + -0.04575026035308838, + -0.015767328441143036, + 0.9988284707069397, + -25.956104278564453 + ], + [ + -0.9960427284240723, + 0.07698619365692139, + -0.044407378882169724, + -26.096561431884766 + ], + [ + -0.07619580626487732, + -0.9969074726104736, + -0.01922706700861454, + -18.13528060913086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2110, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_442267656", + "mask_path": "../../mask/hdr_left_02110.png" + }, + { + "file_path": "../../rgb/hdr_left_02111.png", + "transform_matrix": [ + [ + -0.05561088025569916, + -0.012183494865894318, + 0.9983781576156616, + -25.94436264038086 + ], + [ + -0.9958497881889343, + 0.0728287473320961, + -0.05458128824830055, + -26.178306579589844 + ], + [ + -0.07204563915729523, + -0.9972701072692871, + -0.016182998195290565, + -18.14068031311035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2111, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_542267322", + "mask_path": "../../mask/hdr_left_02111.png" + }, + { + "file_path": "../../rgb/hdr_left_02112.png", + "transform_matrix": [ + [ + -0.06359467655420303, + -0.019713537767529488, + 0.9977810978889465, + -25.928613662719727 + ], + [ + -0.9956740736961365, + 0.06911954283714294, + -0.06209474802017212, + -26.28843879699707 + ], + [ + -0.06774205714464188, + -0.9974136352539062, + -0.024023888632655144, + -18.148717880249023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2112, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_642267465", + "mask_path": "../../mask/hdr_left_02112.png" + }, + { + "file_path": "../../rgb/hdr_left_02113.png", + "transform_matrix": [ + [ + -0.06449693441390991, + -0.030194202437996864, + 0.9974609613418579, + -25.912330627441406 + ], + [ + -0.9955122470855713, + 0.07130958884954453, + -0.06221230328083038, + -26.404430389404297 + ], + [ + -0.06925007700920105, + -0.9969971776008606, + -0.03465794026851654, + -18.1619873046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2113, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_742268323", + "mask_path": "../../mask/hdr_left_02113.png" + }, + { + "file_path": "../../rgb/hdr_left_02114.png", + "transform_matrix": [ + [ + -0.06072177365422249, + -0.032534025609493256, + 0.9976244568824768, + -25.893075942993164 + ], + [ + -0.9957109689712524, + 0.07186957448720932, + -0.058261506259441376, + -26.49295997619629 + ], + [ + -0.06980335712432861, + -0.9968833327293396, + -0.03675852343440056, + -18.17005729675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2114, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_842268466", + "mask_path": "../../mask/hdr_left_02114.png" + }, + { + "file_path": "../../rgb/hdr_left_02115.png", + "transform_matrix": [ + [ + -0.05877341330051422, + -0.029314521700143814, + 0.9978408217430115, + -25.87588119506836 + ], + [ + -0.9958040118217468, + 0.07195597887039185, + -0.056539516896009445, + -26.590028762817383 + ], + [ + -0.07014317810535431, + -0.9969769716262817, + -0.033420611172914505, + -18.187496185302734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2115, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_942268610", + "mask_path": "../../mask/hdr_left_02115.png" + }, + { + "file_path": "../../rgb/hdr_left_02116.png", + "transform_matrix": [ + [ + -0.06572379171848297, + -0.02590244635939598, + 0.9975016713142395, + -25.86945915222168 + ], + [ + -0.9952155947685242, + 0.07412660866975784, + -0.0636482685804367, + -26.70831871032715 + ], + [ + -0.072292760014534, + -0.9969123601913452, + -0.030650395900011063, + -18.18693733215332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2116, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_42268514", + "mask_path": "../../mask/hdr_left_02116.png" + }, + { + "file_path": "../../rgb/hdr_left_02117.png", + "transform_matrix": [ + [ + -0.07646494358778, + -0.020370781421661377, + 0.9968641996383667, + -25.861465454101562 + ], + [ + -0.9944499731063843, + 0.0740208551287651, + -0.07476712763309479, + -26.799711227416992 + ], + [ + -0.07226566970348358, + -0.9970486760139465, + -0.025917720049619675, + -18.186861038208008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2117, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_142267942", + "mask_path": "../../mask/hdr_left_02117.png" + }, + { + "file_path": "../../rgb/hdr_left_02118.png", + "transform_matrix": [ + [ + -0.0888940840959549, + -0.022712502628564835, + 0.9957820773124695, + -25.853490829467773 + ], + [ + -0.9937134385108948, + 0.07032961398363113, + -0.08710527420043945, + -26.879901885986328 + ], + [ + -0.06805458664894104, + -0.9972652792930603, + -0.02882160060107708, + -18.19234848022461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2118, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_242267608", + "mask_path": "../../mask/hdr_left_02118.png" + }, + { + "file_path": "../../rgb/hdr_left_02119.png", + "transform_matrix": [ + [ + -0.09427103400230408, + -0.03252305090427399, + 0.9950152039527893, + -25.842512130737305 + ], + [ + -0.9933103322982788, + 0.07002495229244232, + -0.09182067960500717, + -27.0025634765625 + ], + [ + -0.06668959558010101, + -0.9970149993896484, + -0.03890681266784668, + -18.206960678100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2119, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_342268943", + "mask_path": "../../mask/hdr_left_02119.png" + }, + { + "file_path": "../../rgb/hdr_left_02120.png", + "transform_matrix": [ + [ + -0.09348984062671661, + -0.040024153888225555, + 0.9948154091835022, + -25.82773208618164 + ], + [ + -0.9932852983474731, + 0.07213924825191498, + -0.0904436782002449, + -27.10568618774414 + ], + [ + -0.06814530491828918, + -0.9965912103652954, + -0.046499695628881454, + -18.22079849243164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2120, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_442267656", + "mask_path": "../../mask/hdr_left_02120.png" + }, + { + "file_path": "../../rgb/hdr_left_02121.png", + "transform_matrix": [ + [ + -0.09008357673883438, + -0.039520882070064545, + 0.9951497316360474, + -25.811874389648438 + ], + [ + -0.9936491250991821, + 0.07121510058641434, + -0.08711953461170197, + -27.1921329498291 + ], + [ + -0.0674266442656517, + -0.9966777563095093, + -0.04568519815802574, + -18.235401153564453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2121, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_542268276", + "mask_path": "../../mask/hdr_left_02121.png" + }, + { + "file_path": "../../rgb/hdr_left_02122.png", + "transform_matrix": [ + [ + -0.09328573197126389, + -0.03651103749871254, + 0.9949696660041809, + -25.801254272460938 + ], + [ + -0.9932093024253845, + 0.07318870723247528, + -0.0904349759221077, + -27.311838150024414 + ], + [ + -0.06951866298913956, + -0.9966495633125305, + -0.043090566992759705, + -18.23941421508789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2122, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_642267465", + "mask_path": "../../mask/hdr_left_02122.png" + }, + { + "file_path": "../../rgb/hdr_left_02123.png", + "transform_matrix": [ + [ + -0.10328087210655212, + -0.030670661479234695, + 0.9941791892051697, + -25.80013656616211 + ], + [ + -0.9922090768814087, + 0.07319062948226929, + -0.10081824660301208, + -27.422876358032227 + ], + [ + -0.06967244297266006, + -0.9968463182449341, + -0.03799089789390564, + -18.23736000061035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2123, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_742268323", + "mask_path": "../../mask/hdr_left_02123.png" + }, + { + "file_path": "../../rgb/hdr_left_02124.png", + "transform_matrix": [ + [ + -0.11520209908485413, + -0.025851860642433167, + 0.9930055737495422, + -25.797704696655273 + ], + [ + -0.9911941289901733, + 0.06869565695524216, + -0.1132035180926323, + -27.50542640686035 + ], + [ + -0.06528864055871964, + -0.9973026514053345, + -0.0335380919277668, + -18.238977432250977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2124, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_842267751", + "mask_path": "../../mask/hdr_left_02124.png" + }, + { + "file_path": "../../rgb/hdr_left_02125.png", + "transform_matrix": [ + [ + -0.12192107737064362, + -0.030598977580666542, + 0.9920679926872253, + -25.785634994506836 + ], + [ + -0.9904730916023254, + 0.06821797043085098, + -0.11962096393108368, + -27.627046585083008 + ], + [ + -0.06401658058166504, + -0.9972010850906372, + -0.03862467035651207, + -18.248912811279297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2125, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_942267894", + "mask_path": "../../mask/hdr_left_02125.png" + }, + { + "file_path": "../../rgb/hdr_left_02126.png", + "transform_matrix": [ + [ + -0.12148487567901611, + -0.03758395090699196, + 0.9918814301490784, + -25.77022361755371 + ], + [ + -0.9903862476348877, + 0.07119066268205643, + -0.11860420554876328, + -27.742738723754883 + ], + [ + -0.0661550834774971, + -0.9967544674873352, + -0.04587120562791824, + -18.26590919494629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2126, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_42267084", + "mask_path": "../../mask/hdr_left_02126.png" + }, + { + "file_path": "../../rgb/hdr_left_02127.png", + "transform_matrix": [ + [ + -0.11767420917749405, + -0.03914427384734154, + 0.9922805428504944, + -25.754161834716797 + ], + [ + -0.9909399151802063, + 0.06976758688688278, + -0.11476296186447144, + -27.82895278930664 + ], + [ + -0.06473670899868011, + -0.9967949986457825, + -0.04699947312474251, + -18.27773666381836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2127, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_142266988", + "mask_path": "../../mask/hdr_left_02127.png" + }, + { + "file_path": "../../rgb/hdr_left_02128.png", + "transform_matrix": [ + [ + -0.11793741583824158, + -0.036817312240600586, + 0.9923381805419922, + -25.747411727905273 + ], + [ + -0.9909220933914185, + 0.06930162012577057, + -0.11519791930913925, + -27.930335998535156 + ], + [ + -0.06452936679124832, + -0.9969161748886108, + -0.04465634003281593, + -18.29102897644043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2128, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_242267370", + "mask_path": "../../mask/hdr_left_02128.png" + }, + { + "file_path": "../../rgb/hdr_left_02129.png", + "transform_matrix": [ + [ + -0.1259526014328003, + -0.03243732452392578, + 0.9915057420730591, + -25.749603271484375 + ], + [ + -0.9898908734321594, + 0.06980490684509277, + -0.12346377223730087, + -28.039588928222656 + ], + [ + -0.06520712375640869, + -0.9970331788063049, + -0.04090151935815811, + -18.283367156982422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2129, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_342267990", + "mask_path": "../../mask/hdr_left_02129.png" + }, + { + "file_path": "../../rgb/hdr_left_02130.png", + "transform_matrix": [ + [ + -0.1362891048192978, + -0.027039501816034317, + 0.9902999401092529, + -25.747440338134766 + ], + [ + -0.9885748624801636, + 0.06867561489343643, + -0.13417655229568481, + -28.118379592895508 + ], + [ + -0.06438139081001282, + -0.9972725510597229, + -0.03609030693769455, + -18.279769897460938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2130, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_442267179", + "mask_path": "../../mask/hdr_left_02130.png" + }, + { + "file_path": "../../rgb/hdr_left_02131.png", + "transform_matrix": [ + [ + -0.1473512500524521, + -0.028573978692293167, + 0.9886714220046997, + -25.745466232299805 + ], + [ + -0.9872860312461853, + 0.06449560821056366, + -0.14528076350688934, + -28.19161033630371 + ], + [ + -0.05961370840668678, + -0.9975088834762573, + -0.037714194506406784, + -18.282085418701172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2131, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_542267799", + "mask_path": "../../mask/hdr_left_02131.png" + }, + { + "file_path": "../../rgb/hdr_left_02132.png", + "transform_matrix": [ + [ + -0.14700333774089813, + -0.03660489246249199, + 0.9884584546089172, + -25.73997688293457 + ], + [ + -0.987495481967926, + 0.06296055763959885, + -0.1445285528898239, + -28.308135986328125 + ], + [ + -0.05694343149662018, + -0.9973445534706116, + -0.04540257528424263, + -18.29337501525879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2132, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_642267942", + "mask_path": "../../mask/hdr_left_02132.png" + }, + { + "file_path": "../../rgb/hdr_left_02133.png", + "transform_matrix": [ + [ + -0.13834676146507263, + -0.04400908946990967, + 0.9894055724143982, + -25.730266571044922 + ], + [ + -0.988771915435791, + 0.06311112642288208, + -0.13545095920562744, + -28.410429000854492 + ], + [ + -0.05648142099380493, + -0.9970357418060303, + -0.05224617198109627, + -18.307472229003906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2133, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_742268085", + "mask_path": "../../mask/hdr_left_02133.png" + }, + { + "file_path": "../../rgb/hdr_left_02134.png", + "transform_matrix": [ + [ + -0.12881088256835938, + -0.04402362182736397, + 0.9906914830207825, + -25.72101593017578 + ], + [ + -0.9901313781738281, + 0.061321940273046494, + -0.12601307034492493, + -28.48966407775879 + ], + [ + -0.055203575640916824, + -0.9971467852592468, + -0.051488105207681656, + -18.32086753845215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2134, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_842267751", + "mask_path": "../../mask/hdr_left_02134.png" + }, + { + "file_path": "../../rgb/hdr_left_02135.png", + "transform_matrix": [ + [ + -0.12480665743350983, + -0.03624061867594719, + 0.9915189743041992, + -25.72130584716797 + ], + [ + -0.990319550037384, + 0.06573815643787384, + -0.12225289642810822, + -28.59862518310547 + ], + [ + -0.06075011193752289, + -0.9971786141395569, + -0.04409434646368027, + -18.328203201293945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2135, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_942267656", + "mask_path": "../../mask/hdr_left_02135.png" + }, + { + "file_path": "../../rgb/hdr_left_02136.png", + "transform_matrix": [ + [ + -0.1229320839047432, + -0.028954660519957542, + 0.9919925332069397, + -25.71860122680664 + ], + [ + -0.9904594421386719, + 0.06629960238933563, + -0.12080691754817963, + -28.70199203491211 + ], + [ + -0.06227078288793564, + -0.9973795413970947, + -0.03682876378297806, + -18.323877334594727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2136, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_42267322", + "mask_path": "../../mask/hdr_left_02136.png" + }, + { + "file_path": "../../rgb/hdr_left_02137.png", + "transform_matrix": [ + [ + -0.12161973863840103, + -0.026140542700886726, + 0.9922323822975159, + -25.709177017211914 + ], + [ + -0.9907507300376892, + 0.06380689144134521, + -0.11975710839033127, + -28.77289390563965 + ], + [ + -0.06018075346946716, + -0.9976199269294739, + -0.03365893289446831, + -18.328798294067383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2137, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_142268180", + "mask_path": "../../mask/hdr_left_02137.png" + }, + { + "file_path": "../../rgb/hdr_left_02138.png", + "transform_matrix": [ + [ + -0.12025190144777298, + -0.02664385549724102, + 0.992385745048523, + -25.702983856201172 + ], + [ + -0.9910533428192139, + 0.061525698751211166, + -0.11843858659267426, + -28.85245132446289 + ], + [ + -0.05790156498551369, + -0.9977498650550842, + -0.033804066479206085, + -18.346769332885742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2138, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_242267370", + "mask_path": "../../mask/hdr_left_02138.png" + }, + { + "file_path": "../../rgb/hdr_left_02139.png", + "transform_matrix": [ + [ + -0.1085338145494461, + -0.03339071944355965, + 0.9935318231582642, + -25.68703842163086 + ], + [ + -0.9921615719795227, + 0.06590445339679718, + -0.1061691865324974, + -28.964937210083008 + ], + [ + -0.06193310022354126, + -0.9972671270370483, + -0.04028184711933136, + -18.35367774963379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2139, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_342267274", + "mask_path": "../../mask/hdr_left_02139.png" + }, + { + "file_path": "../../rgb/hdr_left_02140.png", + "transform_matrix": [ + [ + -0.09598199278116226, + -0.0366814099252224, + 0.994706928730011, + -25.669103622436523 + ], + [ + -0.993323028087616, + 0.06778991967439651, + -0.09334858506917953, + -29.053585052490234 + ], + [ + -0.06400693953037262, + -0.9970251321792603, + -0.04294309765100479, + -18.359209060668945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2140, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_442267417", + "mask_path": "../../mask/hdr_left_02140.png" + }, + { + "file_path": "../../rgb/hdr_left_02141.png", + "transform_matrix": [ + [ + -0.09028197079896927, + -0.03262512758374214, + 0.9953817129135132, + -25.650651931762695 + ], + [ + -0.9939191341400146, + 0.06621483713388443, + -0.0879790335893631, + -29.13091468811035 + ], + [ + -0.06303869932889938, + -0.9972718954086304, + -0.03840474411845207, + -18.364398956298828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2141, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_542267799", + "mask_path": "../../mask/hdr_left_02141.png" + }, + { + "file_path": "../../rgb/hdr_left_02142.png", + "transform_matrix": [ + [ + -0.0942000299692154, + -0.02723650634288788, + 0.9951805472373962, + -25.639759063720703 + ], + [ + -0.9931243658065796, + 0.07235558331012726, + -0.09202514588832855, + -29.229965209960938 + ], + [ + -0.06950043141841888, + -0.9970070123672485, + -0.03386513143777847, + -18.368791580200195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2142, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_642266750", + "mask_path": "../../mask/hdr_left_02142.png" + }, + { + "file_path": "../../rgb/hdr_left_02143.png", + "transform_matrix": [ + [ + -0.10403197258710861, + -0.019472671672701836, + 0.9943832755088806, + -25.634967803955078 + ], + [ + -0.9920174479484558, + 0.0736711397767067, + -0.10234177112579346, + -29.32158660888672 + ], + [ + -0.07126448303461075, + -0.9970924854278564, + -0.026981381699442863, + -18.37032699584961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2143, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_742267131", + "mask_path": "../../mask/hdr_left_02143.png" + }, + { + "file_path": "../../rgb/hdr_left_02144.png", + "transform_matrix": [ + [ + -0.11588843911886215, + -0.012858198955655098, + 0.9931789636611938, + -25.627456665039062 + ], + [ + -0.9908685684204102, + 0.07087254524230957, + -0.1147012934088707, + -29.391000747680664 + ], + [ + -0.0689142644405365, + -0.997402548789978, + -0.020954089239239693, + -18.375171661376953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2144, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_842267036", + "mask_path": "../../mask/hdr_left_02144.png" + }, + { + "file_path": "../../rgb/hdr_left_02145.png", + "transform_matrix": [ + [ + -0.1282421350479126, + -0.017300700768828392, + 0.9915919303894043, + -25.615684509277344 + ], + [ + -0.9897056221961975, + 0.06628591567277908, + -0.12684166431427002, + -29.493640899658203 + ], + [ + -0.06353412568569183, + -0.997650682926178, + -0.025623245164752007, + -18.382627487182617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2145, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_942267417", + "mask_path": "../../mask/hdr_left_02145.png" + }, + { + "file_path": "../../rgb/hdr_left_02146.png", + "transform_matrix": [ + [ + -0.13121894001960754, + -0.025282366201281548, + 0.9910310506820679, + -25.599428176879883 + ], + [ + -0.9891470074653625, + 0.06999807804822922, + -0.12918376922607422, + -29.603307723999023 + ], + [ + -0.06610418856143951, + -0.9972267150878906, + -0.034193046391010284, + -18.394636154174805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2146, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_42266845", + "mask_path": "../../mask/hdr_left_02146.png" + }, + { + "file_path": "../../rgb/hdr_left_02147.png", + "transform_matrix": [ + [ + -0.1277770847082138, + -0.02511513978242874, + 0.9914849400520325, + -25.58387565612793 + ], + [ + -0.989375114440918, + 0.07313124090433121, + -0.12565270066261292, + -29.68433952331543 + ], + [ + -0.06935272365808487, + -0.9970060586929321, + -0.03419278934597969, + -18.407119750976562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2147, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_142266988", + "mask_path": "../../mask/hdr_left_02147.png" + }, + { + "file_path": "../../rgb/hdr_left_02148.png", + "transform_matrix": [ + [ + -0.12653493881225586, + -0.01840483583509922, + 0.9917914271354675, + -25.57615089416504 + ], + [ + -0.9893728494644165, + 0.07453535497188568, + -0.12484320253133774, + -29.77452278137207 + ], + [ + -0.07162579894065857, + -0.997048556804657, + -0.02764056622982025, + -18.418804168701172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2148, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_242268323", + "mask_path": "../../mask/hdr_left_02148.png" + }, + { + "file_path": "../../rgb/hdr_left_02149.png", + "transform_matrix": [ + [ + -0.13281482458114624, + -0.01717187464237213, + 0.9909920692443848, + -25.573671340942383 + ], + [ + -0.9883438944816589, + 0.0773559957742691, + -0.1311194896697998, + -29.878908157348633 + ], + [ + -0.07440760731697083, + -0.9968556761741638, + -0.027245737612247467, + -18.4223575592041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2149, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_342267274", + "mask_path": "../../mask/hdr_left_02149.png" + }, + { + "file_path": "../../rgb/hdr_left_02150.png", + "transform_matrix": [ + [ + -0.14205177128314972, + -0.01224597543478012, + 0.989783525466919, + -25.571516036987305 + ], + [ + -0.9870668649673462, + 0.0768066942691803, + -0.14071159064769745, + -29.96099853515625 + ], + [ + -0.07429883629083633, + -0.9969708323478699, + -0.02299811691045761, + -18.42218017578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2150, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_442267656", + "mask_path": "../../mask/hdr_left_02150.png" + }, + { + "file_path": "../../rgb/hdr_left_02151.png", + "transform_matrix": [ + [ + -0.15372243523597717, + -0.011238901875913143, + 0.9880501627922058, + -25.56950569152832 + ], + [ + -0.9857258200645447, + 0.0712241604924202, + -0.15255065262317657, + -30.03666877746582 + ], + [ + -0.06865853816270828, + -0.9973970651626587, + -0.02202722802758217, + -18.42519187927246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2151, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_542267322", + "mask_path": "../../mask/hdr_left_02151.png" + }, + { + "file_path": "../../rgb/hdr_left_02152.png", + "transform_matrix": [ + [ + -0.15903757512569427, + -0.0189982857555151, + 0.9870896935462952, + -25.568153381347656 + ], + [ + -0.9850527048110962, + 0.07006127387285233, + -0.15736092627048492, + -30.153261184692383 + ], + [ + -0.06616716086864471, + -0.9973617792129517, + -0.029856685549020767, + -18.435935974121094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2152, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_642268896", + "mask_path": "../../mask/hdr_left_02152.png" + }, + { + "file_path": "../../rgb/hdr_left_02153.png", + "transform_matrix": [ + [ + -0.1513073444366455, + -0.026382658630609512, + 0.9881346821784973, + -25.558801651000977 + ], + [ + -0.9862473011016846, + 0.07128116488456726, + -0.1491151750087738, + -30.252086639404297 + ], + [ + -0.06650132685899734, + -0.9971073269844055, + -0.036805182695388794, + -18.44850730895996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2153, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_742267847", + "mask_path": "../../mask/hdr_left_02153.png" + }, + { + "file_path": "../../rgb/hdr_left_02154.png", + "transform_matrix": [ + [ + -0.1314401626586914, + -0.027406390756368637, + 0.9909452199935913, + -25.539228439331055 + ], + [ + -0.9891419410705566, + 0.06991582363843918, + -0.12926733493804932, + -30.328617095947266 + ], + [ + -0.06574001163244247, + -0.9971763491630554, + -0.03629855811595917, + -18.468059539794922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2154, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_842268943", + "mask_path": "../../mask/hdr_left_02154.png" + }, + { + "file_path": "../../rgb/hdr_left_02155.png", + "transform_matrix": [ + [ + -0.11209776997566223, + -0.02343430556356907, + 0.9934207797050476, + -25.528078079223633 + ], + [ + -0.9913740754127502, + 0.07095701992511749, + -0.11019297689199448, + -30.43640899658203 + ], + [ + -0.0679078921675682, + -0.9972041249275208, + -0.031186282634735107, + -18.471092224121094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2155, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_942267894", + "mask_path": "../../mask/hdr_left_02155.png" + }, + { + "file_path": "../../rgb/hdr_left_02156.png", + "transform_matrix": [ + [ + -0.10250796377658844, + -0.016386952251195908, + 0.9945971965789795, + -25.52686309814453 + ], + [ + -0.9924185276031494, + 0.06983976811170578, + -0.10113273561000824, + -30.545846939086914 + ], + [ + -0.06780517101287842, + -0.9974236488342285, + -0.023421842604875565, + -18.464038848876953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2156, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_42268037", + "mask_path": "../../mask/hdr_left_02156.png" + }, + { + "file_path": "../../rgb/hdr_left_02157.png", + "transform_matrix": [ + [ + -0.09880124777555466, + -0.013016525655984879, + 0.9950220584869385, + -25.518102645874023 + ], + [ + -0.9929375648498535, + 0.06728055328130722, + -0.0977141261100769, + -30.622636795043945 + ], + [ + -0.06567373126745224, + -0.9976492524147034, + -0.019571997225284576, + -18.468442916870117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2157, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_142267227", + "mask_path": "../../mask/hdr_left_02157.png" + }, + { + "file_path": "../../rgb/hdr_left_02158.png", + "transform_matrix": [ + [ + -0.09896928071975708, + -0.016148915514349937, + 0.9949593544006348, + -25.508316040039062 + ], + [ + -0.9931550025939941, + 0.06393478065729141, + -0.09775210916996002, + -30.705934524536133 + ], + [ + -0.06203392520546913, + -0.9978234767913818, + -0.022365955635905266, + -18.470983505249023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2158, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_242268085", + "mask_path": "../../mask/hdr_left_02158.png" + }, + { + "file_path": "../../rgb/hdr_left_02159.png", + "transform_matrix": [ + [ + -0.09129717200994492, + -0.022896893322467804, + 0.9955604672431946, + -25.494815826416016 + ], + [ + -0.9938045144081116, + 0.06572569906711578, + -0.08962450176477432, + -30.82022476196289 + ], + [ + -0.06338178366422653, + -0.9975749850273132, + -0.028755608946084976, + -18.482807159423828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2159, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_342267513", + "mask_path": "../../mask/hdr_left_02159.png" + }, + { + "file_path": "../../rgb/hdr_left_02160.png", + "transform_matrix": [ + [ + -0.0848413035273552, + -0.026895273476839066, + 0.9960314035415649, + -25.481904983520508 + ], + [ + -0.9943060278892517, + 0.06697382777929306, + -0.08288588374853134, + -30.908063888549805 + ], + [ + -0.064478799700737, + -0.9973922371864319, + -0.03242427483201027, + -18.49789810180664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2160, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_442268371", + "mask_path": "../../mask/hdr_left_02160.png" + }, + { + "file_path": "../../rgb/hdr_left_02161.png", + "transform_matrix": [ + [ + -0.0807022675871849, + -0.02367307059466839, + 0.996457040309906, + -25.46053695678711 + ], + [ + -0.9947541356086731, + 0.06495930254459381, + -0.07902108877897263, + -30.986373901367188 + ], + [ + -0.0628584772348404, + -0.9976071119308472, + -0.028791245073080063, + -18.512723922729492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2161, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_542267322", + "mask_path": "../../mask/hdr_left_02161.png" + }, + { + "file_path": "../../rgb/hdr_left_02162.png", + "transform_matrix": [ + [ + -0.08406366407871246, + -0.020041903480887413, + 0.9962587952613831, + -25.447479248046875 + ], + [ + -0.9941763877868652, + 0.06933964788913727, + -0.08249302208423615, + -31.09682846069336 + ], + [ + -0.06742691993713379, + -0.9973917603492737, + -0.025754129514098167, + -18.51464080810547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2162, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_642267942", + "mask_path": "../../mask/hdr_left_02162.png" + }, + { + "file_path": "../../rgb/hdr_left_02163.png", + "transform_matrix": [ + [ + -0.09381214529275894, + -0.01080753467977047, + 0.9955312609672546, + -25.441055297851562 + ], + [ + -0.993244469165802, + 0.06961281597614288, + -0.09284094721078873, + -31.200307846069336 + ], + [ + -0.0682983472943306, + -0.9975156188011169, + -0.017265047878026962, + -18.51152801513672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2163, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_742267847", + "mask_path": "../../mask/hdr_left_02163.png" + }, + { + "file_path": "../../rgb/hdr_left_02164.png", + "transform_matrix": [ + [ + -0.10318250209093094, + -0.003812086535617709, + 0.9946551322937012, + -25.42924690246582 + ], + [ + -0.992587149143219, + 0.06495869904756546, + -0.10271899402141571, + -31.280664443969727 + ], + [ + -0.06421992927789688, + -0.997880756855011, + -0.010486424900591373, + -18.5135498046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2164, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_842267990", + "mask_path": "../../mask/hdr_left_02164.png" + }, + { + "file_path": "../../rgb/hdr_left_02165.png", + "transform_matrix": [ + [ + -0.1051117479801178, + -0.01014358177781105, + 0.9944087862968445, + -25.41425895690918 + ], + [ + -0.9925733208656311, + 0.06264282017946243, + -0.10427873581647873, + -31.397306442260742 + ], + [ + -0.061234813183546066, + -0.9979845285415649, + -0.01665274240076542, + -18.52105140686035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2165, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_942267656", + "mask_path": "../../mask/hdr_left_02165.png" + }, + { + "file_path": "../../rgb/hdr_left_02166.png", + "transform_matrix": [ + [ + -0.09961659461259842, + -0.019595857709646225, + 0.9948328733444214, + -25.39250373840332 + ], + [ + -0.9930834770202637, + 0.06439866870641708, + -0.09817291051149368, + -31.508323669433594 + ], + [ + -0.062142129987478256, + -0.9977318644523621, + -0.025875495746731758, + -18.537397384643555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2166, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_42267799", + "mask_path": "../../mask/hdr_left_02166.png" + }, + { + "file_path": "../../rgb/hdr_left_02167.png", + "transform_matrix": [ + [ + -0.09304351359605789, + -0.02188742533326149, + 0.9954213500022888, + -25.371137619018555 + ], + [ + -0.9937918186187744, + 0.0632895678281784, + -0.09149959683418274, + -31.59507179260254 + ], + [ + -0.06099710240960121, + -0.997755229473114, + -0.027640223503112793, + -18.548171997070312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2167, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_142267704", + "mask_path": "../../mask/hdr_left_02167.png" + }, + { + "file_path": "../../rgb/hdr_left_02168.png", + "transform_matrix": [ + [ + -0.09164851158857346, + -0.02049184963107109, + 0.9955805540084839, + -25.3613338470459 + ], + [ + -0.9937398433685303, + 0.06602611392736435, + -0.09012006223201752, + -31.693984985351562 + ], + [ + -0.0638875812292099, + -0.9976075291633606, + -0.026414761319756508, + -18.553377151489258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2168, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_242267847", + "mask_path": "../../mask/hdr_left_02168.png" + }, + { + "file_path": "../../rgb/hdr_left_02169.png", + "transform_matrix": [ + [ + -0.09878192096948624, + -0.02151026949286461, + 0.9948765635490417, + -25.359710693359375 + ], + [ + -0.9930250644683838, + 0.06680025905370712, + -0.09715381264686584, + -31.797958374023438 + ], + [ + -0.06436821073293686, + -0.9975345134735107, + -0.027958890423178673, + -18.55277442932129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2169, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_342267990", + "mask_path": "../../mask/hdr_left_02169.png" + }, + { + "file_path": "../../rgb/hdr_left_02170.png", + "transform_matrix": [ + [ + -0.10866479575634003, + -0.01989688165485859, + 0.9938792586326599, + -25.355491638183594 + ], + [ + -0.992156445980072, + 0.06431088596582413, + -0.10718897730112076, + -31.876300811767578 + ], + [ + -0.0617845319211483, + -0.997731626033783, + -0.026729146018624306, + -18.5537109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2170, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_442267179", + "mask_path": "../../mask/hdr_left_02170.png" + }, + { + "file_path": "../../rgb/hdr_left_02171.png", + "transform_matrix": [ + [ + -0.12036876380443573, + -0.023340247571468353, + 0.9924547672271729, + -25.351919174194336 + ], + [ + -0.9910955429077148, + 0.06015601009130478, + -0.1187892034649849, + -31.958166122436523 + ], + [ + -0.05692955479025841, + -0.9979161024093628, + -0.030373312532901764, + -18.559064865112305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2171, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_542267322", + "mask_path": "../../mask/hdr_left_02171.png" + }, + { + "file_path": "../../rgb/hdr_left_02172.png", + "transform_matrix": [ + [ + -0.12405908107757568, + -0.033682502806186676, + 0.9917030334472656, + -25.34584617614746 + ], + [ + -0.9903907179832458, + 0.06576211005449295, + -0.12166134268045425, + -32.07308578491211 + ], + [ + -0.06111861765384674, + -0.9972667098045349, + -0.041517224162817, + -18.572086334228516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2172, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_642267227", + "mask_path": "../../mask/hdr_left_02172.png" + }, + { + "file_path": "../../rgb/hdr_left_02173.png", + "transform_matrix": [ + [ + -0.1207805871963501, + -0.041361693292856216, + 0.9918171167373657, + -25.335391998291016 + ], + [ + -0.9906190633773804, + 0.06935913115739822, + -0.11774221062660217, + -32.16966247558594 + ], + [ + -0.06392155587673187, + -0.9967339038848877, + -0.04935091733932495, + -18.585994720458984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2173, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_742266893", + "mask_path": "../../mask/hdr_left_02173.png" + }, + { + "file_path": "../../rgb/hdr_left_02174.png", + "transform_matrix": [ + [ + -0.11273065209388733, + -0.04267582297325134, + 0.992708683013916, + -25.317535400390625 + ], + [ + -0.9917361736297607, + 0.06641487032175064, + -0.10976509749889374, + -32.25639724731445 + ], + [ + -0.061246294528245926, + -0.9968791007995605, + -0.04981014132499695, + -18.595378875732422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2174, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_842267036", + "mask_path": "../../mask/hdr_left_02174.png" + }, + { + "file_path": "../../rgb/hdr_left_02175.png", + "transform_matrix": [ + [ + -0.10361410677433014, + -0.03996319696307182, + 0.9938143491744995, + -25.307174682617188 + ], + [ + -0.9925528168678284, + 0.06850414723157883, + -0.10072789341211319, + -32.3637809753418 + ], + [ + -0.06405498832464218, + -0.9968501329421997, + -0.046763576567173004, + -18.59775733947754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2175, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_942266702", + "mask_path": "../../mask/hdr_left_02175.png" + }, + { + "file_path": "../../rgb/hdr_left_02176.png", + "transform_matrix": [ + [ + -0.09650233387947083, + -0.03375928848981857, + 0.9947600364685059, + -25.30307960510254 + ], + [ + -0.9932420253753662, + 0.06800953298807144, + -0.09404703229665756, + -32.459388732910156 + ], + [ + -0.06447820365428925, + -0.9971134066581726, + -0.040094222873449326, + -18.594953536987305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2176, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_42267084", + "mask_path": "../../mask/hdr_left_02176.png" + }, + { + "file_path": "../../rgb/hdr_left_02177.png", + "transform_matrix": [ + [ + -0.0904030129313469, + -0.03218187764286995, + 0.9953851103782654, + -25.29544448852539 + ], + [ + -0.9940229058265686, + 0.06433849036693573, + -0.08819914609193802, + -32.52831268310547 + ], + [ + -0.061203159391880035, + -0.9974091053009033, + -0.037805911153554916, + -18.597911834716797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2177, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_142266988", + "mask_path": "../../mask/hdr_left_02177.png" + }, + { + "file_path": "../../rgb/hdr_left_02178.png", + "transform_matrix": [ + [ + -0.07641835510730743, + -0.03265976533293724, + 0.9965407848358154, + -25.286916732788086 + ], + [ + -0.9953160881996155, + 0.06185315176844597, + -0.07429732382297516, + -32.60493850708008 + ], + [ + -0.05921265482902527, + -0.9975508451461792, + -0.03723350167274475, + -18.616308212280273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2178, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_242269039", + "mask_path": "../../mask/hdr_left_02178.png" + }, + { + "file_path": "../../rgb/hdr_left_02179.png", + "transform_matrix": [ + [ + -0.05205630883574486, + -0.03657645732164383, + 0.9979740381240845, + -25.263912200927734 + ], + [ + -0.9966168403625488, + 0.06554660946130753, + -0.04958318546414375, + -32.71173858642578 + ], + [ + -0.06360023468732834, + -0.9971789121627808, + -0.03986481949687004, + -18.628108978271484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2179, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_342266798", + "mask_path": "../../mask/hdr_left_02179.png" + }, + { + "file_path": "../../rgb/hdr_left_02180.png", + "transform_matrix": [ + [ + -0.025787580758333206, + -0.04160679131746292, + 0.9988012313842773, + -25.238855361938477 + ], + [ + -0.9974817037582397, + 0.06710553169250488, + -0.022958120331168175, + -32.802154541015625 + ], + [ + -0.06606987118721008, + -0.9968780279159546, + -0.043232496827840805, + -18.633281707763672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2180, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_442266941", + "mask_path": "../../mask/hdr_left_02180.png" + }, + { + "file_path": "../../rgb/hdr_left_02181.png", + "transform_matrix": [ + [ + -0.0004196290683466941, + -0.03686102479696274, + 0.9993203282356262, + -25.212078094482422 + ], + [ + -0.9977641701698303, + 0.06680113822221756, + 0.0020450882147997618, + -32.88201904296875 + ], + [ + -0.06683111190795898, + -0.9970852136611938, + -0.036806635558605194, + -18.644176483154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2181, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_542266607", + "mask_path": "../../mask/hdr_left_02181.png" + }, + { + "file_path": "../../rgb/hdr_left_02182.png", + "transform_matrix": [ + [ + 0.008185137994587421, + -0.025796690955758095, + 0.9996336698532104, + -25.198518753051758 + ], + [ + -0.9974768757820129, + 0.07028616964817047, + 0.009981291368603706, + -32.992401123046875 + ], + [ + -0.07051791250705719, + -0.9971933364868164, + -0.02515629306435585, + -18.64972496032715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2182, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_642266988", + "mask_path": "../../mask/hdr_left_02182.png" + }, + { + "file_path": "../../rgb/hdr_left_02183.png", + "transform_matrix": [ + [ + 6.2830049500917085e-06, + -0.016183514147996902, + 0.9998689889907837, + -25.189552307128906 + ], + [ + -0.997454047203064, + 0.07130268961191177, + 0.001160384970717132, + -33.095523834228516 + ], + [ + -0.07131213694810867, + -0.9973235130310059, + -0.016141856089234352, + -18.644506454467773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2183, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_742266893", + "mask_path": "../../mask/hdr_left_02183.png" + }, + { + "file_path": "../../rgb/hdr_left_02184.png", + "transform_matrix": [ + [ + -0.011404812335968018, + -0.010278968140482903, + 0.999882161617279, + -25.17848777770996 + ], + [ + -0.9974366426467896, + 0.07075729221105576, + -0.01064950693398714, + -33.157432556152344 + ], + [ + -0.0706394836306572, + -0.9974406361579895, + -0.011059592477977276, + -18.648082733154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2184, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_842268228", + "mask_path": "../../mask/hdr_left_02184.png" + }, + { + "file_path": "../../rgb/hdr_left_02185.png", + "transform_matrix": [ + [ + -0.022670051082968712, + -0.01633690856397152, + 0.9996095299720764, + -25.153356552124023 + ], + [ + -0.9977728128433228, + 0.06311019510030746, + -0.021596968173980713, + -33.25898361206055 + ], + [ + -0.06273272633552551, + -0.9978728890419006, + -0.017731236293911934, + -18.659334182739258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2185, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_942267656", + "mask_path": "../../mask/hdr_left_02185.png" + }, + { + "file_path": "../../rgb/hdr_left_02186.png", + "transform_matrix": [ + [ + -0.02586597576737404, + -0.02532602660357952, + 0.9993445873260498, + -25.126497268676758 + ], + [ + -0.997805118560791, + 0.06161198392510414, + -0.02426472306251526, + -33.36628341674805 + ], + [ + -0.06095707044005394, + -0.9977788329124451, + -0.02686409093439579, + -18.670961380004883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2186, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_42268514", + "mask_path": "../../mask/hdr_left_02186.png" + }, + { + "file_path": "../../rgb/hdr_left_02187.png", + "transform_matrix": [ + [ + -0.022578973323106766, + -0.027530312538146973, + 0.9993659853935242, + -25.09870147705078 + ], + [ + -0.9979218244552612, + 0.06096369028091431, + -0.020866919308900833, + -33.44831848144531 + ], + [ + -0.06035055220127106, + -0.9977602362632751, + -0.028849592432379723, + -18.67831039428711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2187, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_142267704", + "mask_path": "../../mask/hdr_left_02187.png" + }, + { + "file_path": "../../rgb/hdr_left_02188.png", + "transform_matrix": [ + [ + -0.021374421194195747, + -0.024369338527321815, + 0.9994744658470154, + -25.073135375976562 + ], + [ + -0.9978451728820801, + 0.06254781782627106, + -0.01981450989842415, + -33.54103088378906 + ], + [ + -0.06203208118677139, + -0.9977445602416992, + -0.02565375156700611, + -18.684947967529297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2188, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_242268085", + "mask_path": "../../mask/hdr_left_02188.png" + }, + { + "file_path": "../../rgb/hdr_left_02189.png", + "transform_matrix": [ + [ + -0.02818329446017742, + -0.019966989755630493, + 0.9994032979011536, + -25.053171157836914 + ], + [ + -0.9975888133049011, + 0.06399524956941605, + -0.02685357630252838, + -33.64786148071289 + ], + [ + -0.06342088431119919, + -0.997750461101532, + -0.02172243967652321, + -18.688251495361328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2189, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_342268466", + "mask_path": "../../mask/hdr_left_02189.png" + }, + { + "file_path": "../../rgb/hdr_left_02190.png", + "transform_matrix": [ + [ + -0.037921782582998276, + -0.013404769822955132, + 0.9991908669471741, + -25.037046432495117 + ], + [ + -0.9973673224449158, + 0.06235535070300102, + -0.037016015499830246, + -33.73212432861328 + ], + [ + -0.061808694154024124, + -0.9979640245437622, + -0.015734102576971054, + -18.691123962402344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2190, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_442268133", + "mask_path": "../../mask/hdr_left_02190.png" + }, + { + "file_path": "../../rgb/hdr_left_02191.png", + "transform_matrix": [ + [ + -0.04778764396905899, + -0.014873184263706207, + 0.9987468719482422, + -25.02015495300293 + ], + [ + -0.9972771406173706, + 0.05693453177809715, + -0.046869438141584396, + -33.82826614379883 + ], + [ + -0.05616607889533043, + -0.9982671737670898, + -0.01755344867706299, + -18.696979522705078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2191, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_542267322", + "mask_path": "../../mask/hdr_left_02191.png" + }, + { + "file_path": "../../rgb/hdr_left_02192.png", + "transform_matrix": [ + [ + -0.04934054985642433, + -0.025450820103287697, + 0.998457670211792, + -25.000484466552734 + ], + [ + -0.9970157742500305, + 0.060678787529468536, + -0.04772258549928665, + -33.94622802734375 + ], + [ + -0.05937062203884125, + -0.9978328347206116, + -0.028368789702653885, + -18.71157455444336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2192, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_642267227", + "mask_path": "../../mask/hdr_left_02192.png" + }, + { + "file_path": "../../rgb/hdr_left_02193.png", + "transform_matrix": [ + [ + -0.045579422265291214, + -0.033227402716875076, + 0.9984079003334045, + -24.981563568115234 + ], + [ + -0.9969635009765625, + 0.06467963010072708, + -0.04336090385913849, + -34.03409194946289 + ], + [ + -0.06313588470220566, + -0.9973527789115906, + -0.03607456013560295, + -18.727148056030273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2193, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_742267847", + "mask_path": "../../mask/hdr_left_02193.png" + }, + { + "file_path": "../../rgb/hdr_left_02194.png", + "transform_matrix": [ + [ + -0.041509680449962616, + -0.033881817013025284, + 0.9985634684562683, + -24.96432876586914 + ], + [ + -0.9972359538078308, + 0.06304473429918289, + -0.039315365254879, + -34.11436080932617 + ], + [ + -0.06162209063768387, + -0.997435450553894, + -0.03640512749552727, + -18.741601943969727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2194, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_842267513", + "mask_path": "../../mask/hdr_left_02194.png" + }, + { + "file_path": "../../rgb/hdr_left_02195.png", + "transform_matrix": [ + [ + -0.044893935322761536, + -0.03552538529038429, + 0.9983599185943604, + -24.95329475402832 + ], + [ + -0.9968848824501038, + 0.06646335124969482, + -0.042462583631277084, + -34.22002410888672 + ], + [ + -0.06484584510326385, + -0.9971562623977661, + -0.03839851915836334, + -18.740497589111328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2195, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_942267417", + "mask_path": "../../mask/hdr_left_02195.png" + }, + { + "file_path": "../../rgb/hdr_left_02196.png", + "transform_matrix": [ + [ + -0.05423400551080704, + -0.03205393999814987, + 0.9980136156082153, + -24.94757652282715 + ], + [ + -0.9963234066963196, + 0.06811969727277756, + -0.05195431038737297, + -34.31157302856445 + ], + [ + -0.0663190484046936, + -0.9971621632575989, + -0.035630494356155396, + -18.73592185974121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2196, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_42267560", + "mask_path": "../../mask/hdr_left_02196.png" + }, + { + "file_path": "../../rgb/hdr_left_02197.png", + "transform_matrix": [ + [ + -0.06518256664276123, + -0.02905631996691227, + 0.9974502921104431, + -24.939077377319336 + ], + [ + -0.9958756566047668, + 0.06511283665895462, + -0.06318286061286926, + -34.381248474121094 + ], + [ + -0.06311095505952835, + -0.997454822063446, + -0.03318069502711296, + -18.74117088317871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2197, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_142266511", + "mask_path": "../../mask/hdr_left_02197.png" + }, + { + "file_path": "../../rgb/hdr_left_02198.png", + "transform_matrix": [ + [ + -0.07552122324705124, + -0.03477869927883148, + 0.9965375661849976, + -24.933561325073242 + ], + [ + -0.9953466057777405, + 0.06260958313941956, + -0.07324590533971786, + -34.46753692626953 + ], + [ + -0.059845395386219025, + -0.9974319934844971, + -0.039345212280750275, + -18.748275756835938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2198, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_242265224", + "mask_path": "../../mask/hdr_left_02198.png" + }, + { + "file_path": "../../rgb/hdr_left_02199.png", + "transform_matrix": [ + [ + -0.07712551951408386, + -0.04546317830681801, + 0.9959843158721924, + -24.924060821533203 + ], + [ + -0.9949767589569092, + 0.0674537643790245, + -0.07396845519542694, + -34.56923294067383 + ], + [ + -0.06382004171609879, + -0.9966861009597778, + -0.05043719708919525, + -18.76171112060547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2199, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_342264175", + "mask_path": "../../mask/hdr_left_02199.png" + }, + { + "file_path": "../../rgb/hdr_left_02200.png", + "transform_matrix": [ + [ + -0.07470587641000748, + -0.05129048600792885, + 0.9958857297897339, + -24.913923263549805 + ], + [ + -0.9950891733169556, + 0.06886420398950577, + -0.07109944522380829, + -34.64833068847656 + ], + [ + -0.064934141933918, + -0.9963067173957825, + -0.056183163076639175, + -18.77187728881836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2200, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_442263603", + "mask_path": "../../mask/hdr_left_02200.png" + }, + { + "file_path": "../../rgb/hdr_left_02201.png", + "transform_matrix": [ + [ + -0.07241751998662949, + -0.05043865367770195, + 0.9960982203483582, + -24.896547317504883 + ], + [ + -0.9953939318656921, + 0.06656073778867722, + -0.06899593770503998, + -34.73323059082031 + ], + [ + -0.06282097101211548, + -0.9965067505836487, + -0.05502648279070854, + -18.779050827026367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2201, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_542263746", + "mask_path": "../../mask/hdr_left_02201.png" + }, + { + "file_path": "../../rgb/hdr_left_02202.png", + "transform_matrix": [ + [ + -0.07685821503400803, + -0.05039907991886139, + 0.9957674741744995, + -24.888933181762695 + ], + [ + -0.994933545589447, + 0.06879334151744843, + -0.07331198453903198, + -34.843994140625 + ], + [ + -0.06480731070041656, + -0.9963570833206177, + -0.055431071668863297, + -18.784114837646484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2202, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_642267227", + "mask_path": "../../mask/hdr_left_02202.png" + }, + { + "file_path": "../../rgb/hdr_left_02203.png", + "transform_matrix": [ + [ + -0.08751954883337021, + -0.04668831452727318, + 0.9950681328773499, + -24.890724182128906 + ], + [ + -0.9940603375434875, + 0.06895646452903748, + -0.08419547975063324, + -34.93547821044922 + ], + [ + -0.06468543410301208, + -0.9965265989303589, + -0.052446041256189346, + -18.781267166137695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2203, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_742264032", + "mask_path": "../../mask/hdr_left_02203.png" + }, + { + "file_path": "../../rgb/hdr_left_02204.png", + "transform_matrix": [ + [ + -0.10001770406961441, + -0.04273441061377525, + 0.9940674901008606, + -24.886024475097656 + ], + [ + -0.9930552244186401, + 0.06649166345596313, + -0.09705741703510284, + -35.000267028808594 + ], + [ + -0.06194950267672539, + -0.9968715310096741, + -0.04908797889947891, + -18.78957748413086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2204, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_842263698", + "mask_path": "../../mask/hdr_left_02204.png" + }, + { + "file_path": "../../rgb/hdr_left_02205.png", + "transform_matrix": [ + [ + -0.11123695224523544, + -0.044178564101457596, + 0.9928114414215088, + -24.880653381347656 + ], + [ + -0.9921548962593079, + 0.06228736415505409, + -0.10839168727397919, + -35.08854675292969 + ], + [ + -0.05705101415514946, + -0.9970800280570984, + -0.05076063424348831, + -18.796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2205, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_942267417", + "mask_path": "../../mask/hdr_left_02205.png" + }, + { + "file_path": "../../rgb/hdr_left_02206.png", + "transform_matrix": [ + [ + -0.11317896097898483, + -0.050728939473629, + 0.9922787547111511, + -24.868221282958984 + ], + [ + -0.9918418526649475, + 0.06472461670637131, + -0.1098201647400856, + -35.195125579833984 + ], + [ + -0.05865379050374031, + -0.9966130256652832, + -0.057640545070171356, + -18.806655883789062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2206, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_42267799", + "mask_path": "../../mask/hdr_left_02206.png" + }, + { + "file_path": "../../rgb/hdr_right_02089.png", + "transform_matrix": [ + [ + -0.3291015028953552, + -0.026442866772413254, + -0.9439243078231812, + -25.90354347229004 + ], + [ + 0.9419510364532471, + 0.06118777021765709, + -0.3301275968551636, + -25.24697494506836 + ], + [ + 0.06648613512516022, + -0.9977759122848511, + 0.004770902916789055, + -18.09002113342285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2089, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_642269134", + "mask_path": "../../mask/hdr_right_02089.png" + }, + { + "file_path": "../../rgb/hdr_right_02090.png", + "transform_matrix": [ + [ + -0.33087989687919617, + -0.022489026188850403, + -0.9434048533439636, + -25.880428314208984 + ], + [ + 0.9410185217857361, + 0.06706715375185013, + -0.33164164423942566, + -25.34648323059082 + ], + [ + 0.07072978466749191, + -0.9974949955940247, + -0.001028582570143044, + -18.093177795410156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2090, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_742267608", + "mask_path": "../../mask/hdr_right_02090.png" + }, + { + "file_path": "../../rgb/hdr_right_02091.png", + "transform_matrix": [ + [ + -0.32157596945762634, + -0.015199394896626472, + -0.9467617869377136, + -25.86711883544922 + ], + [ + 0.9442058205604553, + 0.06999978423118591, + -0.3218315541744232, + -25.4481201171875 + ], + [ + 0.07116476446390152, + -0.997431218624115, + -0.008158892393112183, + -18.088809967041016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2091, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_842267513", + "mask_path": "../../mask/hdr_right_02091.png" + }, + { + "file_path": "../../rgb/hdr_right_02092.png", + "transform_matrix": [ + [ + -0.3107619285583496, + -0.013698725961148739, + -0.9503890872001648, + -25.85131072998047 + ], + [ + 0.9481555223464966, + 0.06553509086370468, + -0.31097620725631714, + -25.535707473754883 + ], + [ + 0.066543810069561, + -0.9977561831474304, + -0.007377287372946739, + -18.081697463989258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2092, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639009_942267417", + "mask_path": "../../mask/hdr_right_02092.png" + }, + { + "file_path": "../../rgb/hdr_right_02093.png", + "transform_matrix": [ + [ + -0.30456089973449707, + -0.023364270105957985, + -0.9522063136100769, + -25.828882217407227 + ], + [ + 0.9501351118087769, + 0.06284444779157639, + -0.30544042587280273, + -25.661367416381836 + ], + [ + 0.06697726249694824, + -0.9977498054504395, + 0.003059257520362735, + -18.09876251220703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2093, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_42267322", + "mask_path": "../../mask/hdr_right_02093.png" + }, + { + "file_path": "../../rgb/hdr_right_02094.png", + "transform_matrix": [ + [ + -0.3054146468639374, + -0.02968008443713188, + -0.9517567753791809, + -25.8043212890625 + ], + [ + 0.949622631072998, + 0.06427325308322906, + -0.3067341148853302, + -25.7699031829834 + ], + [ + 0.0702764019370079, + -0.9974908828735352, + 0.008554887026548386, + -18.12044334411621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2094, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_142267465", + "mask_path": "../../mask/hdr_right_02094.png" + }, + { + "file_path": "../../rgb/hdr_right_02095.png", + "transform_matrix": [ + [ + -0.3087061047554016, + -0.02799699641764164, + -0.9507454037666321, + -25.77866554260254 + ], + [ + 0.9486560821533203, + 0.06338217854499817, + -0.3098941147327423, + -25.852476119995117 + ], + [ + 0.06893642991781235, + -0.9975965619087219, + 0.00699305534362793, + -18.13227081298828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2095, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_242267608", + "mask_path": "../../mask/hdr_right_02095.png" + }, + { + "file_path": "../../rgb/hdr_right_02096.png", + "transform_matrix": [ + [ + -0.30552706122398376, + -0.026901349425315857, + -0.9518033266067505, + -25.76142120361328 + ], + [ + 0.9493414163589478, + 0.06856662780046463, + -0.3066747486591339, + -25.963062286376953 + ], + [ + 0.07351190596818924, + -0.9972838163375854, + 0.004589608404785395, + -18.135799407958984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2096, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_342267036", + "mask_path": "../../mask/hdr_right_02096.png" + }, + { + "file_path": "../../rgb/hdr_right_02097.png", + "transform_matrix": [ + [ + -0.2978251576423645, + -0.024637412279844284, + -0.9543024897575378, + -25.750606536865234 + ], + [ + 0.9516636729240417, + 0.07095639407634735, + -0.2988334894180298, + -26.07071304321289 + ], + [ + 0.07507634162902832, + -0.9971750378608704, + 0.002313930308446288, + -18.137577056884766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2097, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_442267656", + "mask_path": "../../mask/hdr_right_02097.png" + }, + { + "file_path": "../../rgb/hdr_right_02098.png", + "transform_matrix": [ + [ + -0.28839144110679626, + -0.02111334353685379, + -0.9572798609733582, + -25.73860740661621 + ], + [ + 0.9549405574798584, + 0.06688778847455978, + -0.28916192054748535, + -26.1545467376709 + ], + [ + 0.07013551145792007, + -0.9975370764732361, + 0.0008721205522306263, + -18.142499923706055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2098, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_542267322", + "mask_path": "../../mask/hdr_right_02098.png" + }, + { + "file_path": "../../rgb/hdr_right_02099.png", + "transform_matrix": [ + [ + -0.2807064652442932, + -0.028689177706837654, + -0.9593648314476013, + -25.722707748413086 + ], + [ + 0.9573272466659546, + 0.06324445456266403, + -0.2820015847682953, + -26.266223907470703 + ], + [ + 0.06876488775014877, + -0.9975855946540833, + 0.009711804799735546, + -18.15228843688965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2099, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_642267465", + "mask_path": "../../mask/hdr_right_02099.png" + }, + { + "file_path": "../../rgb/hdr_right_02100.png", + "transform_matrix": [ + [ + -0.2797818183898926, + -0.03917229548096657, + -0.9592641592025757, + -25.706470489501953 + ], + [ + 0.957222044467926, + 0.06543642282485962, + -0.2818583548069, + -26.382240295410156 + ], + [ + 0.0738118514418602, + -0.9970875382423401, + 0.019188661128282547, + -18.167675018310547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2100, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_742268323", + "mask_path": "../../mask/hdr_right_02100.png" + }, + { + "file_path": "../../rgb/hdr_right_02101.png", + "transform_matrix": [ + [ + -0.2833935022354126, + -0.04148910194635391, + -0.9581059217453003, + -25.68731689453125 + ], + [ + 0.9560626149177551, + 0.06596117466688156, + -0.285645455121994, + -26.46995735168457 + ], + [ + 0.07504896074533463, + -0.9969592690467834, + 0.020973211154341698, + -18.17615509033203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2101, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_842268466", + "mask_path": "../../mask/hdr_right_02101.png" + }, + { + "file_path": "../../rgb/hdr_right_02102.png", + "transform_matrix": [ + [ + -0.2852887511253357, + -0.0382591113448143, + -0.9576777219772339, + -25.670143127441406 + ], + [ + 0.9555628299713135, + 0.06603218615055084, + -0.28729671239852905, + -26.56667137145996 + ], + [ + 0.07422927021980286, + -0.9970837235450745, + 0.017720749601721764, + -18.192901611328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2102, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639010_942268610", + "mask_path": "../../mask/hdr_right_02102.png" + }, + { + "file_path": "../../rgb/hdr_right_02103.png", + "transform_matrix": [ + [ + -0.2786290943622589, + -0.03488902747631073, + -0.9597650170326233, + -25.663543701171875 + ], + [ + 0.9574419856071472, + 0.06826751679182053, + -0.28043633699417114, + -26.686431884765625 + ], + [ + 0.07530492544174194, + -0.997056782245636, + 0.014382900670170784, + -18.191701889038086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2103, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_42268514", + "mask_path": "../../mask/hdr_right_02103.png" + }, + { + "file_path": "../../rgb/hdr_right_02104.png", + "transform_matrix": [ + [ + -0.2682977318763733, + -0.02942129597067833, + -0.9628867506980896, + -25.655298233032227 + ], + [ + 0.9605154395103455, + 0.06826216727495193, + -0.2697227895259857, + -26.780118942260742 + ], + [ + 0.07366432249546051, + -0.997233510017395, + 0.009945021942257881, + -18.19066047668457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2104, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_142267942", + "mask_path": "../../mask/hdr_right_02104.png" + }, + { + "file_path": "../../rgb/hdr_right_02105.png", + "transform_matrix": [ + [ + -0.2562525272369385, + -0.03183353319764137, + -0.9660855531692505, + -25.647111892700195 + ], + [ + 0.9640211462974548, + 0.06468182057142258, + -0.25783631205558777, + -26.862857818603516 + ], + [ + 0.07069601863622665, + -0.9973980784416199, + 0.014113316312432289, + -18.19688606262207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2105, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_242267608", + "mask_path": "../../mask/hdr_right_02105.png" + }, + { + "file_path": "../../rgb/hdr_right_02106.png", + "transform_matrix": [ + [ + -0.25096720457077026, + -0.041671521961688995, + -0.9670982360839844, + -25.636112213134766 + ], + [ + 0.9652500748634338, + 0.06442026048898697, + -0.253263384103775, + -26.98649787902832 + ], + [ + 0.07285459339618683, + -0.9970524311065674, + 0.024056075140833855, + -18.213605880737305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2106, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_342268943", + "mask_path": "../../mask/hdr_right_02106.png" + }, + { + "file_path": "../../rgb/hdr_right_02107.png", + "transform_matrix": [ + [ + -0.251656711101532, + -0.049165450036525726, + -0.9665669798851013, + -25.621408462524414 + ], + [ + 0.9647634029388428, + 0.06652276962995529, + -0.254570871591568, + -27.089338302612305 + ], + [ + 0.07681480795145035, + -0.9965728521347046, + 0.030692126601934433, + -18.228940963745117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2107, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_442267656", + "mask_path": "../../mask/hdr_right_02107.png" + }, + { + "file_path": "../../rgb/hdr_right_02108.png", + "transform_matrix": [ + [ + -0.25497108697891235, + -0.048643168061971664, + -0.9657244086265564, + -25.605600357055664 + ], + [ + 0.9639683365821838, + 0.06556779146194458, + -0.2578100264072418, + -27.175094604492188 + ], + [ + 0.0758611187338829, + -0.9966617822647095, + 0.03017258085310459, + -18.2434024810791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2108, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_542268276", + "mask_path": "../../mask/hdr_right_02108.png" + }, + { + "file_path": "../../rgb/hdr_right_02109.png", + "transform_matrix": [ + [ + -0.25189027190208435, + -0.04565254971385002, + -0.9666783809661865, + -25.59490203857422 + ], + [ + 0.964692234992981, + 0.06757257878780365, + -0.2545638978481293, + -27.295490264892578 + ], + [ + 0.07694244384765625, + -0.996669352054596, + 0.027019789442420006, + -18.246814727783203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2109, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_642267465", + "mask_path": "../../mask/hdr_right_02109.png" + }, + { + "file_path": "../../rgb/hdr_right_02110.png", + "transform_matrix": [ + [ + -0.24220702052116394, + -0.0398700088262558, + -0.9694051146507263, + -25.593589782714844 + ], + [ + 0.9672945141792297, + 0.06767009943723679, + -0.24446284770965576, + -27.40868377685547 + ], + [ + 0.07534647732973099, + -0.996910810470581, + 0.022175874561071396, + -18.24371337890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2110, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_742268323", + "mask_path": "../../mask/hdr_right_02110.png" + }, + { + "file_path": "../../rgb/hdr_right_02111.png", + "transform_matrix": [ + [ + -0.2305857092142105, + -0.035118088126182556, + -0.9724181294441223, + -25.59097671508789 + ], + [ + 0.9705521464347839, + 0.06328826397657394, + -0.23242884874343872, + -27.49380111694336 + ], + [ + 0.06970511376857758, + -0.9973772168159485, + 0.019490567967295647, + -18.24457550048828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2111, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_842267751", + "mask_path": "../../mask/hdr_right_02111.png" + }, + { + "file_path": "../../rgb/hdr_right_02112.png", + "transform_matrix": [ + [ + -0.2239648550748825, + -0.039900097995996475, + -0.9737801551818848, + -25.578868865966797 + ], + [ + 0.9720624089241028, + 0.06287034600973129, + -0.22614584863185883, + -27.616758346557617 + ], + [ + 0.07024513930082321, + -0.9972237944602966, + 0.024704638868570328, + -18.25559425354004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2112, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639011_942267894", + "mask_path": "../../mask/hdr_right_02112.png" + }, + { + "file_path": "../../rgb/hdr_right_02113.png", + "transform_matrix": [ + [ + -0.2243329882621765, + -0.04688026010990143, + -0.9733842611312866, + -25.563518524169922 + ], + [ + 0.9716431498527527, + 0.06583470106124878, + -0.22710242867469788, + -27.732240676879883 + ], + [ + 0.0747290849685669, + -0.9967286586761475, + 0.030781980603933334, + -18.27399444580078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2113, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_42267084", + "mask_path": "../../mask/hdr_right_02113.png" + }, + { + "file_path": "../../rgb/hdr_right_02114.png", + "transform_matrix": [ + [ + -0.22805601358413696, + -0.04841940850019455, + -0.9724434614181519, + -25.547508239746094 + ], + [ + 0.970848560333252, + 0.06437516212463379, + -0.230887308716774, + -27.81765365600586 + ], + [ + 0.07378063350915909, + -0.9967504143714905, + 0.03232678025960922, + -18.286102294921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2114, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_142266988", + "mask_path": "../../mask/hdr_right_02114.png" + }, + { + "file_path": "../../rgb/hdr_right_02115.png", + "transform_matrix": [ + [ + -0.22782102227210999, + -0.04609477147459984, + -0.9726113677024841, + -25.540735244750977 + ], + [ + 0.9709787964820862, + 0.06391306221485138, + -0.23046761751174927, + -27.91912841796875 + ], + [ + 0.07278592884540558, + -0.9968903064727783, + 0.030196303501725197, + -18.29892349243164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2115, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_242267370", + "mask_path": "../../mask/hdr_right_02115.png" + }, + { + "file_path": "../../rgb/hdr_right_02116.png", + "transform_matrix": [ + [ + -0.2199891358613968, + -0.041759442538022995, + -0.9746080636978149, + -25.54281234741211 + ], + [ + 0.972831130027771, + 0.06449393182992935, + -0.22235141694545746, + -28.03010368347168 + ], + [ + 0.07214158773422241, + -0.9970439672470093, + 0.02643692120909691, + -18.29047203063965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2116, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_342267990", + "mask_path": "../../mask/hdr_right_02116.png" + }, + { + "file_path": "../../rgb/hdr_right_02117.png", + "transform_matrix": [ + [ + -0.2098446637392044, + -0.03641806170344353, + -0.9770562648773193, + -25.54052734375 + ], + [ + 0.9752455949783325, + 0.0634651631116867, + -0.2118213176727295, + -28.111127853393555 + ], + [ + 0.06972315162420273, + -0.9973193407058716, + 0.02219872921705246, + -18.285921096801758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2117, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_442267179", + "mask_path": "../../mask/hdr_right_02117.png" + }, + { + "file_path": "../../rgb/hdr_right_02118.png", + "transform_matrix": [ + [ + -0.19889548420906067, + -0.03800961747765541, + -0.9792833924293518, + -25.538501739501953 + ], + [ + 0.9778096079826355, + 0.059389036148786545, + -0.20090125501155853, + -28.186676025390625 + ], + [ + 0.06579487770795822, + -0.9975110292434692, + 0.025353962555527687, + -18.288734436035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2118, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_542267799", + "mask_path": "../../mask/hdr_right_02118.png" + }, + { + "file_path": "../../rgb/hdr_right_02119.png", + "transform_matrix": [ + [ + -0.1991748809814453, + -0.0460360012948513, + -0.9788820147514343, + -25.533077239990234 + ], + [ + 0.977744996547699, + 0.05784626305103302, + -0.20166398584842682, + -28.303041458129883 + ], + [ + 0.06590847671031952, + -0.997263491153717, + 0.033489953726530075, + -18.301687240600586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2119, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_642267942", + "mask_path": "../../mask/hdr_right_02119.png" + }, + { + "file_path": "../../rgb/hdr_right_02120.png", + "transform_matrix": [ + [ + -0.20765821635723114, + -0.05339222773909569, + -0.9767432808876038, + -25.523481369018555 + ], + [ + 0.9758482575416565, + 0.05791066959500313, + -0.2106335312128067, + -28.4034366607666 + ], + [ + 0.0678100511431694, + -0.9968929886817932, + 0.0400770902633667, + -18.317197799682617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2120, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_742268085", + "mask_path": "../../mask/hdr_right_02120.png" + }, + { + "file_path": "../../rgb/hdr_right_02121.png", + "transform_matrix": [ + [ + -0.2170606553554535, + -0.053356464952230453, + -0.9746987819671631, + -25.51430320739746 + ], + [ + 0.973900556564331, + 0.05603180080652237, + -0.2199501395225525, + -28.48069953918457 + ], + [ + 0.06634990125894547, + -0.9970023036003113, + 0.039801597595214844, + -18.33048439025879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2121, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_842267751", + "mask_path": "../../mask/hdr_right_02121.png" + }, + { + "file_path": "../../rgb/hdr_right_02122.png", + "transform_matrix": [ + [ + -0.2210826873779297, + -0.04555526003241539, + -0.9741906523704529, + -25.514554977416992 + ], + [ + 0.9728082418441772, + 0.06041426211595535, + -0.223594069480896, + -28.588882446289062 + ], + [ + 0.06904089450836182, + -0.9971332550048828, + 0.03095998242497444, + -18.33611488342285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2122, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639012_942267656", + "mask_path": "../../mask/hdr_right_02122.png" + }, + { + "file_path": "../../rgb/hdr_right_02123.png", + "transform_matrix": [ + [ + -0.22298361361026764, + -0.03826173022389412, + -0.9740710258483887, + -25.511812210083008 + ], + [ + 0.9724482297897339, + 0.060962360352277756, + -0.22500674426555634, + -28.69194793701172 + ], + [ + 0.06799081712961197, + -0.9974064230918884, + 0.0236139465123415, + -18.33025360107422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2123, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_42267322", + "mask_path": "../../mask/hdr_right_02123.png" + }, + { + "file_path": "../../rgb/hdr_right_02124.png", + "transform_matrix": [ + [ + -0.22429028153419495, + -0.03544139489531517, + -0.9738776683807373, + -25.502382278442383 + ], + [ + 0.9723560214042664, + 0.05845890939235687, + -0.22606727480888367, + -28.76262855529785 + ], + [ + 0.06494396179914474, + -0.9976605772972107, + 0.021349888294935226, + -18.3346004486084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2124, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_142268180", + "mask_path": "../../mask/hdr_right_02124.png" + }, + { + "file_path": "../../rgb/hdr_right_02125.png", + "transform_matrix": [ + [ + -0.22562992572784424, + -0.035937197506427765, + -0.973550021648407, + -25.496206283569336 + ], + [ + 0.9721835851669312, + 0.05616457760334015, + -0.2273864597082138, + -28.841907501220703 + ], + [ + 0.06285065412521362, + -0.9977745413780212, + 0.022265145555138588, + -18.35268211364746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2125, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_242267370", + "mask_path": "../../mask/hdr_right_02125.png" + }, + { + "file_path": "../../rgb/hdr_right_02126.png", + "transform_matrix": [ + [ + -0.2370568960905075, + -0.04261814057826996, + -0.9705605506896973, + -25.480443954467773 + ], + [ + 0.9690529108047485, + 0.06043059751391411, + -0.23934219777584076, + -28.951845169067383 + ], + [ + 0.06885187327861786, + -0.997262179851532, + 0.026973742991685867, + -18.360769271850586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2126, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_342267274", + "mask_path": "../../mask/hdr_right_02126.png" + }, + { + "file_path": "../../rgb/hdr_right_02127.png", + "transform_matrix": [ + [ + -0.24926668405532837, + -0.045837994664907455, + -0.9673495292663574, + -25.462711334228516 + ], + [ + 0.9657763242721558, + 0.062198396772146225, + -0.2518085837364197, + -29.037832260131836 + ], + [ + 0.07170998305082321, + -0.9970106482505798, + 0.02876526303589344, + -18.36677360534668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2127, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_442267417", + "mask_path": "../../mask/hdr_right_02127.png" + }, + { + "file_path": "../../rgb/hdr_right_02128.png", + "transform_matrix": [ + [ + -0.25484222173690796, + -0.04175107926130295, + -0.966080904006958, + -25.444316864013672 + ], + [ + 0.964499831199646, + 0.060573458671569824, + -0.25704294443130493, + -29.114046096801758 + ], + [ + 0.0692506730556488, + -0.9972901344299316, + 0.024832233786582947, + -18.371068954467773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2128, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_542267799", + "mask_path": "../../mask/hdr_right_02128.png" + }, + { + "file_path": "../../rgb/hdr_right_02129.png", + "transform_matrix": [ + [ + -0.2510738968849182, + -0.036386240273714066, + -0.9672837257385254, + -25.43332290649414 + ], + [ + 0.9651523232460022, + 0.06675370782613754, + -0.2530316710472107, + -29.213945388793945 + ], + [ + 0.07377665489912033, + -0.9971058368682861, + 0.018358152359724045, + -18.374309539794922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2129, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_642266750", + "mask_path": "../../mask/hdr_right_02129.png" + }, + { + "file_path": "../../rgb/hdr_right_02130.png", + "transform_matrix": [ + [ + -0.24153569340705872, + -0.028679247945547104, + -0.9699680209159851, + -25.428342819213867 + ], + [ + 0.9676357507705688, + 0.0681648924946785, + -0.24297037720680237, + -29.307708740234375 + ], + [ + 0.07308598607778549, + -0.9972617626190186, + 0.011286810040473938, + -18.374378204345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2130, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_742267131", + "mask_path": "../../mask/hdr_right_02130.png" + }, + { + "file_path": "../../rgb/hdr_right_02131.png", + "transform_matrix": [ + [ + -0.22995920479297638, + -0.02213107794523239, + -0.9729486107826233, + -25.420656204223633 + ], + [ + 0.9707639217376709, + 0.06547997891902924, + -0.2309322953224182, + -29.379690170288086 + ], + [ + 0.06881943345069885, + -0.9976084232330322, + 0.006426329258829355, + -18.378074645996094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2131, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_842267036", + "mask_path": "../../mask/hdr_right_02131.png" + }, + { + "file_path": "../../rgb/hdr_right_02132.png", + "transform_matrix": [ + [ + -0.2178192287683487, + -0.02663915604352951, + -0.9756255745887756, + -25.408781051635742 + ], + [ + 0.9737984538078308, + 0.06100534647703171, + -0.21907703578472137, + -29.48485565185547 + ], + [ + 0.06535439193248749, + -0.9977818727493286, + 0.01265303697437048, + -18.38667106628418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2132, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639013_942267417", + "mask_path": "../../mask/hdr_right_02132.png" + }, + { + "file_path": "../../rgb/hdr_right_02133.png", + "transform_matrix": [ + [ + -0.21485453844070435, + -0.03463469445705414, + -0.9760318398475647, + -25.392541885375977 + ], + [ + 0.9740840792655945, + 0.06474099308252335, + -0.21672311425209045, + -29.595014572143555 + ], + [ + 0.0706954076886177, + -0.9973008632659912, + 0.019827203825116158, + -18.400339126586914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2133, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_42266845", + "mask_path": "../../mask/hdr_right_02133.png" + }, + { + "file_path": "../../rgb/hdr_right_02134.png", + "transform_matrix": [ + [ + -0.21824419498443604, + -0.03444923460483551, + -0.975286066532135, + -25.377016067504883 + ], + [ + 0.9731035232543945, + 0.06784219294786453, + -0.2201521396636963, + -29.675315856933594 + ], + [ + 0.0737496092915535, + -0.9971011281013489, + 0.018716514110565186, + -18.412710189819336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2134, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_142266988", + "mask_path": "../../mask/hdr_right_02134.png" + }, + { + "file_path": "../../rgb/hdr_right_02135.png", + "transform_matrix": [ + [ + -0.21949546039104462, + -0.02773395925760269, + -0.9752193093299866, + -25.369264602661133 + ], + [ + 0.9728295803070068, + 0.0692392885684967, + -0.2209266573190689, + -29.765331268310547 + ], + [ + 0.07365065813064575, + -0.9972144961357117, + 0.011782705783843994, + -18.422977447509766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2135, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_242268323", + "mask_path": "../../mask/hdr_right_02135.png" + }, + { + "file_path": "../../rgb/hdr_right_02136.png", + "transform_matrix": [ + [ + -0.21331582963466644, + -0.02653460018336773, + -0.9766228795051575, + -25.366727828979492 + ], + [ + 0.974012553691864, + 0.07212027907371521, + -0.21470515429973602, + -29.871030807495117 + ], + [ + 0.0761314257979393, + -0.9970428943634033, + 0.010460634715855122, + -18.42635154724121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2136, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_342267274", + "mask_path": "../../mask/hdr_right_02136.png" + }, + { + "file_path": "../../rgb/hdr_right_02137.png", + "transform_matrix": [ + [ + -0.2042054980993271, + -0.021658020094037056, + -0.9786885380744934, + -25.364492416381836 + ], + [ + 0.976082980632782, + 0.0716615840792656, + -0.205247700214386, + -29.95512580871582 + ], + [ + 0.074579618871212, + -0.9971938133239746, + 0.006506333593279123, + -18.425312042236328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2137, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_442267656", + "mask_path": "../../mask/hdr_right_02137.png" + }, + { + "file_path": "../../rgb/hdr_right_02138.png", + "transform_matrix": [ + [ + -0.19264061748981476, + -0.02071118727326393, + -0.9810507893562317, + -25.3624267578125 + ], + [ + 0.9788442850112915, + 0.06618966162204742, + -0.19360467791557312, + -30.033266067504883 + ], + [ + 0.06894520670175552, + -0.9975920915603638, + 0.007522210944443941, + -18.42832374572754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2138, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_542267322", + "mask_path": "../../mask/hdr_right_02138.png" + }, + { + "file_path": "../../rgb/hdr_right_02139.png", + "transform_matrix": [ + [ + -0.18734094500541687, + -0.028496064245700836, + -0.9818815588951111, + -25.361093521118164 + ], + [ + 0.9798492193222046, + 0.06507246941328049, + -0.18884168565273285, + -30.15086555480957 + ], + [ + 0.06927470117807388, + -0.9974735379219055, + 0.01573110930621624, + -18.440752029418945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2139, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_642268896", + "mask_path": "../../mask/hdr_right_02139.png" + }, + { + "file_path": "../../rgb/hdr_right_02140.png", + "transform_matrix": [ + [ + -0.19498683512210846, + -0.0358392633497715, + -0.9801509976387024, + -25.351804733276367 + ], + [ + 0.9781625270843506, + 0.06621380895376205, + -0.19701237976551056, + -30.24796485900879 + ], + [ + 0.07196029275655746, + -0.9971616268157959, + 0.022145802155137062, + -18.454730987548828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2140, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_742267847", + "mask_path": "../../mask/hdr_right_02140.png" + }, + { + "file_path": "../../rgb/hdr_right_02141.png", + "transform_matrix": [ + [ + -0.21462392807006836, + -0.036759283393621445, + -0.9760048389434814, + -25.332353591918945 + ], + [ + 0.9741076231002808, + 0.0646594986319542, + -0.21664197742938995, + -30.320343017578125 + ], + [ + 0.07107159495353699, + -0.997230052947998, + 0.021930018439888954, + -18.474205017089844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2141, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_842268943", + "mask_path": "../../mask/hdr_right_02141.png" + }, + { + "file_path": "../../rgb/hdr_right_02142.png", + "transform_matrix": [ + [ + -0.23363786935806274, + -0.03268427029252052, + -0.9717742204666138, + -25.32137107849121 + ], + [ + 0.9697011709213257, + 0.06552249193191528, + -0.23534320294857025, + -30.42416000366211 + ], + [ + 0.07136509567499161, + -0.9973156452178955, + 0.016385439783334732, + -18.476118087768555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2142, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639014_942267894", + "mask_path": "../../mask/hdr_right_02142.png" + }, + { + "file_path": "../../rgb/hdr_right_02143.png", + "transform_matrix": [ + [ + -0.24303162097930908, + -0.02558574080467224, + -0.969680905342102, + -25.32024383544922 + ], + [ + 0.9675882458686829, + 0.06432078778743744, + -0.24420428276062012, + -30.531713485717773 + ], + [ + 0.0686187818646431, + -0.9976012110710144, + 0.009124476462602615, + -18.467483520507812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2143, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_42268037", + "mask_path": "../../mask/hdr_right_02143.png" + }, + { + "file_path": "../../rgb/hdr_right_02144.png", + "transform_matrix": [ + [ + -0.2466503530740738, + -0.02219531312584877, + -0.968850314617157, + -25.311521530151367 + ], + [ + 0.966901957988739, + 0.06172902137041092, + -0.24756845831871033, + -30.607789993286133 + ], + [ + 0.06530104577541351, + -0.9978461265563965, + 0.006235206499695778, + -18.471176147460938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2144, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_142267227", + "mask_path": "../../mask/hdr_right_02144.png" + }, + { + "file_path": "../../rgb/hdr_right_02145.png", + "transform_matrix": [ + [ + -0.2464807629585266, + -0.02532806620001793, + -0.9688165783882141, + -25.301746368408203 + ], + [ + 0.9671087265014648, + 0.05838237330317497, + -0.24757255613803864, + -30.691091537475586 + ], + [ + 0.06283234804868698, + -0.9979729056358337, + 0.010104862973093987, + -18.474416732788086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2145, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_242268085", + "mask_path": "../../mask/hdr_right_02145.png" + }, + { + "file_path": "../../rgb/hdr_right_02146.png", + "transform_matrix": [ + [ + -0.2539186179637909, + -0.03203146904706955, + -0.9666951298713684, + -25.28839874267578 + ], + [ + 0.9649518728256226, + 0.06009921804070473, + -0.25545212626457214, + -30.80369758605957 + ], + [ + 0.06628013402223587, + -0.997678279876709, + 0.01564851962029934, + -18.48749542236328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2146, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_342267513", + "mask_path": "../../mask/hdr_right_02146.png" + }, + { + "file_path": "../../rgb/hdr_right_02147.png", + "transform_matrix": [ + [ + -0.2601602077484131, + -0.03599213808774948, + -0.9648944139480591, + -25.27562141418457 + ], + [ + 0.9631282091140747, + 0.061286184936761856, + -0.26197007298469543, + -30.8901424407959 + ], + [ + 0.06856357306241989, + -0.9974710941314697, + 0.01872081123292446, + -18.503297805786133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2147, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_442268371", + "mask_path": "../../mask/hdr_right_02147.png" + }, + { + "file_path": "../../rgb/hdr_right_02148.png", + "transform_matrix": [ + [ + -0.2641860842704773, + -0.03274714946746826, + -0.9639156460762024, + -25.254308700561523 + ], + [ + 0.9622244834899902, + 0.05923570692539215, + -0.2657349705696106, + -30.967649459838867 + ], + [ + 0.06580028682947159, + -0.9977067112922668, + 0.015860863029956818, + -18.517436981201172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2148, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_542267322", + "mask_path": "../../mask/hdr_right_02148.png" + }, + { + "file_path": "../../rgb/hdr_right_02149.png", + "transform_matrix": [ + [ + -0.26094746589660645, + -0.029136111959815025, + -0.9649133086204529, + -25.241168975830078 + ], + [ + 0.9628796577453613, + 0.06364932656288147, + -0.262319415807724, + -31.078828811645508 + ], + [ + 0.06905905157327652, + -0.9975468516349792, + 0.011445441283285618, + -18.51857566833496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2149, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_642267942", + "mask_path": "../../mask/hdr_right_02149.png" + }, + { + "file_path": "../../rgb/hdr_right_02150.png", + "transform_matrix": [ + [ + -0.2515069246292114, + -0.019958732649683952, + -0.9676497578620911, + -25.23454475402832 + ], + [ + 0.9655349850654602, + 0.06401733309030533, + -0.252277672290802, + -31.1844539642334 + ], + [ + 0.0669814869761467, + -0.9977492094039917, + 0.0031700506806373596, + -18.513700485229492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2150, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_742267847", + "mask_path": "../../mask/hdr_right_02150.png" + }, + { + "file_path": "../../rgb/hdr_right_02151.png", + "transform_matrix": [ + [ + -0.24237816035747528, + -0.013016436249017715, + -0.970094621181488, + -25.222579956054688 + ], + [ + 0.9682727456092834, + 0.05945252999663353, + -0.24272067844867706, + -31.26685333251953 + ], + [ + 0.06083393096923828, + -0.9981462955474854, + -0.0018065337790176272, + -18.514480590820312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2151, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_842267990", + "mask_path": "../../mask/hdr_right_02151.png" + }, + { + "file_path": "../../rgb/hdr_right_02152.png", + "transform_matrix": [ + [ + -0.240500345826149, + -0.01935785822570324, + -0.9704561233520508, + -25.20758056640625 + ], + [ + 0.9687848091125488, + 0.05715027078986168, + -0.24122613668441772, + -31.383817672729492 + ], + [ + 0.06013145297765732, + -0.9981779456138611, + 0.005008936859667301, + -18.523345947265625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2152, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639015_942267656", + "mask_path": "../../mask/hdr_right_02152.png" + }, + { + "file_path": "../../rgb/hdr_right_02153.png", + "transform_matrix": [ + [ + -0.2458398938179016, + -0.028777888044714928, + -0.9688830971717834, + -25.18593978881836 + ], + [ + 0.9671865701675415, + 0.058850307017564774, + -0.24715739488601685, + -31.493568420410156 + ], + [ + 0.0641317367553711, + -0.9978519082069397, + 0.013365834020078182, + -18.541542053222656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2153, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_42267799", + "mask_path": "../../mask/hdr_right_02153.png" + }, + { + "file_path": "../../rgb/hdr_right_02154.png", + "transform_matrix": [ + [ + -0.25222647190093994, + -0.031032096594572067, + -0.9671704769134521, + -25.164688110351562 + ], + [ + 0.9655721187591553, + 0.05767940729856491, + -0.25366029143333435, + -31.578929901123047 + ], + [ + 0.06365744024515152, + -0.9978528022766113, + 0.015415454283356667, + -18.552717208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2154, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_142267704", + "mask_path": "../../mask/hdr_right_02154.png" + }, + { + "file_path": "../../rgb/hdr_right_02155.png", + "transform_matrix": [ + [ + -0.2535877227783203, + -0.029628995805978775, + -0.9668585658073425, + -25.154897689819336 + ], + [ + 0.9650611877441406, + 0.06040428951382637, + -0.2549673914909363, + -31.677560806274414 + ], + [ + 0.06595682352781296, + -0.9977341294288635, + 0.013276010751724243, + -18.557571411132812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2155, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_242267847", + "mask_path": "../../mask/hdr_right_02155.png" + }, + { + "file_path": "../../rgb/hdr_right_02156.png", + "transform_matrix": [ + [ + -0.24664534628391266, + -0.03068719618022442, + -0.9686198234558105, + -25.153169631958008 + ], + [ + 0.9667915105819702, + 0.06124338135123253, + -0.2481200397014618, + -31.782995223999023 + ], + [ + 0.06693566590547562, + -0.9976509809494019, + 0.014562718570232391, + -18.557266235351562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2156, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_342267990", + "mask_path": "../../mask/hdr_right_02156.png" + }, + { + "file_path": "../../rgb/hdr_right_02157.png", + "transform_matrix": [ + [ + -0.23701024055480957, + -0.02912890538573265, + -0.971070408821106, + -25.148807525634766 + ], + [ + 0.9693911075592041, + 0.05884590744972229, + -0.2383655309677124, + -31.863418579101562 + ], + [ + 0.06408684700727463, + -0.997842013835907, + 0.014290216378867626, + -18.558042526245117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2157, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_442267179", + "mask_path": "../../mask/hdr_right_02157.png" + }, + { + "file_path": "../../rgb/hdr_right_02158.png", + "transform_matrix": [ + [ + -0.22553332149982452, + -0.032635122537612915, + -0.9736886620521545, + -25.14512062072754 + ], + [ + 0.9723385572433472, + 0.0547977052628994, + -0.22705723345279694, + -31.947694778442383 + ], + [ + 0.06076595187187195, + -0.9979639649391174, + 0.01937367208302021, + -18.56431007385254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2158, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_542267322", + "mask_path": "../../mask/hdr_right_02158.png" + }, + { + "file_path": "../../rgb/hdr_right_02159.png", + "transform_matrix": [ + [ + -0.22184020280838013, + -0.04299406334757805, + -0.9741348028182983, + -25.139081954956055 + ], + [ + 0.9726734757423401, + 0.06043267622590065, + -0.2241746485233307, + -32.06321716308594 + ], + [ + 0.06850773841142654, + -0.9972459077835083, + 0.028412792831659317, + -18.57946014404297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2159, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_642267227", + "mask_path": "../../mask/hdr_right_02159.png" + }, + { + "file_path": "../../rgb/hdr_right_02160.png", + "transform_matrix": [ + [ + -0.22498482465744019, + -0.05065270513296127, + -0.973044753074646, + -25.128726959228516 + ], + [ + 0.9715620875358582, + 0.06399437040090561, + -0.22797326743602753, + -32.15898513793945 + ], + [ + 0.07381685078144073, + -0.9966639280319214, + 0.034814488142728806, + -18.594867706298828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2160, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_742266893", + "mask_path": "../../mask/hdr_right_02160.png" + }, + { + "file_path": "../../rgb/hdr_right_02161.png", + "transform_matrix": [ + [ + -0.23285998404026031, + -0.05192263424396515, + -0.971123218536377, + -25.110971450805664 + ], + [ + 0.9698813557624817, + 0.060974594205617905, + -0.23582231998443604, + -32.24405288696289 + ], + [ + 0.0714583545923233, + -0.9967879056930542, + 0.03616025671362877, + -18.604440689086914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2161, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_842267036", + "mask_path": "../../mask/hdr_right_02161.png" + }, + { + "file_path": "../../rgb/hdr_right_02162.png", + "transform_matrix": [ + [ + -0.24179823696613312, + -0.049161020666360855, + -0.9690803289413452, + -25.10070037841797 + ], + [ + 0.9675722718238831, + 0.06298089772462845, + -0.24461692571640015, + -32.34955978393555 + ], + [ + 0.07305916398763657, + -0.9968032240867615, + 0.03233817219734192, + -18.60610008239746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2162, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639016_942266702", + "mask_path": "../../mask/hdr_right_02162.png" + }, + { + "file_path": "../../rgb/hdr_right_02163.png", + "transform_matrix": [ + [ + -0.2487865835428238, + -0.04291984811425209, + -0.9676069021224976, + -25.096654891967773 + ], + [ + 0.9659392237663269, + 0.06242451071739197, + -0.2511267066001892, + -32.443782806396484 + ], + [ + 0.07118071615695953, + -0.9971264004707336, + 0.025927584618330002, + -18.601919174194336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2163, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_42267084", + "mask_path": "../../mask/hdr_right_02163.png" + }, + { + "file_path": "../../rgb/hdr_right_02164.png", + "transform_matrix": [ + [ + -0.254728227853775, + -0.04130866006016731, + -0.9661300182342529, + -25.08910369873047 + ], + [ + 0.9646665453910828, + 0.05869844928383827, + -0.2568521797657013, + -32.51148986816406 + ], + [ + 0.06732054054737091, + -0.9974206686019897, + 0.024896930903196335, + -18.604524612426758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2164, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_142266988", + "mask_path": "../../mask/hdr_right_02164.png" + }, + { + "file_path": "../../rgb/hdr_right_02165.png", + "transform_matrix": [ + [ + -0.26826950907707214, + -0.04170649126172066, + -0.9624406695365906, + -25.080829620361328 + ], + [ + 0.9611313939094543, + 0.05608556047081947, + -0.270334929227829, + -32.585235595703125 + ], + [ + 0.06525374948978424, + -0.9975545406341553, + 0.02503937855362892, + -18.622873306274414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2165, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_242269039", + "mask_path": "../../mask/hdr_right_02165.png" + }, + { + "file_path": "../../rgb/hdr_right_02166.png", + "transform_matrix": [ + [ + -0.2916708290576935, + -0.045478567481040955, + -0.9554369449615479, + -25.05838966369629 + ], + [ + 0.9539335370063782, + 0.05955822393298149, + -0.2940468490123749, + -32.68693923950195 + ], + [ + 0.07027695327997208, + -0.9971882700920105, + 0.026012133806943893, + -18.63505744934082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2166, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_342266798", + "mask_path": "../../mask/hdr_right_02166.png" + }, + { + "file_path": "../../rgb/hdr_right_02167.png", + "transform_matrix": [ + [ + -0.31666117906570435, + -0.050346750766038895, + -0.947201669216156, + -25.034086227416992 + ], + [ + 0.9456674456596375, + 0.060882873833179474, + -0.31938436627388, + -32.77188491821289 + ], + [ + 0.07374831289052963, + -0.9968743324279785, + 0.028332043439149857, + -18.640830993652344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2167, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_442266941", + "mask_path": "../../mask/hdr_right_02167.png" + }, + { + "file_path": "../../rgb/hdr_right_02168.png", + "transform_matrix": [ + [ + -0.3406691551208496, + -0.04544254392385483, + -0.9390844702720642, + -25.008085250854492 + ], + [ + 0.9374014139175415, + 0.06036197766661644, + -0.3429795801639557, + -32.84663772583008 + ], + [ + 0.07227085530757904, + -0.9971415996551514, + 0.02203444018959999, + -18.650388717651367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2168, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_542266607", + "mask_path": "../../mask/hdr_right_02168.png" + }, + { + "file_path": "../../rgb/hdr_right_02169.png", + "transform_matrix": [ + [ + -0.3488300144672394, + -0.03432619199156761, + -0.9365571737289429, + -24.9947509765625 + ], + [ + 0.9344345927238464, + 0.0637805163860321, + -0.35037705302238464, + -32.955406188964844 + ], + [ + 0.07176121324300766, + -0.9973734617233276, + 0.009827020578086376, + -18.65342903137207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2169, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_642266988", + "mask_path": "../../mask/hdr_right_02169.png" + }, + { + "file_path": "../../rgb/hdr_right_02170.png", + "transform_matrix": [ + [ + -0.3411922752857208, + -0.024768197908997536, + -0.9396671652793884, + -24.985443115234375 + ], + [ + 0.9374257326126099, + 0.0648728683590889, + -0.34208837151527405, + -33.06032943725586 + ], + [ + 0.06943181157112122, + -0.9975861310958862, + 0.0010842223418876529, + -18.646343231201172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2170, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_742266893", + "mask_path": "../../mask/hdr_right_02170.png" + }, + { + "file_path": "../../rgb/hdr_right_02171.png", + "transform_matrix": [ + [ + -0.330452024936676, + -0.018937502056360245, + -0.9436328411102295, + -24.973968505859375 + ], + [ + 0.9414370656013489, + 0.06442902237176895, + -0.33097606897354126, + -33.12464904785156 + ], + [ + 0.06706520169973373, + -0.9977425932884216, + -0.0034622312523424625, + -18.648906707763672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2171, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_842268228", + "mask_path": "../../mask/hdr_right_02171.png" + }, + { + "file_path": "../../rgb/hdr_right_02172.png", + "transform_matrix": [ + [ + -0.3197886645793915, + -0.025065211579203606, + -0.9471574425697327, + -24.948505401611328 + ], + [ + 0.9454642534255981, + 0.05687420442700386, + -0.3207220733165741, + -33.22843551635742 + ], + [ + 0.06190779432654381, + -0.9980666637420654, + 0.005510539282113314, + -18.66179656982422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2172, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639017_942267656", + "mask_path": "../../mask/hdr_right_02172.png" + }, + { + "file_path": "../../rgb/hdr_right_02173.png", + "transform_matrix": [ + [ + -0.3167220950126648, + -0.03407209366559982, + -0.9479062557220459, + -24.921598434448242 + ], + [ + 0.9464001655578613, + 0.05539877712726593, + -0.3182101547718048, + -33.33627700805664 + ], + [ + 0.06335493177175522, + -0.9978827238082886, + 0.014699817635118961, + -18.675350189208984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2173, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_42268514", + "mask_path": "../../mask/hdr_right_02173.png" + }, + { + "file_path": "../../rgb/hdr_right_02174.png", + "transform_matrix": [ + [ + -0.31982606649398804, + -0.03625529259443283, + -0.9467824697494507, + -24.8939151763916 + ], + [ + 0.9453485608100891, + 0.054720595479011536, + -0.3214370608329773, + -33.41761779785156 + ], + [ + 0.0634622871875763, + -0.9978432059288025, + 0.01677282154560089, + -18.683124542236328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2174, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_142267704", + "mask_path": "../../mask/hdr_right_02174.png" + }, + { + "file_path": "../../rgb/hdr_right_02175.png", + "transform_matrix": [ + [ + -0.32098546624183655, + -0.03308768570423126, + -0.9465060234069824, + -24.868366241455078 + ], + [ + 0.9449224472045898, + 0.05629608407616615, + -0.3224164545536041, + -33.51011657714844 + ], + [ + 0.06395259499549866, + -0.9978657960891724, + 0.013195074163377285, + -18.68905258178711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2175, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_242268085", + "mask_path": "../../mask/hdr_right_02175.png" + }, + { + "file_path": "../../rgb/hdr_right_02176.png", + "transform_matrix": [ + [ + -0.31454718112945557, + -0.028728775680065155, + -0.9488070011138916, + -24.848173141479492 + ], + [ + 0.9470875263214111, + 0.05780552700161934, + -0.3157274127006531, + -33.61838912963867 + ], + [ + 0.06391675025224686, + -0.9979143738746643, + 0.009026098996400833, + -18.691503524780273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2176, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_342268466", + "mask_path": "../../mask/hdr_right_02176.png" + }, + { + "file_path": "../../rgb/hdr_right_02177.png", + "transform_matrix": [ + [ + -0.30530011653900146, + -0.02222774736583233, + -0.9519968032836914, + -24.831745147705078 + ], + [ + 0.9503414034843445, + 0.05625440925359726, + -0.30608275532722473, + -33.70473861694336 + ], + [ + 0.06035754457116127, + -0.9981690049171448, + 0.003949472215026617, + -18.693208694458008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2177, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_442268133", + "mask_path": "../../mask/hdr_right_02177.png" + }, + { + "file_path": "../../rgb/hdr_right_02178.png", + "transform_matrix": [ + [ + -0.2958793640136719, + -0.023755723610520363, + -0.9549300074577332, + -24.814599990844727 + ], + [ + 0.9536015391349792, + 0.05091909319162369, + -0.296734482049942, + -33.80289840698242 + ], + [ + 0.055673304945230484, + -0.9984201788902283, + 0.0075875842012465, + -18.699634552001953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2178, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_542267322", + "mask_path": "../../mask/hdr_right_02178.png" + }, + { + "file_path": "../../rgb/hdr_right_02179.png", + "transform_matrix": [ + [ + -0.29435399174690247, + -0.034340254962444305, + -0.9550793170928955, + -24.794944763183594 + ], + [ + 0.9536586403846741, + 0.05467214062809944, + -0.29588189721107483, + -33.92103958129883 + ], + [ + 0.06237689405679703, + -0.997913658618927, + 0.016655918210744858, + -18.716325759887695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2179, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_642267227", + "mask_path": "../../mask/hdr_right_02179.png" + }, + { + "file_path": "../../rgb/hdr_right_02180.png", + "transform_matrix": [ + [ + -0.2978966534137726, + -0.042091768234968185, + -0.9536696672439575, + -24.776174545288086 + ], + [ + 0.95213383436203, + 0.058635637164115906, + -0.3000049293041229, + -34.00801086425781 + ], + [ + 0.06854676455259323, + -0.9973916411399841, + 0.022609634324908257, + -18.733339309692383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2180, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_742267847", + "mask_path": "../../mask/hdr_right_02180.png" + }, + { + "file_path": "../../rgb/hdr_right_02181.png", + "transform_matrix": [ + [ + -0.30177733302116394, + -0.042721305042505264, + -0.9524208903312683, + -24.759052276611328 + ], + [ + 0.9510045647621155, + 0.05696434527635574, + -0.30388373136520386, + -34.08744812011719 + ], + [ + 0.06723634153604507, + -0.9974617958068848, + 0.023437613621354103, + -18.747913360595703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2181, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_842267513", + "mask_path": "../../mask/hdr_right_02181.png" + }, + { + "file_path": "../../rgb/hdr_right_02182.png", + "transform_matrix": [ + [ + -0.29853180050849915, + -0.044384799897670746, + -0.9533671140670776, + -24.747941970825195 + ], + [ + 0.9517589807510376, + 0.06041204184293747, + -0.3008407652378082, + -34.19375991821289 + ], + [ + 0.07094761729240417, + -0.9971861839294434, + 0.024208717048168182, + -18.74710464477539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2182, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639018_942267417", + "mask_path": "../../mask/hdr_right_02182.png" + }, + { + "file_path": "../../rgb/hdr_right_02183.png", + "transform_matrix": [ + [ + -0.2896232306957245, + -0.040970657020807266, + -0.9562634825706482, + -24.74196434020996 + ], + [ + 0.9544748067855835, + 0.062153410166502, + -0.2917444407939911, + -34.287261962890625 + ], + [ + 0.07138799875974655, + -0.9972253441810608, + 0.021104387938976288, + -18.741912841796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2183, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_42267560", + "mask_path": "../../mask/hdr_right_02183.png" + }, + { + "file_path": "../../rgb/hdr_right_02184.png", + "transform_matrix": [ + [ + -0.27913013100624084, + -0.038038793951272964, + -0.959499716758728, + -24.733192443847656 + ], + [ + 0.9578754305839539, + 0.05924601852893829, + -0.28100642561912537, + -34.3592529296875 + ], + [ + 0.06753567606210709, + -0.9975183606147766, + 0.019899075850844383, + -18.74677276611328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2184, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_142266511", + "mask_path": "../../mask/hdr_right_02184.png" + }, + { + "file_path": "../../rgb/hdr_right_02185.png", + "transform_matrix": [ + [ + -0.2691183090209961, + -0.04381950572133064, + -0.9621098637580872, + -24.727508544921875 + ], + [ + 0.960803747177124, + 0.056832727044820786, + -0.2713414132595062, + -34.44761657714844 + ], + [ + 0.06656936556100845, + -0.9974216222763062, + 0.02680722251534462, + -18.755250930786133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2185, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_242265224", + "mask_path": "../../mask/hdr_right_02185.png" + }, + { + "file_path": "../../rgb/hdr_right_02186.png", + "transform_matrix": [ + [ + -0.2674548327922821, + -0.054508939385414124, + -0.9620274305343628, + -24.718074798583984 + ], + [ + 0.9607176184654236, + 0.06168520823121071, + -0.2705857753753662, + -34.549468994140625 + ], + [ + 0.07409219443798065, + -0.9966061115264893, + 0.03586968779563904, + -18.770809173583984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2186, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_342264175", + "mask_path": "../../mask/hdr_right_02186.png" + }, + { + "file_path": "../../rgb/hdr_right_02187.png", + "transform_matrix": [ + [ + -0.26971378922462463, + -0.06031950190663338, + -0.961049497127533, + -24.70804786682129 + ], + [ + 0.959848940372467, + 0.06307020783424377, + -0.27333539724349976, + -34.62797546386719 + ], + [ + 0.07710103690624237, + -0.9961845874786377, + 0.04088670387864113, + -18.7821102142334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2187, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_442263603", + "mask_path": "../../mask/hdr_right_02187.png" + }, + { + "file_path": "../../rgb/hdr_right_02188.png", + "transform_matrix": [ + [ + -0.2719346880912781, + -0.05945482477545738, + -0.960477352142334, + -24.69070816040039 + ], + [ + 0.9594104886054993, + 0.06074685603380203, + -0.27539291977882385, + -34.71243667602539 + ], + [ + 0.07471942156553268, + -0.9963809251785278, + 0.04052240028977394, + -18.789121627807617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2188, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_542263746", + "mask_path": "../../mask/hdr_right_02188.png" + }, + { + "file_path": "../../rgb/hdr_right_02189.png", + "transform_matrix": [ + [ + -0.26764747500419617, + -0.059440977871418, + -0.9616817831993103, + -24.683006286621094 + ], + [ + 0.9604572653770447, + 0.06301935017108917, + -0.27120187878608704, + -34.8240966796875 + ], + [ + 0.0767250582575798, + -0.9962405562400818, + 0.04022355005145073, + -18.794198989868164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2189, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_642267227", + "mask_path": "../../mask/hdr_right_02189.png" + }, + { + "file_path": "../../rgb/hdr_right_02190.png", + "transform_matrix": [ + [ + -0.2573757469654083, + -0.05579299479722977, + -0.9646995067596436, + -24.6845645904541 + ], + [ + 0.963350236415863, + 0.06328152865171432, + -0.2606756389141083, + -34.91782760620117 + ], + [ + 0.07559153437614441, + -0.9964349269866943, + 0.037461068481206894, + -18.790746688842773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2190, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_742264032", + "mask_path": "../../mask/hdr_right_02190.png" + }, + { + "file_path": "../../rgb/hdr_right_02191.png", + "transform_matrix": [ + [ + -0.24527385830879211, + -0.051911115646362305, + -0.9680630564689636, + -24.67962646484375 + ], + [ + 0.9667859673500061, + 0.060933783650398254, + -0.24821776151657104, + -34.98528289794922 + ], + [ + 0.0718730017542839, + -0.9967910647392273, + 0.03524148091673851, + -18.7984676361084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2191, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_842263698", + "mask_path": "../../mask/hdr_right_02191.png" + }, + { + "file_path": "../../rgb/hdr_right_02192.png", + "transform_matrix": [ + [ + -0.234303817152977, + -0.05341656506061554, + -0.970694899559021, + -24.674121856689453 + ], + [ + 0.9697935581207275, + 0.05683284252882004, + -0.23721371591091156, + -35.07591247558594 + ], + [ + 0.06783848255872726, + -0.9969536662101746, + 0.03848689794540405, + -18.806278228759766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2192, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639019_942267417", + "mask_path": "../../mask/hdr_right_02192.png" + }, + { + "file_path": "../../rgb/hdr_right_02193.png", + "transform_matrix": [ + [ + -0.2323169857263565, + -0.05997448042035103, + -0.9707893133163452, + -24.661739349365234 + ], + [ + 0.9699941873550415, + 0.059284232556819916, + -0.2357892245054245, + -35.18279266357422 + ], + [ + 0.07169383019208908, + -0.9964379668235779, + 0.044402170926332474, + -18.817407608032227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2193, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1730639020_42267799", + "mask_path": "../../mask/hdr_right_02193.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file